WO2001035328A1 - A method of touch control of an input device and such a device - Google Patents
A method of touch control of an input device and such a device Download PDFInfo
- Publication number
- WO2001035328A1 WO2001035328A1 PCT/CA2000/001262 CA0001262W WO0135328A1 WO 2001035328 A1 WO2001035328 A1 WO 2001035328A1 CA 0001262 W CA0001262 W CA 0001262W WO 0135328 A1 WO0135328 A1 WO 0135328A1
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- WIPO (PCT)
- Prior art keywords
- force
- contact
- movement
- contact surface
- input device
- Prior art date
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Classifications
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- 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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
- G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance
- G01L5/1627—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
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- 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
- G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
-
- 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
- G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
Definitions
- This invention relates generally to the field of user interfaces for electronic devices such as computers and machine controllers. More specifically, the invention relates to touch sensitive user interfaces and methods for effecting movement control of, for example, a cursor on a computer screen or for directing object movement of a machine or robot.
- User manipulated devices are commonly used today in conjunction with electronic devices to control the movement of a pointer or cursor on a graphics screen or to directly control object movement of an apparatus such as a machine or robot. Some of these devices may be characterised as isotonic devices which map the user manipulation of the devices directly onto the object, such as a cursor. Some examples of isotonic devices are computer mice, trackballs, touch-pads and digitizer tablets. Other of these devices may be characterised as being isometric, meaning they relate the direction and magnitude of the force or torque applied by the user to the devices to the cursor or object movement. An example of an isometric device is a joystick.
- pointing manipulates the mouse to cause the cursor to move onto a target.
- dragging moves an object into a target area.
- Human-computer interaction study shows that in general, the mouse movement is characterised by a large primary movement followed by smaller submovements. These movements correspond to gross positioning and then fine positioning of the object by the user manipulation of the mouse to align the object or cursor with the target.
- the sensitivity of movement control or gain is the ratio between the distance the isotonic device must be moved to cause a given movement of the object such as a cursor on the display. This is also known as the Control-Display ratio between the resolution of the display, in terms of pixels and the resolution of the isotonic input device in terms of dots per inch (dpi).
- a high gain device is rapid in initial gross positioning but difficult to control when needing to make small precise movements.
- a low gain device allows small precise movement of the object and therefore easy (and quicker) fine positioning but is inefficiently slow at gross positioning.
- the trade-off between initial gross positioning versus final fine adjustment typically results in a U-shape gain-performance curve with best performance at a moderate gain level.
- GUI graphical user interface
- the cursor is generally used to select medium sized icons on a medium resolution display and this is generally suitable to work with a fixed gain input device.
- GUI graphical user interface
- CAD or graphic work a user has to select one target from very many, closely spaced, even pixel width target areas, such as an intersection of two lines. Such fine positioning can be very difficult with a device which has too high a gain and can be very stressful to the user. It is therefore desirable to have a low or moderate gain device for the fine control.
- Patent 5,805,137 to Yasutake describes a 3D input controller and suggests that the speed of the cursor or object movement in a given direction will be responsive to the magnitude of the force applied to the corresponding force-sensitive pads.
- determination of movement and force are two separate operations on a touchpad.
- the cursor response suffers a time delay from the application of a force due to computational requirements. The time lag between action and object response is disorienting and unacceptable.
- U.S. Patent 5,815,139 to Yoshikawa et al. describes a touch activated input device that teaches that the applied force on a force- sensitive touch pad can be used to vary the speed of movement of the object.
- the complication of using instantaneous force as a variable is simplified by dividing the forces into several levels and using a lookup table for a speed factor.
- the device is basically a joystick button on top of a touch pad and does not have the intuitive kinesthetic feedback of an isotonic device, because the operations are separate and thus still disjointed.
- the present input device is a touch control device manipulated by the touch of the user that permits control of a computer or a machine.
- a human limb can send and receive information through both the force/torque and displacement/rotation.
- user touch control that responds ergonomically, that is, in a manner more like a human limb responds. What is desired is to overcome the limitations of a single input control mode such as provided by the movement with the isotonic device only or as provided by the force with the isometric device.
