WO1992009063A1 - Controleur - Google Patents

Controleur Download PDF

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Publication number
WO1992009063A1
WO1992009063A1 PCT/US1991/008199 US9108199W WO9209063A1 WO 1992009063 A1 WO1992009063 A1 WO 1992009063A1 US 9108199 W US9108199 W US 9108199W WO 9209063 A1 WO9209063 A1 WO 9209063A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensory
capacitive
movement
detector
relative
Prior art date
Application number
PCT/US1991/008199
Other languages
English (en)
Inventor
Leonard R. Lefkowitz
Original Assignee
Triax Controls, Incorporated
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Triax Controls, Incorporated filed Critical Triax Controls, Incorporated
Publication of WO1992009063A1 publication Critical patent/WO1992009063A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Definitions

  • the present invention relates to a controller interfaced with a controlled object to effect movement or some other characteristic of such controlled object in response to relative movement between a detector having a plurality of sensory fields and a detectable object positioned relative to such detector to interact with such sensory fields, to vary at least one of mass and distance of the detector relative to the detectable object to produce signals representative of such at least one of mass and distance.
  • the controlled object is an element of a machine, and the practice of this invention is applicable to any machine having a controlled object associated therewith which may be caused to move or be affected in some other way in response to such signals, such signals being ultimately received by the machine from the controller.
  • the invention is applicable to any machine having an element which is caused to move in response to signals received from the controller.
  • machine is broad enough to cover, without limitation, construction equipment wherein the controlled object is a movable arm, boom, scoop, bucket and the like, equipment used by a physically impaired person as, for example, wherein the controlled object is controlled by a patient, or any other equipment wherein an element of the equipment is caused to move in response to signals originating at a. controller as described herein.
  • the invention is equally applicable to computer systems for use with video games, keyboard cursor control and the like wherein the controlled object is a cursor or some other visual display on a cathode ray tube (CRT).
  • a controller interfaced with a controlled object to effect movement or some other characteristic of the controlled object is well known in the art.
  • a controller with construction equipment to control movement of a movable arm, boom, scoop, bucket and the like.
  • a controller with video equipment to control movement of a cursor or to affect some characteristic of a video display.
  • a primary unit is coupled to a television set at its antenna terminal.
  • At least one control unit is coupled to such primary unit as, for example, by cables.
  • Typical of such control units are those which comprise a joystick-type control lever such as is described in U.S. Patent No. 4,142,180 in the name of Burson.
  • Such devices allow for operator control of the movement of various video images on a video display screen such as the CRT of a television set.
  • a game module may include a microprocessor or microcoinpuLer which operates in accordance with a stored program.
  • movement of the joystick causes corresponding movement of a video image.
  • a simulated video game of TV tennis a simulated ball moves back and forth across the CRT in a manner determined by the stored program.
  • a player or players attempt to hit the ball back and forth with a simulated racket or paddle which is caused to move by operator movement of the joystick control.
  • Movement of the joystick along one axis such as the x-axis may cause corresponding movement of the paddle along an x-axis on the CRT, and movement of the joystick along another axis such as the y-axis may similarly cause corresponding movement of the paddle along a y-axis on the CRT.
  • a control interface is provided between a physical object, such as a part of the human body, and a machine. Movement of the physical object in a defined field is sensed, and signals corresponding to such movement are received, detected, amplified and produced as an output signal to the machine to move an element of the machine in the same direction as, and in an amount proportional to, movement of the object.
  • a physical object such as a part of the human body
  • signals corresponding to such movement are received, detected, amplified and produced as an output signal to the machine to move an element of the machine in the same direction as, and in an amount proportional to, movement of the object.
  • a joystick-type control unit which includes electrically conducting coils on a pair of substrates, one substrate being connected to a controller which is movable relative to a fixed substrate.
  • the movable controller and interconnected substrate can be moved in a variety of positions such that the controller and attached substrate have at least two degrees of freedom. Relative movement is described with respect to the X, Y and Z axis to cause receiving coils of one of the substrates to generate signals which depend upon the relative position of the substrates.
  • the device operates on the basis of an electromagnetic field generated by a transmitting coil.
  • the computer keyboard has been the traditional input device used to enter information into a computer video display.
  • keyboards are usually equipped with a set of four directional arrow keys which are used to move a cursor up, down, left, or right.
  • the arrow keys are incapable of traversing the cursor in a curved path.
  • the arrow keys permit the cursor to be moved in only one of the four available directions at a time. ⁇ wide range of cursor control devices have entered the market, each with its own set of advantages and disadvantages.
  • mouse which enables an operator to control the movement of the cursor in any path desired by tracing the desired path with a small box ⁇ like control unit (the mouse) that is moved about on a flat space alongside of the computer keyboard.
  • the mouse induces interactive relative position motion of the keyboard cursor proportional to mouse movement, corresponding in direction, speed, and extent of movement to that of the mouse.
  • the mouse suffers from several limitations. For example, when it is necessary to traverse large distances, such as to make corrections to spreadsheets or drawings which extend beyond the display currently on the monitor screen, the mouse must be repeatedly traversed and then lifted off the surface and traversed again to effectuate such long distance movement;.
  • cursor movement at some multiple of mouse movement can be accomplished, but only at the sacrifice of accuracy.
  • accuracy of positioning the cursor is greatly reduced.
  • Another troublesome drawback of the mouse is the need for the operator to remove one of his hands from the computer keyboard to physically grasp the mouse in order to move the cursor. Furthermore, it is frequently necessary for the operator to shift his glance away from the keyboard in order to locate the mouse and move it. Taking his hand off the keyboard and having to glance in the direction of the mouse each time the mouse is put to use slows down the computer operator, resulting in wasted time and a decrease in productivity.
  • the graphic digitizer tablet Another form of input device enjoying wide acceptance among computer users is the graphic digitizer tablet.
  • This device is available in a wide variety of sizes, ranging from about 4" X 4" up to 36" X 48".
  • Digitizing pads are able to provide absolute location control. Thus, every point on the digitizer pad surface corresponds to a precise point on the video display screen. Because of this, the digitizer pad offers an ability to enter graphic information on the pad and have it come out in the same corresponding location on the video screen.
