Patent ID: 6191774
Filing Date: 2001-02-20
Classification: A61B,A63F,B25J,G01B,G05B,G05G,G06F,G09B,H01H

Abstract:
A mouse interface device for interfacing a user's motion with a host computer and providing force feedback to said user, said mouse interface device comprising:a mouse object contacted and manipulated by a user and moveable in a planar workspace with respect to a reference surface;a planar linkage including a plurality of members rotatably coupled to each other, said linkage including a first base member rotatably coupled to said reference surface, a link member rotatably coupled to said first base member, a second base member rotatably coupled to said reference surface, and an object member rotatably coupled to said link member and rotatably coupled to said second base member, wherein said mouse object is coupled to one of said link member and said object member, and wherein said first base member and said second base member pivot about a single axis with respect to said reference surface;two electromagnetic actuators providing forces in said planar workspace of said mouse object, said forces caused by interactions between an electric current and a magnetic field, wherein each of said actuators includes a coil portion and a magnet portion coupled to said ground surface through which said coil portion moves, wherein said base members each consist of one unitary piece, wherein a coil of one of said coil portions is integrated in each of said unitary pieces, and wherein said actuators are controlled from commands output by said host computer; andat least one sensor coupled to said reference surface and separate from said two actuators, said sensor detecting movement between said coil portion and said magnet portion of at least one of said actuators, wherein said sensor provides a sensor signal including information describing said movement from which a position of said mouse object in said planar workspace can be determined.