- What is desired is a method and an apparatus to smoothly blend the two control modes, isotonic and isometric, together to compliment each other to improve the ease of use of the touch activated input control. It is therefore desirable to have an improved touch control input method and device that provides a user interface with kinesthetic and tactile feedback, that allows the user to vary the gain easily and smoothly, and a mechanically simple apparatus that overcomes the disadvantages of the prior art methods and devices discussed above.
- a method of touch control of a user input device comprising the steps of: providing a contact surface of known configuration mounted in a support and having a force sensing means operatively connected to said contact surface for sensing user contact with said contact surface; contacting said contact surface to cause said sensing means to generate output signals corresponding to said contact; using said output signals to provide a relative measure of a tangential force applied to said contact surface by said user contact; and using said relative measure of tangential force to control movement of an object in response to said user contact with said contact surface.
- an ergonomic touch control input device comprising: a manually manipulable member having a contact surface of known configuration; a support in which said manipulable member is mounted; and a force sensing means operatively connected to said manipulable member for sensing user contact with said contact surface, said sensing means sensing a contact force at said contact surface other than a normal force and generating output signals related to said contact force for use in controlling an object's movement and for controlling the gain of such device to effect movement control, all in response to said user contact.
- Figure 1 is an illustration of the operating principle of a conventional isotonic input device
- Figure 2a is an illustration of a principle of a control method according to the present invention.
- Figure 2b is an illustration of a result of applying the control method according to the present invention.
- Figure 2c is an illustration of a result of applying the control method of the prior art
- Figure 3a is an illustration of a normal force and a tangential force component at the point of contact of a touch control input device
- Figure 3b is an illustration of a tangential force which is representative of motion on a 3D surface according to the present invention
- Figure 4 is an illustration of point of contact force components represented in a Cartesian coordinate system for describing a system of force measurement
- Figure 5 is an illustration of a point force exerted on a spherical surface for describing a system of force measurement
- Figure 6 is an exploded view of a first embodiment of the present invention
- Figure 7 is a sectional view of the first embodiment of Figure 6 along line 7-7;
- Figure 8 is a perspective view of the force sensor of Figure
- Figure 9a-f are diagrammatic views of bending moments produced in the sensor of the first embodiment.
- Figure 10 shows the method of use of the first embodiment for 2D applications
- Figure 11 shows the method of use of the first embodiment for 3D applications
- Figure 12 is a sectional view of a second embodiment according to the present invention.
- Figure 13 is a sectional view of a third embodiment according to the present invention
- Figure 14a is a perspective view of a sensor for the third embodiment
- Figure 14b is a perspective view of an alternative sensor for the third embodiment
- Figure 15 is a side view of a fourth embodiment according to the present invention.
- Figure 16 is a perspective view of a sensor element used in the fourth embodiment according to the present invention.
- Figure 17 is an exploded view of a fifth embodiment
- Figure 18 is a sectional view of a fifth embodiment along Iine18 to 18;
- Figure 19 is a sectional view of an alternative construction of the fifth embodiment.
- Figure 20 is an exploded view of a sixth embodiment
- Figure 21 is a sectional view of a sixth embodiment along line 21-21 ;
- Figure 22 is a sectional view of alternative construction of the sixth embodiment
- Figure 23 is an exploded view of a further embodiment; and Figure 24 is a sectional view through the embodiment of Figure 23 along line 24 to 24.
- Figure 1 illustrates how a typical prior art isotonic input device operates.
- a user contact or control surface is identified as 30.
- the input device translates movement on the control surface 30 into movement of, for example a cursor or other object, on a computer display 32.
- Signals are transmitted via a link 34.
- user manipulated movement 36 on the control surface 30 is translated into the corresponding object movement 38 on computer display 42.
- ⁇ d means a change in distance and G means a constant corresponding to a specific amount of gain.
- a conventional device the gain is fixed.
- the user cannot change the speed of the object movement except by means of a separate switch or by changing the software to assign a new gain value to the transfer function as described above.
- such conventional isotonic devices detect only a single user manipulable input variable which is the movement in the form of the distance the mouse is moved, or the change in contact positions with the touch pad.
- these devices are not equipped to detect any contact force F 1 at a point A (x-i, yi) nor the contact force F 2 at a point B (x 2 , y 2 ) such as shown in Figure 1.
- An aspect of the present invention is to use contact force as an element for control of the object movement through a touch control input device as explained in more detail below.
- Figure 2 illustrates a comparison between object movement according to the prior art and object movement according to the present invention.