  • digitizer pads are usually more expensive than mouse type input devices. Another disadvantage is that with the digitizer pad it is not convenient to change from one screen image to another, nor is it convenient to scroll to new information that was not originally on the screen. In addition, the digitizer pads must be made very large if great accuracy is desired in control over the screen element being manipulated. Digitizer pads find application in engineering and design facilities, but rarely are used in offices because of these limitations and space requirements.
  • Digitizer pads and mouse devices usually have one thing in common - they are interactive devices in that movement of the mouse or pad actuator results in real time interactive proportional movement of the controlled response element.
  • Light pens and touchscreens offer further options to effect cursor control. The operator raises the light pen to the video display screen to move the cursor about or accomplish some other control function. The frequent need to move the light pen to the screen may be fatiguing. Touchscreens are equally as fatiguing to operate as light pens, but suffer from the further disadvantage that they leave the screen smudged with fingerprints.
  • Yet a further object is to provide such a controller which effects movement of a controlled -object in one or more of roll, pitch and yaw directions in proportion to displacement of the movable object in the sensory fields relative to a neutral position.
  • a further object is to provide such a controller which effects movement of a controlled object in one or more of roll, pitch and yaw directions at a rate proportional to the position of the movable object in the sensory fields relative to a neutral position.
  • Yet a further object is to provide a controller which allows for use of a detector having a plurality of sensory fields and a detectable object positioned relative to the detector to interact with such sensory fields, the detector or detectable object being a movable object and the other being a fixed object, the movable object being movable along a plurality of axes which lie in a common plane which is one of coextensive and parallel to a fixed object to produce a first signal representative of such movement.
  • Yet another objective is to provide such a controller which effects movement of a controlled object along such a plurality of axes at a r te proportional to the position of the movable object in the sensory fields relative to a neutral position.
  • Another object is to provide a capacitive-type controller which produces a first signal which is responsive to and representative of the sensing of rotational movement of a movable detector or movable detectable object in three directions of axial rotation, and a second signal which is responsive to and representative of the sensing of a change in absolute vertical spacing between such detector and detectable object.
  • Yet another object is to provide a capacitive-type controller which produces a first signal which is responsive to and representative of the sensing of movement of a movable object along a plurality of axes which lie in a common plane which is one of coextensive and parallel relative to a fixed object, and a second signal which is responsive to and representative of the sensing of a change in absolute relative vertical spacing between such movable and fixed objects.
  • Another objective of the invention is to provide means for accomplishing rapid yet accurate movement of the cursor by one-finger motion in a relatively small sensory field that can fit conveniently on top of a computer keyboard or within the computer keyboard itself.
  • Another object of the invention is to provide means for assigning a null output value to a centrally located area of the sensory field such that finger movement therein will not cause movement of the cursor.
  • This invention achieves these and other results by pro ⁇ viding a controller which senses relative movement between a detector and a detectable object and emits signals to a means which outputs corresponding signals to a machine to cause movement of a controlled object of such machine which is proportional to such relative movement.
  • Such proportional movement can be interactive proportional or rate-proportional. If interactive proportional, the degree of movement of the controlled object will be equal to the degree of movement of the moveable object; that is, the movement of the moveable object will be mimicked by the controlled object. If rate proportional, the rate of movement of the controlled object will be caused to continue to increase with increased movement of the moveable object relative to a neutral or null position.
  • the controller can be in the form of a keyboard cursor control wherein movement of a detectable object in an x-axis and a y- axis relative to a null area in a common sensory field provided by the detector causes rate proportional movement of a cursor in a first direction and a second direction on a viewing screen of a cathode ray tube electrically connected to a keyboard.
  • rotational movement of a detectable object relative to a detector in a predetermined range in roll, pitch and yaw directions causes corresponding proportional or rate proportional rotational movement of a controlled object of a machine.
  • a detectable object and detector are provided, one of which is a movable object and the other of which is a fixed object. Movement of the movable object along a plurality of axes which lie in a common plane which is one of coextensive and parallel relative to the fixed object causes corresponding proportional or rate proportional movement of a controlled object of a machine.
  • Figure 1 is a block diagram of a preferred embodiment of the keyboard cursor control of the present invention
  • FIG. 2 is a block diagram of the interface means of one embodiment of the present invention positioned between a capacitive sensory element such as described herein and a computer connector such as a typical serial or parallel input port.
  • Figure 3 is a perspective view of the keyboard cursor control of the present invention
  • Figure 3A is a perspective view of the keyboard cursor control sensory pad of the keyboard cursor control of Figure 3;
  • Figure 4 is a plan view of the keyboard cursor control sensory pad of Figure 3A;
  • Figure 4A is a view along the line A-A of Figure 4 with the side which includes element 18 removed for clarity;
  • Figure 4B is a view along the line BB of Figure 4 with the side which includes element 20 removed for clarity;
  • Figure 5 shows a diagrammatic representation of the amplitude of the signal generated for right and left sensors operating in a typical keyboard cursor control sensory pad
  • Figure 6 is a side view of an alternative collapsible embodiment of the keyboard cursor control sensory pad of the present invention.
  • Figure 7 is a plan view of the device shown in Figure 6 with the sensory field collapsed about a mount;
  • Figure 8A is a partial sectional view of a key operated embodiment of the keyboard cursor control sensory pad of the present invention in an inoperative mode
  • Figure 8B is a partial sectional view of the key operated embodiment of Figure 8A in an operative mode
  • Figure 9 is a diagrammatic plan view of the controller of the present invention in a neutral mode
  • Figure 9A is a diagrammatic end view of Figure 9 in a first mode of operation
  • Figure 9B is a diagrammatic end view of Figure 9 in a neutral mode
  • Figure 10 is a diagrammatic plan view of the controller of the present invention in a second mode of operation
  • Figure 10A is a diagrammatic side view of Figure 10;
  • Figure 11 is a diagrammatic plan view of the controller of the present invention in a third mode of operation
  • Figure 12 is a diagrammatic plan view of the controller of the present invention in a fourth mode of operation
  • Figure 13 is a diagrammatic plan view of an alternative embodiment of the controller of the present invention.
