Computer graphics processing and selective visual display system – Display peripheral interface input device
Reexamination Certificate
1997-05-20
2002-08-13
Chow, Dennis-Doon (Department: 2675)
Computer graphics processing and selective visual display system
Display peripheral interface input device
C345S157000, C345S161000, C345S163000
Reexamination Certificate
active
06433771
ABSTRACT:
FIELD OF THE INVENTION
This invention relates generally to haptic devices and, in particular, to apparatus and methods for controlling behavioral attributes associated with such devices while maintaining a basic pattern of force or tactile feedback.
BACKGROUND OF THE INVENTION
Specialized force-feedback devices originated in the 1960's with the introduction of teleoperations, wherein, typically, a smaller controller or master robot was moved by an operator to control the movements of a larger slave robot. Forces detected at the slave were then fed back to the operator through actuators at the location of the master. Such prior art is discussed in U.S. Pat. Nos. 5,389,865 and 5,459,382 to Jacobus, et al, and also described elsewhere in the literature.
In the late 1980's, NASA funded several programs using force feedback devices which were not identically configured as miniature versions of a slave device. This advance enabled an operator such as an astronaut to control a number of different space-based robots and cranes from a “universal” controller. To realize this concept, the master controller was logically connected to the slave through a network of computers which were capable of translating the master kinematics typically into Cartesian coordinates and from Cartesian to slave kinematics (and back again).
With such computer translation in place on the master side of the system, it becomes possible to send inputs from the master, be it a joystick, wheel, yoke, or other type of manipulator, to a simulated slave rather than to a real one, and to accept forces from the simulation for application to the master as well. The simulation need not represent a real device, like a crane or robot, but may be a simulated vehicle, weapon or other implement. The simulation may also reside in a person performing a task in a virtual world such as walking, handling objects, and touching surfaces). Such innovations are among those disclosed in the patents referenced above.
When forces are generated from an abstract virtual environment, often the meaning of the force sequences is in their relative relationship as opposed to the generation of absolute force values. For instance, one reason why a particular object may seem hard and another soft may be that the “hard” object simply allows less push-in when touched as compared to the other. This kind of relationship may be maintained between virtual objects at any absolute average force output, assuming the ratio of the two values remain the same (and, to a lesser extent, when greater-than and less-than relationships are maintained).
When translating abstract forces to real forces at a force reflecting device, it may be desirable to map the virtual forces down to the scale offered by the device. For instance, when an explosion special effect is played, the shake generated is typically much smaller than would naturally result from the explosion. For many tasks, there is an appropriate level of force which maximizes task performance and user preferences. In addition, some users prefer different levels of average force output. Thus, the need exists for a force-level adjustment for use in conjunction with such devices to meet user and performance requirements.
SUMMARY OF THE INVENTION
This invention provides apparatus and methods for modifying parameters or values in a force-reflection system to alter one or more of the system's behavioral characteristics without changing the basic relative pattern of the force outputs. The invention may be implemented in linear or non-linear fashion and across multiple points in a haptic system, including power output to actuators, controls for the power output system, and at a higher or application level to control lower-level or primitive functions. Arrays of haptic controls or equivalent graphical user interface (GUI) elements may also be used to define haptic force temporal sequences for replay. Overall, the invention may be used to adjust attributes such as amplitude maximum and average, play-out rate, and play-out lead/lag in conjunction with any type of user-manipulable member, including a joystick, wheel, yoke, or non-contact arrangement.
REFERENCES:
patent: 3919691 (1975-11-01), Noll
patent: 4477043 (1984-10-01), Repperger
patent: 4560983 (1985-12-01), Williams
patent: 4706294 (1987-11-01), Ouchida
patent: 4800721 (1989-01-01), Comenska et al.
patent: 4823634 (1989-04-01), Culver
patent: 4861269 (1989-08-01), Meenen, Jr.
patent: 4868549 (1989-09-01), Affinito et al.
patent: 4949119 (1990-08-01), Moncrief et al.
patent: 4964004 (1990-10-01), Barker
patent: 4983901 (1991-01-01), Lehmer
patent: 5007300 (1991-04-01), Siva
patent: 5044956 (1991-09-01), Behensky et al.
patent: 5076517 (1991-12-01), Ferranti et al.
patent: 5103404 (1992-04-01), McIntosh
patent: 5107080 (1992-04-01), Rosen
patent: 5142931 (1992-09-01), Menahem
patent: 5146566 (1992-09-01), Hollis, Jr. et al.