- the contact or control surface 30 is shown with contact movement by a user between points A, B and C.
- the contact point is moved a short distance between A and B and a longer distance between B and C.
- a constant force F ab is applied between points A and B and a constant force F bc is applied between B and C.
- Figure 2c illustrates the translation of the user manipulated input movement of an object on a computer display 32 according to the prior art. Essentially, because a typical mouse is only concerned with translating movement, the object movement mirrors the user manipulated input movement and has a short leg A"B" and a longer B"C".
- Figure 2b illustrates the desired object movement according to an aspect of the present invention.
- the user contact force is measured, and used to, for example, vary the gain which governs the degree of object movement translated from the user contact with the control surface.
- a variable gain G is designed to respond directly in proportion to the magnitude of the applied force F.
- k is a transfer function provided by the hardware that relates output control signals to the force applied.
- This hardware transfer function k may be considered to be a constant in this example. In practice, the hardware transfer function k may also be varied by other control factors to further improve the ergonomics.
- the object movement on screen 32 as illustrated in Figure 2b is given by the relationship:
- a small movement AB modified by a higher force F ab produces a larger gross positioning displacement of the object on the computer screen 32 along A'B'.
- a lighter force F bc allows greater movement BC of the input device that is easier to control and more manoeuvrable for fine positioning of the cursor or the object along B'C which is conversely smaller.
- Figure 2 illustrates a preferred implementation of the present invention in which the gain, or sensitivity of control, varies according to the user manipulation of the input device. In this manner, more forceful touching is associated with larger gross movements while a soft touch is associated with smaller finer positioning.
- the contact force F is often applied by the user by the placement of a finger on the control surface.
- This touch provides a tactile feedback to the user, which along with the kinesthetic feedback from the movement of the control surface facilitates manipulation of the object.
- the kinesthetic feedback of the movement trajectory over the control surface provides a first mode or channel for feedback control and the tactile touch corresponding to the contact force on the control surface provides a second mode or channel of feedback control that is independent from the first.
- the second mode of input namely, the applied force, can be used to greatly enhance the control and manoeuvrability of object movement through the touch control input device.
- the touch control causes the object to respond in a natural and intuitive manner like in the physical world in that a force is applied to an object to accelerate or decelerate the object's movement and to steer the movement trajectory.
- the present invention further comprehends an input structure to provide an ergonomically intuitive input device. This structure is described in more detail below.
- the applied force F will typically vary along the path of the user manipulated movement 36.
- the force Fi at any given starting position of the control movement 36 may be different from the force of two at any given ending position of the incremental movement.
- the present invention overcomes this problem by simplifying the integration of the isotonic and isometric control modes most preferably into an integrated touch sensitive element.
- This is illustrated in Figures 3a and 3b, in which a finger 40 is shown moving on a user manipulable touch sensitive contact or control surface 30.
- the surface 30 is of known configuration such as a curved 3D surface, and for illustration only is shown as part spherical.
- the tangential component Ftangent of the contact force F is representative of both the tactile feel in magnitude and in direction for the motion of an object.
- the tangential force F tan gent is always coincident with the direction of the instantaneous movement ⁇ d ⁇ np u t as shown in Figure 3b.
- the object movement ⁇ d 0b)ect can be expressed as a function of the tangential force F ta ng e nt.
- the user contact pressure on a surface of known configuration can, according to the present invention, provide speed control and directional control in a single ergonomically efficient touch control input device.
- ergonomically efficient means that the user manipulation is intuitive, namely, the more force that is applied to the control surface, the faster the corresponding movement of the object or the cursor on the computer screen.
- a lighter touch on the control surface reduces the speed of movement of the object or the cursor on the computer screen.
- gross positioning can be achieved by a relatively small user movement with a forceful contact and fine positioning by a relatively large movement with a light touch.
- the tangential force when measured, can be used to vary the response sensitivity of the input device in real time as a function of the user contact or touching of the input device.
- object movement in response to an applied force is also related to the mass of the object - the heavier the object the slower the acceleration.
- the tactile feedback of the touch control input method according to the present invention can be further improved by introducing a virtual mass to the object.
- the hardware transfer function k that convert the force to output signals may be altered by an assigned value according to the property of the selected object representing a virtual mass of the object in the user interface.
