Patent ID: 6166723
Filing Date: 2000-12-26
Classification: 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 said user and moveable in a planar workspace with respect to a ground surface;a planar linkage including five members rotatably coupled to each other, wherein said linkage is arranged such that a ground member is rigidly coupled to said ground surface, a first base member is rotatably coupled to said ground member to rotate about an axis of rotation, a first link member is rotatably coupled to said first base member, a second base member is rotatably coupled to said ground member at said axis of rotation such that said first base member and said second base member pivot about a single axis with respect to said ground member, and a second link member is rotatably coupled to said first link member and said second base member, wherein said mouse object is coupled to said planar linkage at said coupling of said first link member and said second link member;a plurality of 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 integrated with one of said members of said linkage and a magnet portion coupled to said ground surface through which said coil portion moves, and wherein said actuators are controlled from commands output by said host computer; anda plurality of sensors coupled to said ground surface and separate from said actuators, wherein said sensors provide at least one sensor signal including information describing said movement of said mouse object from which a position of said mouse object in said planar workspace is determined.