Patent ID: 6154198
Filing Date: 2000-11-28
Classification: A61B,A63F,G05G,G06F,G09B

Abstract:
An input/output device used in conjunction with a host computer for monitoring user manipulations and for enabling simulation of feel sensations in response to said user manipulations, said feel sensations being generated in accordance with software running on said host computer, said input/output device comprising:a user manipulatable object physically contacted by a user at one end and pivotally attached to a ground surface at another end, said pivot allowing said user manipulatable object to be movable in at least two degrees of freedom by said user with respect to said ground surface;first and second actuators coupled to said ground surface for generating feel sensations by outputting forces that are transmitted to said user manipulable object in at least two degrees of freedom with respect to said ground surface;first and second slotted yoke members for transmitting forces from said first and second actuators to said user manipulatable object, said user manipulatable object passing through a first slot included in said first slotted yoke member and through a second slot included in said second slotted yoke member;a local processor separate from said host computer for executing a software process in response to a command sent to said input/output device from said host computer, said software process setting a damping constant representing a degree of resistance to be imposed upon said user manipulatable object by said actuators, and said software process deriving force values to be applied to said actuators to cause said output of said forces, wherein said derivation is based at least in part upon said damping constant and a velocity of said user manipulatable object; andat least one sensor for detecting motion of said user manipulatable object with respect to said ground surface, said at least one sensor reporting a representation of said sensor signals to said local processor.