- the object movement is then responsive to the applied contact force to the control surface as if there is a mass associated with the object. Hence, a larger force would be required to move an object to which a higher virtual mass value is assigned.
- This interactive gain control is particularly useful for differentiation when several objects are being manipulated.
- the tangential force F tan gent can be derived using geometric transformation.
- the present invention provides a mechanically simple force sensing apparatus which can be constructed to provide an output corresponding to the tangential force F tan gent, which can be used to simultaneously control the speed, direction of movement and sensitivity of response or gain.
- the actual contact force can be measured in any plane other than normal to the surface, from which the tangential force F tan g e n t may be derived.
- the various embodiments below measure directly a tangential force Ftangent, all that is necessary is to measure a force with a tangential component (i.e. anything other than a normal force) and to resolve for the tangential force Ftangent-
- the input apparatus 50 generally includes a user-manipulable movable member 52, a force transducer or a force transfer member 60 and a support 80.
- Figure 7 shows a sectional view
- Figure 8 shows the perspective view of the force transfer member 60.
- the movable member 52 comprises an exterior contact surface 54 of known configuration which means that it can be defined mathematically.
- the contact surface provides a physical contact with a user's finger 40, Figure 7, or a stylus (not shown).
- the contact surface 54 is shown as part spherical.
- the user-manipulable member 52 includes a column 56 extending from the interior and a shouldered end 58 of the column 56 is fixed to a centre hub 62 of the force transfer member 60.
- the force transfer member 60 is preferably in the shape of an integral spoked wheel which includes a rigid centre hub 62 and a rigid outer rim 64 connected by at least three, but most preferably four, spokes 66 disposed in a plane perpendicular to the central axis of the wheel (see Figure 8).
- the shouldered end 58 from the user-manipulable member 52 is mounted within a centre hole 68 at the center hub 62 of the force transfer member 60. It may be mechanically secured by being tight-fitting, by welding or other securing means. Any form of mounting is acceptable provided that the user contact force on the contact surface 54 can be transmitted to the spokes 66 of the force transfer member 60.
- the outer rim of the spoke wheel is provided with a plurality of holes 78 so that the force transfer member 60 can be fixed to a support 80 by means of screws 84, glue or other securing means.
- the spoked wheel 60 is preferably made of a resilient material such as a metal or a polymer sized and shaped so that the spokes 66 will flex in response to a force applied on the contact surface 54 of the user-manipulable member 52.
- a plurality of force sensors or stain gauges 70 are preferably mounted on the spoke surfaces at the inner end section 74 of the spokes 66 close to centre hub 62. Most preferably the strain gauges 70 are provided in pairs, on all opposed surfaces of the spokes and are disposed in planes perpendicular to the central axis of the wheel 60.
- strain gauges 72 are mounted on the end section 74 of the spokes 66 close to centre hub 62, in each case in pairs, on all opposed surfaces of the spokes disposed in planes extending parallel to the central axis of the wheel.
- Another preferred location for the placement of the strain gauges is the outer end section 76 of the spokes 66 close to the outer rim 64.
- force sensing can be done with strain gauges as shown, but that there are many types of forces sensors which may be used with equal effect, such as capacitive or resistive force sensing devices, such as wire gauges, piezoelectric gauges, thin film or thick film force sensing resistors or any other means that generates a signal in response to the strain or force changes.
- capacitive or resistive force sensing devices such as wire gauges, piezoelectric gauges, thin film or thick film force sensing resistors or any other means that generates a signal in response to the strain or force changes.
- FIG. 9a through 9f illustrate the bending moment in each of the spokes in schematic diagrams. These bending moments produce strain on the surfaces of the spokes.
- the location of the contact point and the contact force F can be derived from the sum and differences of strains measured through use of the equations set out above.
- the tangential force component F ta ngent is then obtained by geometric transformation.
- Figure 10 is a diagrammatic illustration of a 2D application of the present invention.
- the contact surface 54 is a planar surface, the operation is similar in that a tangential component of any applied force can be used to vary the gain of the input transfer.
- the contact surface 54 is a 3D surface, the user maps the movement 88 on an imaginary plane projected from the x-y plane of the apparatus. The user may perceive the normal of the contact surface at the point of contact of the finger 40 with the contact surface 54 as the z'-axis and x'-y' plane tangential to the control surface 54 at the point of contact, Figure 10.