patent: 5184319 (1993-02-01), Kramer
patent: 5185561 (1993-02-01), Good et al.
patent: 5186629 (1993-02-01), Rohen
patent: 5191645 (1993-03-01), Carlucci et al.
patent: 5193963 (1993-03-01), McAffee et al.
patent: 5197003 (1993-03-01), Moncrief et al.
patent: 5220260 (1993-06-01), Schuler
patent: 5223776 (1993-06-01), Radke et al.
patent: 5264768 (1993-11-01), Gregory et al.
patent: 5354162 (1994-10-01), Burdea et al.
patent: 5381080 (1995-01-01), Schnell et al.
patent: 5389865 (1995-02-01), Jacobus et al.
patent: 5392284 (1995-02-01), Sugiyama
patent: 5396266 (1995-03-01), Brimhall
patent: 5402499 (1995-03-01), Robison et al.
patent: 5414337 (1995-05-01), Schuler
patent: 5459382 (1995-10-01), Jacobus et al.
patent: 5513100 (1996-04-01), Parker et al.
patent: 5524195 (1996-06-01), Clanton, III et al.
patent: 5526480 (1996-06-01), Gibson
patent: 5576727 (1996-11-01), Rosenberg et al.
patent: 5583478 (1996-12-01), Renzi
patent: 5587937 (1996-12-01), Massie et al.
patent: 5588139 (1996-12-01), Lanier et al.
patent: 5589854 (1996-12-01), Tsai
patent: 5619180 (1997-04-01), Massimino et al.
patent: 5621805 (1997-04-01), Loh et al.
patent: 5623582 (1997-04-01), Rosenberg
patent: 5625576 (1997-04-01), Massie et al.
patent: 5642469 (1997-06-01), Hannaford et al.
patent: 5643087 (1997-07-01), Marcus et al.
patent: 5666138 (1997-09-01), Culver
patent: 5691898 (1997-11-01), Rosenberg et al.
patent: 5696537 (1997-12-01), Solhjell
patent: 5709219 (1998-01-01), Chen et al.
patent: 5714978 (1998-02-01), Yamanaka et al.
patent: 5721566 (1998-02-01), Rosenberg
patent: 5731804 (1998-03-01), Rosenberg
patent: 5734373 (1998-03-01), Rosenberg et al.
patent: 5739811 (1998-04-01), Rosenberg et al.
patent: 5742278 (1998-04-01), Chen et al.
patent: 5767457 (1998-06-01), Gerpheide et al.
patent: 5767839 (1998-06-01), Rosenberg
patent: 5781172 (1998-07-01), Engel et al.
patent: 5784052 (1998-07-01), Keyson
patent: 5790108 (1998-08-01), Salcudean et al.
patent: 5802353 (1998-09-01), Avila et al.
patent: 5805140 (1998-09-01), Rosenberg et al.
patent: 5825308 (1998-10-01), Rosenberg
patent: 5828363 (1998-10-01), Yaniger et al.
patent: 5884029 (1999-03-01), Brush, II et al.
patent: 5889670 (1999-03-01), Schuler et al.
patent: 5944151 (1999-08-01), Jakobs et al.
patent: 5959613 (1999-09-01), Rosenberg et al.
patent: 5999168 (1999-12-01), Rosenberg et al.
patent: 6005551 (1999-12-01), Osborne et al.
patent: 6028593 (2000-02-01), Rosenberg et al.
patent: 6046726 (2000-03-01), Keyson
patent: 6147674 (2000-11-01), Rosenberg et al.
patent: 626634 (1994-11-01), None
patent: WO95/20788 (1995-08-01), None
patent: WO95/32459 (1995-11-01), None
patent: WO97/21160 (1996-11-01), None
patent: WO 98/49614 (1998-11-01), None
patent: WO 98/58308 (1998-12-01), None
P. Kilpatrick, “The Use of a Kinesthetic Supplement in an Interactive Graphics System,” the University of North Carolina at Chapel Hill, 1976.
L. Jones, I. Hunter, “A perceptual analysis of stiffness,”Experimental Brain Research, 1990, pp. 150-156.
S. Jacobsen, F. Smith, D. Backman, E. Iversen, High Performance, High Dexterity, Force Reflective Teleoperator II.
L. Rosenberg, “A Force Feedback Programming Primer”.
P.
Peurach Thomas M.
Yocum Todd
Chow Dennis-Doon
Cybernet Haptic Systems Corporation
Nelson Alecia D.
LandOfFree
Haptic device attribute control does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Haptic device attribute control, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Haptic device attribute control will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2905978