Immersion Corporation

Microscribe, LLC

Scott B Brave

Louis B Rosenberg

Bruce M Schena

Sian W Tan

Bernard G Jackson

A method and apparatus for providing force feedback to a user operating a human/computer interface device in conjunction with a graphical user interface (GUI) displayed by a host computer system. A physical object, such as a joystick or a mouse, controls a graphical object, such as a cursor, within the GUI. The GUI allows the user to interface with operating system functions implemented by the computer system. A signal is output from the host computer to the interface device to apply a force sensation to the physical object using one or more actuators. This desired force sensation is associated with at least one of the graphical objects and operating system functions of the graphical user interface and is determined by a location of the cursor in the GUI with respect to targets that are associated with the graphical objects. The graphical objects include icons, windows, pull-down menus and menu items, scroll bars ('sliders'), and buttons. The force sensation assists the user to select a desired operating system function or physically informs the user of the graphical objects encountered by the cursor within the GUI. A microprocessor local to the interface apparatus and separate from the host computer can be used to control forces on the physical object.

Providing force feedback to a user of an interface device based on interactions of a user-controlled complaint paddle with a simulated object in a graphical environment

A method and apparatus for providing force feedback to a user operating a human/computer interface device and interacting with a computer-generated simulation. In one aspect, a computer-implemented method simulates the interaction of simulated objects displayed to a user who controls one of the simulated objects manipulating a physical object of an interface device. The position of the simulated object, as provided within the simulation and as displayed, is mapped directly to the physical position of the user object. This mapping is broken under conditions that are effective to provide force feedback to the user which imparts a physical sensation corresponding to the interaction of the simulated objects. In another aspect, hand-to-hand combat is simulated wherein a user controls a simulated object by manipulating a physical object, such a sword hilt, to allow the user to utilize a wide range of physical skill and dexterity in interacting with the simulation. In another aspect, a simulation apparatus provides a display device such as one or more display screens or a projection device, and which also provides an intuitive mechanical interface device for the user to skillfully and dexterously manipulate objects within a computer-generated simulation.

Force feedback device for simulating combat

Method and apparatus for providing peer-to-peer force feedback over a computer network. A network force feedback system includes a network, a first computer coupled to the network, and a second computer coupled to the network. The first and second computers each include a visual display and a force feedback interface device. Each computer provides a force feedback signal to its force feedback device based on information received from the other, remote computer and in some cases also based on input from the local force feedback device. Positional information of each force feedback device and/or feel sensation information can be transmitted between the computers over the network. A graphical environment can be displayed to enhance the interaction between users. The present invention therefore permits two computer users to interact using force feedback provided over a network on a peer-to-peer basis.

Networked applications including haptic feedback

Providing force feedback to a user of an interface device based on interactions of a user-controlled cursor in a graphical user interface

A method and apparatus for providing force feedback to a user operating a human/computer interface device and interacting with a computer-generated simulation. In one aspect, a computer-implemented method simulates the interaction of simulated objects displayed to a user who controls one of the simulated objects manipulating a physical object of an interface device. The position of the simulated object, as provided within the simulation and as displayed, is mapped to the physical position of the user object. This mapping can be broken under conditions that are effective to provide force feedback to the user which imparts a physical sensation corresponding to the interaction of the simulated objects.

Interactions between simulated objects with force feedback

A digitizing system and rotary table for determining the three-dimensional geometry of an object. An apparatus includes at least one sensor detecting information describing the three-dimensional geometry of the object and providing the information to a host computer. A rotary table includes a base and a turntable rotatable about an axis positioned perpendicularly to the turntable surface. The turntable and object on its surface rotate about the axis during or between the sensor detecting the information describing the three-dimensional geometry of the object. A turntable sensor coupled to the base measures the rotation of the turntable, where the turntable sensor outputs turntable data indicative of the rotation to the host computer.

Digitizing system and rotary table for determining 3-D geometry of an object

A method and apparatus for providing force feedback to a user operating a human/computer interface device and interacting with a computer-generated simulation. In one aspect, a computer-implemented method simulates the interaction of simulated objects displayed to a user who controls one of the simulated objects manipulating a physical object of an interface device. The position of the simulated object, as provided within the simulation and as displayed, is mapped directly to the physical position of the user object. This mapping is broken under conditions that are effective to provide force feedback to the user which imparts a physical sensation corresponding to the interaction of the simulated objects. In another aspect, a ball simulated ball object interacts with a user-controlled simulated object in a simulation to allow the user to utilize a wide range of physical skill and dexterity in interacting with the simulation. In another aspect, a simulation apparatus provides a display device such as one or more display screens or a projection device, and which also provides an intuitive mechanical interface device for the user to skillfully and dexterously manipulate objects within a computer-generated simulation.

Providing interactions between simulated objects using force feedback

A method and apparatus for providing force feedback to a user operating a human/computer interface device in conjunction with a graphical user interface (GUI) displayed by a host computer system. A physical object, such as a joystick or a mouse, controls a graphical object, such as a cursor, within the GUI. The GUI allows the user to interface with operating system functions implemented by the computer system. A signal is output from the host computer to the interface device to apply a force sensation to the physical object using one or more actuators. This desired force sensation is associated with at least one of the graphical objects and operating system functions of the graphical user interface and is determined by a location of the cursor in the GUI with respect to targets that are associated with the graphical objects. The graphical objects include icons, windows, pull-down menus and menu items, scroll bars (&ldquo;sliders&rdquo;), and buttons. The force sensation assists the user to select a desired operating system function or physically informs the user of the graphical objects encountered by the cursor within the GUI. A microprocessor local to the interface apparatus and separate from the host computer can be used to control forces on the physical object.

Method for providing force feedback to a user of an interface device based on interactions of a controlled cursor with graphical elements in a graphical user interface

A method and apparatus for measuring three-dimensional (3-D) coordinates. A 3-D object can be digitized into a mesh representation manipulable by a computer system by tracing a stylus of a probe apparatus over surfaces of the object. The probe apparatus includes an arm having a series of linkages and joints. The arm can be assembled by placing the joints of the arm in joint fixtures a desired distance and angle apart and bonding the joints to a linkage. The probe apparatus is calibrated by placing the tip of the stylus at an arbitrary point in a work volume and varying the stylus' orientation to find error values and determine calibration parameters. The sensors of the probe apparatus are zeroed by placing the probe apparatus in the only possible home position and assigning assumed starting angles to the sensors. A rotary table can be used to support the object being digitized, where the rotation of the rotary table and object during digitization is sensed and included in coordinate calculations. A mesh representation of the object is developed by a computer system by incrementally creating and displaying triangles from data points of contour lines of the mesh. A selection template allows commands to be selected by the stylus by defining a template having selection areas within the probe's work volume and associating the selection areas with specific commands to the host computer.

Method and apparatus for tracking the position and orientation of a

Method and apparatus for providing simulated physical interactions

A method for assembling a linkage assembly for a 3-D Digitizing Probe Apparatus. A linkage assembly for incorporation into the probe apparatus includes a linkage and a joint member provided at each end of the linkage. Joint fixtures for receiving and holding the joints are provided at a desired distance and orientation apart. The joint members are loosely coupled to the linkage and are moved relative to the linkage so that the joint members fit in the joint fixtures and so that the linkage provides a desired length between the joints. The joint members are bonded to the linkage while the assembly is in the fixtures, thus fastening the components of the assembly together with minimal stress to the assembly and providing a precise linkage length and orientation of joints in the assembly.

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Edwards, CO, United States of America

Scott B Brave