- the axis O'x' is parallel to the Ox axis of the input device 50, and axis O'y' is parallel to the device axis Oy.
- the corresponding object movement 90 is illustrated schematically on the display 32, Figure 10.
- the present invention can also be used for rotational control in 3D applications. This is illustrated in Figure 11.
- the input movement 88 produces a rolling, pitching and yawing motion to a 3D object 92 about the apparatus' frame of reference Oxyz, Figure 13.
- the result is a 3D rotation 94 of the 3D object 92 about its corresponding reference frame O'x'y'z' as shown schematically on the display 32, Figure 11.
- a further aspect of the present invention is to use a switch or a select button (not shown) to switch between 2D translation and 3D rotation modes for an overall control of a spatial movement of an object.
- the known configuration of the contact surface as described in the first embodiment is a general construction that may be shaped to suit any specific application, or it may be shaped to simplify the mathematical computation required to derive the tangential force F tan e n t from the strain gauge signals.
- the force normal to a spherical surface will pass through its center and will not produce any moment on the body about the center.
- the force tangential to the spherical surface produces moment about the center equal to the force times the radius of the sphere.
- the computation requirement is very manageable.
- the present invention in its most preferred form provides for the use of a contact surface of known configuration, which is supported in a support structure. Associated with the contact surface is a force sensing means to produce a measured output. It will be appreciated that it has been found convenient to provide the force sensing means in the support structure, but that such sensing means can be located anywhere that permits it to be operatively connected to said contact surface to provide the desired output signals as explained herein.
- the output can be used to directly control an object or cursor's movement, and, by utilising the force measurement to instantaneously control gain, the response sensitivity can be intuitively varied by the user merely through varying touch on the contact surface.
- FIG. 12 is an illustration of a touch control input device in accordance with a second embodiment of the present invention shown in a cross sectional view.
- Input apparatus 100 generally includes a user- manipulable movable member 102, the same force transfer member 60 as in the first embodiment, and a support 112.
- the user-manipulable member 102 comprises a convex spherical exterior contact surface 104.
- the contact surface 104 provides a frictional contact for a user's finger or a stylus (not shown).
- the user-manipulable member 102 includes a column 106 extending from the interior and a bevelled end 110 of the column 106 pointed at the center of curvature of the spherical contact surface 104.
- a stepped section of the column 108 is placed in the center hole 68 at the centre hub 62 of the force transfer member 60 and is secured by interference fit, welding or other securing means so that the user contact force on the contact surface 104 can be transmitted to spokes 66 of the force transfer member 60.
- the force transfer member 60 is attached to a support 112 that may include mounting holes 116 and may be attached by means of screws 118 or other securing means.
- the supporting member 112 also includes a bevelled area 114 below the bevelled end 108 such that the user-manipulable member 102 can be movable around the center of curvature of the spherical contact surface 104 with the pointed end 110 as the fulcrum.
- the advantage of this embodiment is that the supporting member 112 supports the member 102 to act as a form of over strain protector, but still allows the member 102 to be movable about the center point of the part spherical contact surface 104.
- the normal component F n0 rmai of the contact force on the spherical contact surface 104 will not produce any effect on the strain gauges because it is balanced by a reaction force at the pivot 108.
- the tangential force F ta ng e n t produces moments M x , M y and M z about the x, y and z-axis with origin at the pivot point 108.
- the bending moments and hence the strains detected in the spokes 66 of the force transfer member 60 are then direct measurements of the components of the tangential force F t ang e n t along these axes, Figure 9.
- FIG. 13 An alternative embodiment of a touch control input device 120 for 2D applications that was designed in accordance with another embodiment of the present invention is illustrated in Figure 13 shown in a cross sectional view.
- the input device 120 is a variation of the second embodiment 100 and generally includes the user-manipulable movable member 102 and the support 112 of the second embodiment 100, and a planar force transfer member 130 which is formed from a planar substrate.
- the stepped shoulder 108 of the column 106 is attached in a centre hole 134 of the substrate 130 and is secured by force-fitting, welding or other securing means so that the user contact force on the contact surface 104 can be transmitted to the substrate 130.
- the substrate 130 is fixed to the support 102 so that the pointed end of the column 106 is seated on the bevelled support area 114 at the centre of the support 102.