  • Figure 14 is a diagrammatic end view of Figure 13;
  • FIG. 15 is a diagrammatic perspective view of another embodiment of the controller of the present invention. DESCRIPTION OF THE PREFERRED EMBODIMENTS
  • the present invention relates to a controller which comprises a detector having at least one first sensory element disposed in one direction to provide a first sensory field extending outwardly from such first sensory element to form a first region for sensing movement of a detectable object in a first direction within the first sensory field, and at least one second sensory element disposed in another direction to provide a second sensory field, independent of the first sensory field, extending outwardly from such second sensory element to form a second region for sensing movement of the detectable object in a second direction within the second sensory field.
  • the first region and the second region merge to form a common sensory field.
  • Means is provided electrically connectable to the detector and a machine, and having a respective input attachable to each first sensory element and to each second sensory element, for receiving signals produced by each first sensory element and each second sensory element which are a function of the position of the detectable object within the common sensory field, and for emitting signals to the machine to cause continuous movement In a first plane, of a controlled object of the machine, relative to the position of the detectable object in a corresponding second plane within the common sensory field relative to a null area in such common sensory field.
  • a controller is provided in the form of a keyboard cursor control depicted in block diagram form in Figure 1.
  • Such keyboard cursor control includes a detector 2 and a means 4 electrically connected to the detector by a multi-conductor line 6.
  • Detector 2 can be incorporated into a keyboard 8 as diagrammatically depicted in Figure 3, or can be independent of the keyboard.
  • the means 4 contains signal processing circuitry in the form of interface electronics 4' set forth, for example, in Figure 2, which is electronically connected to a computer 4' ' .
  • Means 4 is electrically connected to the keyboard 8 which is electrically connected by line 10 to a machine such as a television set which includes a cathode ray tube 12 such that operation of the detector 2 effects the desired display upon the viewing screen 14.
  • the detector 2 shown in more detail in Figures 3 and 4, is in the form of a small sensory pad 16 which is surrounded by sensory elements 18, 20 which collectively form the boundaries of a common sensory field.
  • each sensory element 18, 20 is in the form of one or more capacitive transducers. Movement of a detectable object such as an operator's finger within the common sensory field is sensed by the sensory elements 18, 20 which supply appropriate signals over line 6 to the means 4 which includes interface circuitry 4' and a computer 4' 1 designed to interpret such signals.
  • movement within the common sensory field of a detectable object such as a human finger towards one of more transducer increases the degree of mass sensed by such transducer which results in a corresponding increase in the output signals generated by such transducer and sent over line 6.
  • FIGS 3 and 4 depict a preferred detector 2 of the present invention.
  • detector 2 includes at least one first capacitive sensory element 18 and at least one second capacitive sensory element 20.
  • first capacitive sensory element 18 and at least one second capacitive sensory element 20.
  • first set of parallel capacitive sensors 18, 18' which extend parallel to an X-axis 24.
  • second set of parallel capacitive sensors 20, 20' which extend parallel to a Y-axis 26.
  • Each sensory element 18, 18' is disposed in the direction of X-axis 24 to provide a first capacitive sensory field, identified diagrammatically by arrows 28, 28', extending outwardly from each respective capacitive sensory element 18, 18' to form a first region 30, 30' for sensing movement of a detectable object in a Y- direction within a first capacitive sensory field.
  • each sensory element 20, 20' is disposed in the direction of Y-axis 26 to provide a second capacitive sensory field, identified diagrammatically by arrows 32, 32" , extending outwardly from each respective capacitive sensory element 20, 20' to form a second region 34, 34* for sensing movement of the detectable object in an X-direction within a second capacitive sensory field.
  • a second capacitive sensory field identified diagrammatically by arrows 32, 32"
  • arrows 32, 32" extending outwardly from each respective capacitive sensory element 20, 20' to form a second region 34, 34* for sensing movement of the detectable object in an X-direction within a second capacitive sensory field.
  • the capacitive sensory elements respond to the movement and to the detected mass of a detectable object by changes in oscillating frequency and by changes in the magnitude of the output signal sent to the interface means. Either frequency or magnitude of the sensory element signal can be utilized for further processing by the means 4 to affect the controlled object.
  • the first region(s) 30, 30' and second region(s) 34, 34' merge to form a common capacitive sensory field having therein a null area 36 as discussed herein.
  • a null area is an area within the capacitive sensory field where the detectable object such as a user's finger can be positioned without causing a response on the part of a controlled object such as the cursor 22.
  • any movement of the controlled object in response to the positioning of the detectable object outside of the null area can be terminated by moving the detectable object back into the null area.
  • a null area can be provided at 36 by programming the computer 4 ' ' such that the means 4 will interpret the level of output signals of the capacitive sensory elements as being zero and as therefore calling for no movement of the controlled object when the detectable object is caused to enter the null area.
  • the null area can be provided by time dependent means.
  • the position of the null area can be defined, by that area where the detectable object is initially placed in the capacitive sensory field.
  • the circuitry and programming will be such that by initially placing the detectable object in the capacitive sensory field at 36 a zero output will be provided with no movement of the controlled object. Movement of the detectable object away from null area 36 will cause movement of the controlled object as described herein.
  • a zero output is again provided by moving the detectable object out of the capacitive sensory field. There will be a time delay during such movement * of the detectable object so that the position of the controlled object is not altered during such withdrawal.
  • the null area can be predetermined by programming the computer 4' ' such that when the controller is turned on the means 4 automatically identifies an area within the capacitive sensory fields as a null area. Such area can be identified by positioning a target such as a shaded area at the null area. In this manner, the operator always knows where to place the detectable object in order to be in the null area.
  • the foregoing means for providing a null area are by way of example only.
  • a switch such as, for example, a pressure activated switch (not shown) can be centrally located at null position 36 such that when the switch is touched, the system automatically equilibrates the output from all sensors to zero, thereby producing zero cursor movement until the switch is deactivated, or, for example, by moving the finger off of the switch position.
  • null area 36 is provided lying in a plane which extends through X-axis 24 and Y-axis 26. Preferably, the null area 36 will be centered relative to the intersection 40 of the X and Y axis. In the embodiment of Figure 1 to 4, null area 36 will be centered at intersection 40.
  • the detector 2 of Figures 3 and 4 includes a shielded outer frame 42 which reduces any undesirable effect of remote objects on the capacitive sensory elements 18, 18' and 20, 20'.
  • the shielding also helps to control the active field emanating from the capacitive sensory elements.
  • Each capacitive sensory element 18, 18' lies in a plane which extends at an angle 44, 44' relative to the plane extending through X-Y axes 24, 26 as depicted in Figure 4B.
