Patent ID: 6128006
Filing Date: 2000-10-03
Classification: A63F,G01C,G06F

Abstract:
An interface device for interfacing a user's input with a host computer and providing force feedback to said user, said interface device comprising:a user manipulandum contacted and manipulated by a user and moveable in two degrees of freedom in a planar workspace with respect to a ground surface;a workspace sensor coupled to said user manipulandum for detecting a position of said user manipulandum in said planar workspace and operative to send a position signal to said host computer indicating a position of said user manipulandum in said planar workspace;a rotatable wheel coupled to said user manipulandum and rotatable about a wheel axis independently of said position of said user manipulandum in said planar workspace, said wheel rotatable by a digit of said user;a wheel sensor coupled to said wheel and providing a wheel signal to said host computer indicating a rotary position of said wheel; anda wheel actuator coupled to said rotatable wheel and operative to apply a computer-modulated force to said rotatable wheel about said wheel axis, wherein said force is modulated as a function of time or wheel position about said wheel axis to convey a force sensation to said user through said digit of said user.