- the substrate 130 also includes a plurality of mounting holes 136 such that the substrate 130 can be secured to the support 102 by means of screws 118 or other securing means.
- the user-manipulable member 102 can be movable around the pointed end 110 of the column 106 that is also the center of curvature of the convex spherical contact surface 104. Whether 2D or 3D, the size of the measured force will still be used to control the response sensitivity of the device to touch.
- the force transfer member 130 is made of a thin resilient plate and has a generally circular or disk shape.
- the substrate 130 may be made of a metal plate, ceramic, silicon crystal or resin materials.
- the substrate 130 can be notched to provide flexible crossed arms 140 as illustrated in Figure 14a or in the form of one flat disk as shown in Figure 14b.
- a plurality of strain gauges 138 or force sensors, preferably four, are placed on one side of the substrate 130.
- the force transfer member 130 in the form of planar substrate would make it easier to deposit a thin film or thick film strain gauges on its surface.
- the strain gauges 138 detect the motion of the user-manipulable member 102. The operation is similar to that of the second preferred embodiment wherein the tangential force Ftangent of contact can be directly measured by the strain gauges.
- planar force-sensing substrate is not limited to a cross-shape nor a disk plate, and that various modifications or alterations may be made without departing from the scope of the present invention provided that output signals are generated which are related to the force applied to the touch control input device.
- FIG 15 is an illustration of another touch control input device150 for 2D applications in accordance with another embodiment of the present invention.
- the input device 150 generally includes a user- manipulable member 152, a force transfer member 160 in the general shape of a columnar force stick of which one end 164 is supported within a central portion of a support 170.
- Four strain gauges 166 are fixed to the four side faces of the columnar body 162 near the fixed end 164.
- a perspective view of the force stick 160 on the support 170 is shown in Figure 16.
- the user-manipulable member 152 comprises generally a convex spherical exterior contact surface 154.
- the contact surface provides a frictional contact with a user's finger or a stylus (not shown).
- a hollow column 156 extends from the interior into the columnar body 160 so that the center of curvature of the convex spherical control surface 154 coincides with the fixed end 164 of the columnar force stick 160.
- the support 170 and the columnar body of the force stick 160 can flex about the center of curvature of the contact surface 154 in response to force applied on the user-manipulable member.
- the strain gauge or force sensors can be any conventional resistive or capacitive strain gauges, thin film or thick film force sensing resistors, or the like.
- the columnar body 160 can be either rectangular or circular in cross section. The circular cross section responds uniformly in all directions while the rectangular cross section may exhibit some non- uniformity in output signals in response to forces from different directions due to the variation of the bending properties in different directions. However, this effect may be minimized by offsetting the orientation of the flexible force transmitting member from the user's spatial axis.
- Adequate results may be obtained by using force transducers of the columnar body plus support type as are commercially available as series 105 Thick Film Pointing Device by CTS Corporation.
- FIG. 17 is an illustration of a input device 180 shown in an exploded view
- Figure 18 is an illustration of the input device 180 shown in a cross sectional view.
- the input device180 generally includes a user- manipulable movable member 182, a support 198 and a force transfer member 60 as described in the first embodiment.
- the user-manipulable member 182 generally comprises a convex spherical exterior contact surface 184 and an interior surface 186 that is spherical in shape and concentric with the spherical exterior contact surface 184.
- the support 198 generally comprises a bearing body 200.
- the interior surface 186 of the user-manipulable member 182 bears on a bearing surface 202 provided by the bearing body 200.
- the bearing surface 202 is spherical in shape and has the same radius as the interior surface 186 such that the user manipulable member 182 can be movable around a center of curvature of the exterior contact surface 184.
- the outer rim 64 of the force transfer member 60 is located towards the periphery 188 of the user-manipulable member 182.
- the user-manipulable member 182 may provide a plurality of mounting holes 190 at the periphery 188 to secure the force transfer member 60, such that the user contact force on the contact surface 184 can be transmitted to the spokes 66 of the force transfer member 60 .
- the securing means can be screws 192 as shown, or by other mechanical means such as rivetting, welding or by adhesives.
- the center hub 62 of the force transfer member 60 is mounted to a center column section 204 on the bearing body 200 of the support 198. The user- manipulable member 182 is therefore constrained to move around the centre of curvature of the contact surface 184.