  • each capacitive sensory element 20, " 20* lies in a plane which extends at an angle 46, 46' relative to such plane as depicted in Figure 4A.
  • means 4 includes an electrical input 50 which is attachable to the capacitive sensory elements through line 6.
  • each capacitive sensory element 18, 18* is connected to input 50 of means 4 by respective lines 6A and 6C of line 6.
  • each capacitive sensory element 20, 20* is connected to input 50 of means 4 by respective lines 6B and 6D of line 6.
  • the means 4 receives signals produced by each capacitive sensory element through lines 6A to 6D. Such signals are a function of the position of a detectable object, such as a human finger, within the common capacitive sensory field effected by capacitive sensory fields 28, 28' and 32, 32'.
  • Means 4 also includes an electrical output 52 which is electrically connected through keyboard 8 and line 10 to a television set which includes cathode ray tube 12, for emitting signals to cause continuous X-Y movement of the cursor 22 in an X-Y plane of viewing screen 14 of the cathode ray tube in the direction of, and at a rate proportional to the position of the human finger in a corresponding X-Y plane within the common capacitive sensory field relative to the null area 36.
  • cursor 22 will be caused to continuously move upon viewing screen 14 of cathode ray tube 12, relative to X-axis 24' and Y-axis 26', in the direction of and at a rate proportional to, the position of a human finger, relative to the null area 36, in the corresponding X-Y plane defined by corresponding X and Y axes 24, 26.
  • Figure 5 depicts a diagrammatic representation of the electronically processed output signals coming from two capacitive sensory elements 20, 20' located at left and right extremities, respectively, of the detector 2 of Figures 1 to 4.
  • the amplitude of the output from left edge element 20 is shown at line 60 of Figure 5.
  • the amplitude of the output from right edge element 20' is shown at line 62 of Figure 5.
  • output signal 64 from left edge element 20 is high when the operator's finger is placed at point 64' ( Figure 4) near the left edge of the capacitive sensory field 32.
  • output signal 66 from right edge element 20' is low at the same finger position 64 ' .
  • the electrical signal difference (d) between the left and right capacitive sensory elements 20, 20' determines the rate proportional response of the video cursor.
  • Such output is of one polarity when right edge element 20' output exceeds left edge element 20 output and vice versa, such that the polarity can be used to distinguish when the finger is placed to the left or to the right of the null position.
  • a null position will be effected approximately at the center of the sensory field such that insertion of the operator's finger into this locality produces no motion, but any movement therefrom will cause corresponding rate proportional movement of cursor 22.
  • the operator's finger can cause a response that may vary from zero to very rapid motion of the cursor in any direction in the X-Y plane as the finger is moved away from the center of the sensory field.
  • the operator's finger can produce a null output response, even if the finger is inserted slightly off center.
  • a shaded zone (b) is shown where the output difference between right and left sensor elements is of relatively small value, i.e., equal to or less than (e).
  • electronic circuitry, or computer response elements may be arranged to ignore such small differences in output to provide a null area or zone of zero movement response. In this way, the operator may insert his finger slightly off center, and still not effect any movement of the cursor until a deliberate and substantial offset position is assumed.
  • This special null control mode may provide useful benefits in allowing some latitude so that the device is not overly sensitive and is easy to master and control.
  • movement of the detectable object such as the operator's finger InLo the sensory field, initiates movement of the cursor only when the signal response exceeds a programmed predetermined initiating value.
  • the apparatus is programmed such that this will occur when the finger is moved out of the null area 36.
  • Such cursor movement is also programmed to be rate proportional to the operator's finger position in the sensory field; that is, cursor movement will be at a minimum when the operator's finger is near the null area and the rate of movement will be progressively faster in proportion to the distance that the operator's finger Is placed away from the null area.
  • rate of cursor movement response is proportional to the distance from the neutral or null position 36 located in the center of the sensory field, varying all the way from zero cursor speed in field 36, to very slow cursor speed just beyond field 36, to very rapid cursor speed when the operator's finger is placed very close to an edge of the sensory field.
  • a pressure actuated switch (not shown) referred to above, can be centrally located at null position 36 such that when the switch is touched, the system automatically equilibrates the output from all sensors to zero, thereby producing zero cursor movement until the switch is de-activated, or, for example, by moving the finger off of the switch position. Upon movement off of the switch position, the change in output signals produces cursor movement at a rate that is proportional to the extent of finger movement from the electrically switched null position 36.
  • Various existing touch actuated digitizer pads may be equipped with this type of a centrally located switching means to effectuate a centrally located null zone.
  • a null output zone may be established for such devices by appropriately programming the control interface system between the sensory pad and the cursor display.
  • digitizer pads of various types may be programmed to provide both the centrally located null zone and the incrementally increasing rate of response according to finger distance from the null zone as taught herein.
  • Movement of the cursor continues for so long as the operator's finger remains within the sensory field, such movement being rate proportional to the degree of displacement of the operator's finger from the centrally located null position, and In a direction of response that corresponds with that of the operator's finger position from the null position. Because of the employment of rate proportional response, a small keyboard cursor finger control pad area 48 suffices to provide any desired degree of speed and accuracy of control. When finger position is near the edges of the sensory field, movement will be rapid, but difficult to use with great accuracy. However, the situation may readily be reversed when desired by shifting the position of the finger close to the neutral center of the sensory field, since in doing so, speed of response is greatly reduced and a high degree of accuracy may be achieved for controlling the cursor.
  • each separate capacitive sensory element in the sensory field array will operate at its own particular frequency such that it will not interfere with other elements in the array.
  • the capacitive sensory element will avoid interference by working on the same frequency but on a time sharing or chopped basis.
  • interference among sensors will be avoided by sensor separations and shielding.
  • a keyboard cursor control which includes a detector 102 which can be electrically connected to the means 4 of Figures 1 to 4 by line 6 so that detector 102 can be used to control cursor 22 in the same manner as detector 2.
  • Detector 102 is in the form of a hollow framework 104 which includes capacitive sensory elements 106 located in facing array to form the outer periphery of a capacitive sensory field in an. open area 108 within hollow framework 104. In operation, the detectable object such as the operator's finger 110 is inserted into the sensory field framed by capacitive sensory elements 106.