- the friction between the inner surface of the movable member and the support surface may introduce a threshold barrier to sensing any tangential force. More specifically, the force detected by the force sensing means is the tangential force less the friction between the surfaces.
- the small threshold barrier may be beneficial to a touch-sensitive input apparatus. This provides a mechanically based dampening effect to suppress any disturbances that may be caused by, for example, hand tremor.
- U.S. Patent 5,764,319 to Rutledge et al. in which a dead band zone is deliberately introduced in the software transfer function of an isometric joystick controller to provide a software threshold resistance to movement.
- the introduction of a small friction threshold in this embodiment is a mechanical solution which has the advantage of eliminating delay due to software computation.
- PTFE Polytetrafluoroethene
- Teflon Commercially available as Teflon manufactured by DuPont
- the threshold resistance caused by the friction can be minimized by applying a coating of PTFE material to the bearing surfaces, that is, the interior spherical surface 186 of the user-manipulable member 182 and the spherical bearing support surface 202.
- the movable member 182 and the bearing body 200 may be made from PTFE modified material.
- FIG. 19 Another solution to the threshold resistance issue is illustrated in an alternative construction of embodiment 180 as illustrated in Figure 19 which shows a cross sectional view. All the parts in this alternative construction are the same as the last embodiment 180 except that there are a plurality of small pockets 234 on the bearing body 232. A plurality of spherical balls 236 are held in pockets 234 so that the spherical inner surface of the movable member is supported by ball bearings ( Figure 19), such that the movable member is constrained to move on the spherical balls 235 around its center of curvature.
- the rolling friction from the ball bearings is normally a small fraction of the sliding friction of two spherical surfaces in direct contact to substantially eliminate the threshold resistance. It is appreciated that any other friction reduction method may also be used to keep the threshold resistance under control.
- convexity is not a constraint to the configuration of the contact surface in the present invention.
- This can be illustrated in another embodiment similar in construction to the fifth embodiment 180 except with a spherical concave contact surface.
- a sixth embodiment 240 of a touch control input device which was designed to perform in accordance with the above explained input control method will now be described with reference to Figure 20 through 22.
- Figure 20 is an illustration of the input device 240 shown in an exploded view and Figure 21 is an illustration of the device 240 shown in a cross sectional view.
- the input device 240 is a variation of the last embodiment 180 and generally includes a user-manipulable movable member 242, the force transfer member 60 that was described in the first embodiment, and a support 260.
- the user-manipulable member 242 is similar in construction to the user-manipulable member 182 of the last embodiment and generally comprises a concave spherical exterior contact surface 244 and an interior surface 246 that is spherical in shape and concentric with the spherical exterior contact surface 244.
- the support 260 comprises of a concave bearing body 262 on the base 210 which was described in the previous embodiment.
- the interior surface 246 of the user-manipulable member 242 bears on a bearing surface 264 provided by the bearing body 262.
- the bearing surface 264 is spherically concave in shape and has the same radius as the interior surface 246 such that the user-manipulable member 242 is movable around a center of curvature of the exterior contact surface 244.
- the outer rim 64 of the force transfer member 60 is mounted to the periphery 250 of the user-manipulable member 242.
- the user-manipulable member 242 may provide a plurality of mounting holes 252 at the periphery 250 to secure the force transfer member 60, such that the user contact force on contact surface 244 is transmitted to the spokes 66 of the force transfer member 60 .
- the securing means can be screws 192 as shown, or by other mechanical means such as riveting, welding or by adhesives.
- the center hub 62 of the force transfer member 60 is disposed to a center column section 266 on the bearing body 262 of the support 260.
- the user-manipulable member 242 is therefore configured and constrained to move around its center of curvature. It will be apparent to those skilled in the art that the normal force Fn or a i of the contact pressure will not induce any strain on the flexible force-sensing member.
- the bending moments detected in the spokes 66 of the force transfer member 60 are direct measurements of components of the tangential force F tange nt along the x, y, and z-axis.
- the bearing surface 264 and the interior surface 246 that are in direct contact may be coated with PTFE or the bearing body 262 and the user-manipulable member may be made from PTFE modified material to reduce the threshold resistance.
- ball bearings may be used to achieve the same purpose as shown in the alternative construction as shown in Figure 22.