  • a null area lies in an X-Y plane which is coextensive with an X-axis 112 and a Y-axis 114.
  • the null area is centered at the intersection 116 of the X and Y axes 112, 114.
  • each capacitive sensory element 106 lies in a plane which extends at an angle relative to such X-Y plane.
  • the open frame 104 is pivotally mounted at one end 118 of a base 120 for pivotal movement in the direction of arrows 122 about joints 12 .
  • base 120 is to be pivoted into the open area 108 as depicted in Figure 7.
  • the hollow framework 104 is made to swivel at joint position 124 so as to be adjustable over any angle desired by the operator while being supported in place on base element 120.
  • the hollow sensory field member may be completely collapsed down about the base element 120 as described.
  • the keyboard cursor control of the invention enables the operator to accomplish whatever degree of movement of the cursor that is desired, the movement taking place at a rate which is proportional to the distance that the operator locates his finger from the centrally located null position. Movement of the cursor continues at a rate proportional to the operator's finger position until such time that the operator moves his finger.
  • the operator will soon become accustomed to this very simple control technique, and will no doubt use large displacements of his finger from the neutral position to accomplish gross cursor movements, sliding his finger back to the null position as he nears his target destination to effect a slower reaction rate of response until he zeros in on the desired end point.
  • the operator may be expected to overshoot his target destination, in which case, he simply slides his finger beyond the null position and to the opposite side of the null position to Induce corrective movement and refine the final position of the cursor.
  • control device will not be triggered by low level signals generated for example by the approach of the finger to the sensory field, such small signals being nulled out by appropriate circuitry or other signal conditioning means in any number of ways well known to those skilled in the art.
  • small signals of equal or near equal value such as will be caused during, the approach of the finger prior to entering into the sensory field, can readily be distinguished from small difference signals brought about by movement of the finger within the sensory field and to one side of the null position, since such sideways motion produces a difference signal that, upon exceeding a triggering level to be determined independently for each configuration of the invention, elicits the desired rate proportional control response.
  • FIGS 8A and 8B depict another embodiment of the present invention.
  • a detector is provided in tiie form of a special keyboard mounted finger operable key 150 which can form part of keyboard 8, if desired, and be attached to means 4 in place of detector 2.
  • Key 150 is coupled to a detectable object in the form of a capacitance effecting mass 152 by a connecting rod 154 which extends between an undersurface 156 of the key 150 and the capacitance effecting mass 152.
  • Means is provided for self-centering the mass 152 such that finger pressure will be sufficient to depress the key into a null area and to activate the device.
  • self-centering means is a spring 158 which bears against the undersurface 156.
  • the connecting rod 154 is mounted upon a keyboard support surface 160 by a swivel joint 162 and the spring 158 extends between the undersurface 156 and the support surface 160.
  • key 150 is swivel mounted at swivel joint 162 in a known manner to be free to pivot in any direction with spring 158 maintaining the key in an inoperative central position as depicted in Figure 8A. Placement of a finger tip upon the key 150 and a slight application of pressure will activate the device by activating a switch (not shown) and depressing the capacitance effecting mass 152 into a null position at the center of capacitive sensory elements 164 as depicted in Figure 8B. Upon activation lateral movement of key 150 produces equal but opposite lateral movement of the capacitance effecting mass 152 within a set of parallel facing elements 164 which form a sensory field about the mass.
  • element 18, which extends in the X-direction and element 20 which extends in the Y- direction can each be in the form of one or more emitters, and opposing elements 18'and 20' can each be in the form of one or more detectors. In this manner, sensory fields can be provided from emitter 18 to detector 20 and from emitter 18' to dector 20'.
  • optical or acoustical sensory fields can be provided between respective emitters and detectors such that sensory elements 18, 18' sense movement of a detectable object In the X-direction and sensory elements 20, 20* sense movement of a detectable object in the Y- direction.
  • a controller 202 includes a detector 204 which is provided with a plurality of capacitive sensory fields 206 generated by and extending outwardly from, for example, capacitive sensory elements in the form of capacitive transducers 206A to 206H.
  • the detectable object is in the form of a part of a human body such as a human hand 208 which is positioned above detector 204 in a region formed by the capacitive sensory fields to interact with the capacitive sensory fields to sense relative rotational movement between the detector and the detectable object.
  • the detector 204 is the fixed object and the detectable object or hand 208 is the movable object.
  • the movable object is movable within a predetermined range.
  • such predetermined range is dictated by the normal physiology of the hand vis-a-vis the wrist as explained herein in more detail. Movement of the movable object relative to the fixed object within the predetermined range will vary at least one of mass and distance of the movable object relative to the fixed object to produce signals representative of at least one of such mass and distance as described herein.
  • Means similar to means 4 is also provided which is attachable to the detector 204 for receiving such signals.
  • such means is a control module 210 which includes interface circuitry 210' similar to the interface circuitry 4' of Figure 2, electrically connected to a computer 210'' similar to computer 4' ' of Figures 1 to 4.
  • Control module 210 is electrically connected to transducers 206A to 206H by a plurality of inputs in the form of lines 206A' to 206H' respectively.
  • Inputs 206A' to 206H' receive signals produced by respective capacitive sensory elements 206A to 206H which are a function of the position of the detectable object within the region formed by the capacitive sensory fields.
  • the movable object is rotatably movable within a predetermined range, and in roll, pitch and yaw directions relative to the fixed object to provide a triaxial controller.
  • Figure 9A depicts hand 208 being rotated about an axis 212 relative to detector 204, such rotation being in a roll direction.
  • Figures 10 and 10A depict hand 208 being rotated about axis 214 relative to detector 204, such rotation being in a pitch direction.
  • Figure 11 depicts hand 208 being rotated about axis 216 relative to detector 204, such rotation being in a yaw direction.
  • the means 210 has an output such as a line 10 as depicted in Figure 1 which is electrically connectable to a machine such as the television with CRT 12 depicted in Figure 1. Signals are emitted over line 10 to such machine to cause rotational movement of a controlled object such as a simulated three dimensional display appearing on the television screen which rotational movement is programmed to be proportional to the position of the detectable object such as hand 208 relative to the detector 204.
  • the controlled object can be the entire video screen image in which case the image will appear to shift In interactive proportion to, or at a rate proportional to, the rotational displacement of the moveable object relative to a neutral position
  • the movable object is also non-rotatably movable towards and away from the fixed object by which is meant that the movable object can be moved vertically relative to the fixed object without being rotated about axes 212, 214, 216.
  • Such movement varies the height of the movable object relative to the fixed object to produce signals representative of such height.
  • Figure 12 depicts hand 208 being moved vertically along axis 216 relative to the detector 204 in the directions designated by arrows 218 to vary the height of the hand relative to the detector.
  • means is provided attachable to the detector for receiving such signals.
  • such means can be the control module 210 electrically connected to the transducers 206A to 206II by additional lines 206A" to 206H" respectively.
  • each signal line represents a pair of signal lines 206 ⁇ ', 206 ⁇ "; 206B', 206B", etc.
  • controller 202 which facilitates improved control for interfacing a controlled object and a machine.
  • controller 202 senses rotational movement of a physical object such as a hand 208 in three axes of rotation, namely roll, pitch and yaw. This is accomplished by providing a plurality of sensing elements such as transducers 206A to 206H which generate a corresponding plurality of capacitive sensory fields which are responsive to the rotational movement of the hand 208 placed within such capacitive sensory fields.
  • Each transducer 206A to 206H Is electrically connected to control module 210, and sends an output to the control module over respective lines 206A' to 206H*.
  • the degree of such output depends upon the position of the hand 208 relative to the transducers.
  • the amount of capacitive mass of the detectable object 208 sensed by transducers 206A to 206H can be varied by subjecting the detectable object 208 to rotational movement in one or more of the roll, pitch and yaw axes of rotation.
  • the magnitude of the signals sent over lines 206A' to 206H' will depend upon the amount of capacitive mass sensed at any particular time.
  • the signals sent over lines 206A' to 206H' are fed to the control module 210 which is similar to the means 4 of Figure 1 and includes interface circuitry 210' and a computer 210'' designed to interpret such signals and assign a corresponding rotational aspect to a controllable object of a machine such as, without limitation, an object on a video screen.
  • a controller 330 is depicted similar to the embodiment of Figures 9 to 12 in that a detector 332 is provided having a plurality of capacitive sensory fields 334.
  • a detectable object 336 is positioned relative to the detector 332 to interact with the capacitive sensory fields 334.
  • the detector 332 is a fixed object and the detectable object 336 is a movable object which is movable within a predetermined range to vary at least one of mass and distance of the movable object relative to the fixed object to produce signals representative of such at least one of mass and distance.
  • Means such as the control module 210 is attachable to the detector 332 for receiving such signals in the manner depicted in Figure 9 regarding the embodiment of Figures 9 to 12.
  • the movable object 336 is rotatably movable in roll, pitch and y ⁇ directions about axes 338, 340 and 342, respectively.
  • axes 338, 340 and 342 represent X (axis 340), Y (axis 342) and Z (axis 338) axes which converge at a position 344 wherein the movable object 336 is mounted relative to the fixed object 332.
  • the movable object 336 is mounted relative to the fixed object 332 at position 344 by means of a post 346 having a ball 348 at one end thereof which mates in a known manner with a socket 350 extending from the underside 352 of the movable object 336.
  • a movable object 336 having a first planar surface at underside 352, and a fixed object 332, having a second planar surface at upper surface 354, spaced from and substantially parallel to such first planar surface.
  • the first planar surface is movably mounted relative to the second planar surface by the support member or post 346 which extends from the second planar surface to the first planar surface as, for example, depicted in Figure 14.
  • the second planar surface 354 comprises a plurality of capacitive transducers 356, preferably disposed in a common plane, which form the capacitive sensory fields 334.
  • the movable detectable object 336 of the embodiment of Figures 13 and 14 is also non-rotatably vertically movable toward and away from the fixed detector 332 to vary the height of the movable object relative to the fixed object to produce signals representative of such height.
  • the post 346 is telescopic in nature Including an outer member 358 and an Inner member 360 which slides in the direction of arrows 362 relative to such outer member.
  • means such as a control module 210 can be attached to the detector 332 for receiving such signals.
  • Figures 9 and 9B depict the movable detectable object, which in this embodiment is a hand 208, in a neutral or null position relative to the detector 204.
  • hand 208 is initially disposed above the fixed object 204 such that the hand is substantially parallel to the detector 204 with the area of the portion of the hand facing detector 204 somewhat evenly distributed over each transducer 206A to 206H. Movement from this null position can be effected in several ways. For example, the hand can be rotated downward or upward about axis 214.
  • control module 210 is programmed to effect interactive proportional movement of the video image 22"
  • control module 210 is programmed to effect interactive proportional movement of the video image 22"
  • such increased and decreased output will be interpreted by the associated electronic conditioning circuitry of control module 210 as calling for downward rotation of the controlled object, such rotation being visually perceived to be in a vertical plane which is perpendicular to the CRT screen 14. Movement of the video image 22' will mimic the downward movement of the hand.
  • control module 210 is programmed to effect rate proportional movement of the video image 22' , then the output signals will be interpreted as calling for continuous rotation of the video image 22' in such vertical plane, the direction of such rotation depending upon whether the hand has been tilted downward or upward.
  • the rate of rotation will increase as the degree of tilt of the hand about axis 214 increases.
  • rotating the hand 208 about axis 216 will effect a change in yaw.
  • control module 210 is programmed to effect interactive proportional movement of the video image 22' , then such increased and decreased output will be interpreted by the associated electronic conditioning circuitry of control module 210 as calling for rotation of the controlled object to the right, such rotation being visually perceived to be in a horizontal plane which is perpendicular to the CRT screen 14. Movement of the video image 22' will mimic the rightward movement of the hand.
  • control module 210 is programmed to effect rate proportional movement of the video image 22', then the output signals will be interpreted as calling for continuous rotation of the video image 22' in such horizontal plane, the direction of such rotation depending upon whether the hand has been rotated towards the right or left.
  • the rate of rotation will increase as the degree of rotation of the hand about axis 216 increases.
  • rotating the hand 208 about axis 212 will effect a change in roll.
  • rotation of the hand as depicted in Figure 9A increases the amount of capacitive mass sensed by transducers 206A to 206D compared to a lesser capacitive mass sensed by transducers 206E to 206H.