- a Planar surface can also be represented by simple mathematical expression. Similar to the embodiments for the spherical contact surface, it is possible to detect the tangential force on a planar contact surface directly such that the calculation steps can be simplified enough to provide instantaneous responses.
- This is illustrated in a further embodiment 280 of the present invention as shown in Figures 23 through 24.
- the construction of this embodiment is similar to the last embodiment in which a movable manipulable member 282 provides a planar contact surface 284 for user contact.
- the movable member 282 is constrained to move in a horizontal x-y plane by a horizontal planar bearing surface 294 provided by a support 290.
- the same force-transfer member 60 is used in this construction. Only the set of strain gauges 72 mounted on the vertical side of the spokes 66 of the force transfer member 60 will be responsive to the horizontal tangential force, Figure 9.
- the force components can be measured by summing the respective strain gauge signals.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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EP00971193A EP1230621A1 (en) | 1999-11-08 | 2000-10-25 | A method of touch control of an input device and such a device |
AU10145/01A AU1014501A (en) | 1999-11-08 | 2000-10-25 | A method of touch control of an input device and such a device |
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Application Number | Priority Date | Filing Date | Title |
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US09/435,694 | 1999-11-08 | ||
US09/435,694 US6388655B1 (en) | 1999-11-08 | 1999-11-08 | Method of touch control of an input device and such a device |
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WO2001035328A1 true WO2001035328A1 (en) | 2001-05-17 |
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PCT/CA2000/001262 WO2001035328A1 (en) | 1999-11-08 | 2000-10-25 | A method of touch control of an input device and such a device |
Country Status (6)
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US (1) | US6388655B1 (en) |
EP (1) | EP1230621A1 (en) |
CN (1) | CN1387659A (en) |
AU (1) | AU1014501A (en) |
TW (1) | TW525092B (en) |
WO (1) | WO2001035328A1 (en) |
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ANON.: "MOPS: 3D Computer "Maus"", TECHNISCHE RUNDSCHAU, vol. 84, no. 10, 6 March 1992 (1992-03-06), Bern, CH, pages CeBit 11 - CeBit 12, XP000258231 * |
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EP1293928A3 (en) * | 2001-09-17 | 2004-05-12 | Alps Electric Co., Ltd. | Coordinate input device having non-flat operation surface and electronic apparatus |
US7321361B2 (en) | 2001-09-17 | 2008-01-22 | Alps Electric Co., Ltd. | Coordinate input device having non-flat operation surface and electronic apparatus |
CN100416472C (en) * | 2002-07-16 | 2008-09-03 | 阿尔卑斯电气株式会社 | Electrostatic condenser coordinate input device |
WO2005057396A1 (en) * | 2003-12-09 | 2005-06-23 | Vladimir Stepanovich Nikitin | Method for tracking control and device for carrying out said method |
GB2471178A (en) * | 2009-06-16 | 2010-12-22 | Intel Corp | Concave, thumb operated touch sensor for one handed operation of a mobile computing device |
GB2471178B (en) * | 2009-06-16 | 2012-01-04 | Intel Corp | Contoured thumb touch sensor apparatus |
US8674951B2 (en) | 2009-06-16 | 2014-03-18 | Intel Corporation | Contoured thumb touch sensor apparatus |
USD745508S1 (en) | 2013-03-15 | 2015-12-15 | Intel Corporation | Computing device with sensor |
USD732526S1 (en) | 2013-04-16 | 2015-06-23 | Intel Corporation | Computing device with sensor |
WO2015043709A1 (en) * | 2013-09-30 | 2015-04-02 | Daimler Ag | Control device for controlling an adjustable seat of a motor vehicle |
US9908438B2 (en) | 2013-09-30 | 2018-03-06 | Daimler Ag | Control device for controlling an adjustable seat of a motor vehicle |
FR3098618A1 (en) * | 2019-07-08 | 2021-01-15 | Etablissement Public | INCREASED ROBUSTNESS HAPTICAL FEEDBACK CONTROL INTERFACE |
Also Published As
Publication number | Publication date |
---|---|
TW525092B (en) | 2003-03-21 |
US6388655B1 (en) | 2002-05-14 |
AU1014501A (en) | 2001-06-06 |
EP1230621A1 (en) | 2002-08-14 |
CN1387659A (en) | 2002-12-25 |
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