  • Such increase in the amount of capacitive mass sensed by transducers 206A to 206D will result in a corresponding increase in the output signals sent over lines 206A' to 206D' to control module 210.
  • decrease in the amount of capacitive mass sensed by transducers 206E to 206H will result in a corresponding decrease in the output signals sent over lines 206E' to 206H' to control module 210.
  • control module 210 is programmed to effect interactive proportional movement of the video image 22' , then such increased and decreased output will be interpreted by the associated electronic conditioning circuitry of control module 210 as calling for counterclockwise rotation of the controlled object, such rotation being visually perceived to be in the plane of the CRT screen 14. Movement of the video image 22' will mimic the counterclockwise movement of the hand. It will be readily apparent to those skilled in the art that clockwise rotation of the hand about axis 212 will cause the video image to mimic such movement and rotate clockwise in a like manner.
  • control module 210 is programmed to effect rate proportional movement of the video image 22' , then the output signals will be interpreted as calling for continuous rotation of the video image 22' in the plane of the CRT screen, the direction of such rotation depending upon whether the hand has been rotated clockwise or counterclockwise. The rate of rotation will increase as the degree of rotation of the hand about axis 212 increases.
  • control module 210 by properly programming the control module 210, such increased or decreased output signals can be interpreted by the associated electronic signal conditioning circuitry of control module 210 as calling for the controlled object, such as without limitation an object on a video screen, to incur corresponding rotational movement.
  • the interface means can be programmed to provide interactive proportional movement of a controlled object in one or more of the roll, pitch and yaw directions relative to displacement of the movable object in the capacitive sensory fields, provided by the transducers 206A to 206II, relative to a neutral position, and to provide that such movement cease when the moveable object is returned to the null position.
  • the receiving means can be programmed to provide continued movement of the controlled object in one or more of the roll, pitch and yaw directions at a rate proportional to the position of the movable object in the capacitive sensory fields, provided by the transducers 206A to 206H, relative to a neutral position, and to provide that such movement cease when the movable object is returned to the null position.
  • the movable object is movable in a predetermined range.
  • movement of the detectable object will cause an increase (decrease) in the amount of capacitive mass sensed by certain transducers, depending upon the direction, degree and axis of movement.
  • it is preferred to limit such movement so that the detectable object will not first progressively increase (decrease) in its mass within the desired sensory field and then continue to pass beyond such field so that the detectable object then progressively decreases (increases) in its mass within such desired sensory field.
  • transducers 206A, 206B and 206E, 206F would become progressively uncovered to cause a decrease in the mass of the hand over such transducers. Such a decrease would decrease the amount of capacitive mass sensed by transducers 206A, 206B and 206E, 206F which would repeat in reverse the output signals generated during the first 45 degrees of rotation thereby providing a misleading signal to the control module 210.
  • the predetermined range of rotation can be controlled as a result of the intuitive control by the operator of this hand and the physical make-up of the hand and wrist.
  • rotation of the detectable object 336 in any axial direction can be limited by providing stops.
  • stops 364 are depicted in Figures 13 and 14. Stops 364 will limit rotation of the detectable object 336 about axis 342 as required. For example, such rotation might be limited to no more than 30 degrees, or to no more than 45 degrees, or to some other intermediate maximum degree of rotation.
  • the rotational limit would be set such that rotation within the limits of motion so established would permit only a progressive change in output which corresponds with the initial offset output.
  • axial rotation would be limited such that a beginning decrease (increase) in area of the detectable object 336 above a specific transducer could upon further rotation in the same direction only lead to further decrease (increase) in mass above the transducer, the limits of rotation preventing the detectable object 336 from ever turning beyond the point where mass would continue to decrease (increase) over that specific transducer.
  • Other stops can be provided to limit rotation of the detectable object 336 about axes 338 and 340 as required to effect similar results regarding rotation about axes 338 and 340.
  • Variables other than the position of the controlled object can be controlled by the vertical movement of the detectable object such as hand 208 and movable object 336.
  • the interface means such as control module 210, can be programmed to provide for varying some other characteristic of the controlled object depending upon the height of the movable object or hand relative to the fixed object. For example, as detectable object 208 or 336 is moved vertically toward the transducers in the direction of arrow 362 there will be an increase in the amount of capacitive mass sensed by the transducers which will result in a corresponding increase in the output signals sent over lines 206A" to 206H" to the control module 210.
  • control module 210 By properly programming the control module 210 such a change In the output signals will be interpreted by associated electronic signal conditioning circuitry of control module 210 as calling for a change in some characteristic of the controlled object such as, without limitation, a change in color, shade, color intensity, hue, brightness, speed, power, or thrust of an object on a video screen 14.
  • a movable object is movable within a predetermined range along a plurality of axes which lie in a common plane which is one of coextensive and parallel relative to a fixed object.
  • a detector 370 is provided having a plurality of sensory fields emitted by capacitive transducers 372A to 372H.
  • a detectable object in the form of a hand 374 is provided. Hand 374 is positioned relative to detector 370 to interact with such capacitive sensory fields.
  • the detector is fixed and the detectable object or hand is movable within a predetermined range to vary at least one of mass and distance of the movable object or hand relative to the fixed object to produce a fixed signal representative of such at least one of mass and distance.
  • means such as, without limitation, control module 210 is attachable to the detector for receiving such first signal.
  • the hand 374 will be controlled by the operator to move within a predetermined range along a plurality of axes which lie in a common plane.
  • Such common plane will be coextensive with the fixed object 370, as for example, when the hand 374 is placed upon the surface of the fixed object 370.
  • the common plane can also be parallel to the fixed object, as for example, when the hand is placed in a plane which is above and parallel to the surface of the fixed object 370, as schematically depicted at 374'.
  • the movable object such as hand 374 can be moved within a predetermined range along any axis lying within such plane.
  • the hand when the hand lies upon the surface of the fixed object 370 as depicted at 374 in Figure 15 the hand can be caused to slide along such surface along X axis 376 and Y axis 378 as desired.
  • the hand when the hand is positioned parallel to the surface of fixed object 370 as at, for example, position 374', the hand can be moved along X axis 376' and Y axis 378* .
  • the predetermined range of movement of the movable object will be such that movement of the hand In the direction of any axis in the coextensive or parallel plane described above will be limited such that a beginning decrease (increase) in area of the detectable object above a specific transducer will upon further movement in the same direction only lead to further decrease (increase) in mass above that transducer, the limit of such movement preventing the detectable object from ever moving beyond the point where mass would continue to decrease (increase) over that specific transducer.
  • the receiving means such as for example, the control module 210, preferably provides for causing movement of a controlled object, such as an object on a video screen, along axes which correspond to the plurality of axes in the coextensive or parallel plane in interactive proportion to displacement of the movable object in the capacitive sensory fields relative to a neutral position.
  • a neutral position is schematically depicted in Figure 15 wherein hand 374 is initially somewhat centered within the plane of the detector 370 with the area of the portion of the hand facing detector 370 somewhat evenly distributed over each transducer.
  • the receiving means provides for causing such movement of a controlled object at a rate proportional to the position of the movable object in the capacitive sensory field relative to such a neutral position.
  • the controller of Figure 15 can include a movable object, such as for example, hand 374 which is also vertically movable toward and away from the fixed object 370 to vary the height of the movable object 374 in relation to the fixed object 370 to produce a second signal representative of such height.
  • the controller will further include means, such as for example, control module 210, attachable to the detector for receiving the second signal to perform the functions associated with such a second signal as already described herein.
  • the controller can include a fixed detector and movable detectable object, or alternatively, a fixed detectable object and a movable detector.
  • the detectable object 336 would serve as a fixed base, and the detector 332 would be movable relative thereto.
  • the detectable object is described as a hand, other parts of the human anatomy might serve equally well.
  • one or more fingers could serve in place of hand 374.
  • the transducers are depicted as including a plurality of transducers spaced within a frame fabricated from a non-conductive material such as, without limitation, plastic to electrically insulate one transducer from the next. More or less than the number of transducers depicted herein can be used, as desired. In those instances where the detectable object is not a part of the human anatomy, it will preferably be fabricated from metal or any other material having a dielectric constant different from air.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Input By Displaying (AREA)

Abstract

Contrôleur comprenant un détecteur (2) et objet détectable, l'un est un objet mobile et l'autre un objet fixe (2). Le contrôleur capte (18, 20) un mouvement relatif entre les deux objets et il transmet des signaux à une interface et un ordinateur (4'), lequel transmet des signaux à une machine afin de commander un objet pouvant être commandé de ladite machine en fonction de la position de l'objet mobile par rapport à une position de base ou centrale (36).
PCT/US1991/008199 1990-11-09 1991-11-08 Controleur WO1992009063A1 (fr)

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US611,061 1990-11-09

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WO1997041458A1 (fr) * 1996-05-01 1997-11-06 Massachusetts Institute Of Technology Detecteurs a deplacement de courant et procede de determination d'une position en trois dimensions, d'une orientation et d'une distribution de masse
US5948031A (en) * 1996-02-23 1999-09-07 Nec Technologies, Inc. Vehicle passenger sensing system and method
US6161070A (en) * 1996-02-23 2000-12-12 Nec Home Electronics, Inc. Passenger detection system
WO2004034241A2 (fr) * 2002-10-09 2004-04-22 Raphael Bachmann Dispositif de saisie rapide
WO2007069929A1 (fr) * 2005-12-16 2007-06-21 Marius Gheorghe Hagan Senseur capacitif de position et deplacement et circuit specialise dans la determination des coordonnees x, y, z et de la trajectoire d'un point caracteristique
JP2011018129A (ja) * 2009-07-07 2011-01-27 Ritsumeikan ヒューマンインターフェイス装置

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US3478220A (en) * 1966-05-11 1969-11-11 Us Navy Electro-optic cursor manipulator with associated logic circuitry
US4536746A (en) * 1982-09-30 1985-08-20 The Mercado Venture Transducer for converting three dimensional mechanical input displacements into a corresponding electrical output signal
US4680577A (en) * 1983-11-28 1987-07-14 Tektronix, Inc. Multipurpose cursor control keyswitch
US4736191A (en) * 1985-08-02 1988-04-05 Karl E. Matzke Touch activated control method and apparatus
US4786896A (en) * 1985-08-09 1988-11-22 Harte J Richard Input mechanism for word processor
US4988981A (en) * 1987-03-17 1991-01-29 Vpl Research, Inc. Computer data entry and manipulation apparatus and method

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Publication number Priority date Publication date Assignee Title
US3478220A (en) * 1966-05-11 1969-11-11 Us Navy Electro-optic cursor manipulator with associated logic circuitry
US4536746A (en) * 1982-09-30 1985-08-20 The Mercado Venture Transducer for converting three dimensional mechanical input displacements into a corresponding electrical output signal
US4680577A (en) * 1983-11-28 1987-07-14 Tektronix, Inc. Multipurpose cursor control keyswitch
US4736191A (en) * 1985-08-02 1988-04-05 Karl E. Matzke Touch activated control method and apparatus
US4786896A (en) * 1985-08-09 1988-11-22 Harte J Richard Input mechanism for word processor
US4988981A (en) * 1987-03-17 1991-01-29 Vpl Research, Inc. Computer data entry and manipulation apparatus and method
US4988981B1 (en) * 1987-03-17 1999-05-18 Vpl Newco Inc Computer data entry and manipulation apparatus and method

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5948031A (en) * 1996-02-23 1999-09-07 Nec Technologies, Inc. Vehicle passenger sensing system and method
US6161070A (en) * 1996-02-23 2000-12-12 Nec Home Electronics, Inc. Passenger detection system
WO1997041458A1 (fr) * 1996-05-01 1997-11-06 Massachusetts Institute Of Technology Detecteurs a deplacement de courant et procede de determination d'une position en trois dimensions, d'une orientation et d'une distribution de masse
WO2004034241A2 (fr) * 2002-10-09 2004-04-22 Raphael Bachmann Dispositif de saisie rapide
WO2004034241A3 (fr) * 2002-10-09 2005-07-28 Raphael Bachmann Dispositif de saisie rapide
WO2007069929A1 (fr) * 2005-12-16 2007-06-21 Marius Gheorghe Hagan Senseur capacitif de position et deplacement et circuit specialise dans la determination des coordonnees x, y, z et de la trajectoire d'un point caracteristique
JP2011018129A (ja) * 2009-07-07 2011-01-27 Ritsumeikan ヒューマンインターフェイス装置

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