Abstract:
An input peripheral for a computer or the like, includes a moving portion ( 6, 60 ) handled by the operator and fitted with electrical sensors ( 40, 41, 44, 47 ) suitable for generating electrical signals for the computer in response to movements imposed on the moving portion by the operator. The moving portion includes a shell ( 6 ) connected to a stationary base ( 2 ) via a linkage arranged to allow any movement of the shell ( 6 ) relative to the base with the exception of movement in a direction substantially perpendicular to a bearing plane of the base, the moving portion further including a hull ( 60 ) that is entrained by the shell ( 6 ) and that includes a side wall ( 63 ) extending so as to prevent any intrusion under the shell ( 6 ) regardless of its position.

Description:
[0001]    The invention relates to improvements made to input peripherals for a computer or the like. 
       BACKGROUND OF THE INVENTION 
       [0002]    A known computer input peripheral that is commonly referred to as a“mouse” comprises a shell on which the hand of an operator bears and that is fastened on a base that is suitable for sliding on a plane surface. Such a mouse is fitted with electrical sensors suitable for generating electrical signals for the computer in response to movements of the mouse, making it possible to discriminate between movements in two distinct directions, which is sufficient for most office applications, but not sufficient to enable a virtual or real object to be manipulated in three dimensions. 
         [0003]    Another known input peripheral, e.g. disclosed in document U.S. Pat. No. 6,333,733, is constituted by a stationary base and by a shell connected to the base via a linkage providing the shell with three degrees of freedom to move in translation and three degrees of freedom to move in rotation relative to the base. The operator moves the shell in three dimensions depending on the movements the operator seeks to impart to the object being manipulated, and the operator can make use of several degrees of freedom simultaneously. The software that makes use of the signals from sensors fitted to such an input peripheral is advantageously programmed so that the movements of the controlled object faithfully reproduce the movements of the shell. 
         [0004]    Nevertheless, one of the degrees of freedom corresponds to the shell moving in a direction perpendicular to the bearing plane on which the base of the peripheral rests. This characteristic means that the hand cannot be rested on the shell, which imposes carpal stress (i.e. where the hand joints the wrist) and the wrist is extended, which over time can lead to a musculo-skeletal disorder known as carpal tunnel syndrome. 
         [0005]    In addition, carpal stress limits the accuracy with which the shell can be moved. 
       OBJECT OF THE INVENTION 
       [0006]    An object of the invention is to provide an input peripheral that attenuates the above-mentioned drawback. 
       BRIEF DESCRIPTION OF THE INVENTION 
       [0007]    In order to achieve this object, there is provided an input peripheral for a computer or the like, the peripheral comprising a moving portion handled by the operator and fitted with electrical sensors suitable for generating electrical signals for the computer in response to movements imposed on the moving portion by the operator. According to the invention, said moving portion comprise a shell connected to a stationary base by means of a linkage arranged to allow any movement of the shell relative to the base with the exception of movement in a direction substantially perpendicular to a bearing plane of the base, the moving portion further comprising a hull that is entrained by the shell and that includes a side wall extending so as to prevent any intrusion under the shell regardless of its position. 
         [0008]    The shell can then be manipulated with five degrees of freedom corresponding to two degrees of freedom to move in translation in directions that are substantially parallel to the bearing plane of the base, and three degrees of freedom to move in rotation, that can be made to correspond with the corresponding five degrees of freedom of the object being manipulated. 
         [0009]    The missing sixth degree of freedom can be controlled by a control member fitted to the peripheral. 
         [0010]    Thus, it is possible to control at least five degrees of freedom of the manipulated object while the hand continues to be rested, and while maintaining very instinctive correspondence between the movements of the shell and the movements of the objects being manipulated. 
         [0011]    In addition, resting the hand on the shell serves to increase the accuracy with which it is moved. 
         [0012]    The hull serves to ensure that the operator does not get a finger pinched by inadvertently or clumsily inserting the finger under the edge of the shell. In addition, the hull protects the internal mechanism of the peripheral from dust and other pollution. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0013]    The invention can be better understood in the light of the following description given with reference to the figures of the accompanying drawings, in which: 
           [0014]      FIG. 1  is a longitudinal section view of an input peripheral in a particular embodiment of the invention; 
           [0015]      FIG. 2  is a section view on line II-II of  FIG. 1 ; 
           [0016]      FIG. 3  is a fragmentary perspective view of the input peripheral shown in  FIGS. 1 and 2 , the shell and the hull being removed; 
           [0017]      FIG. 4  is a perspective view of the hull that forms part of the peripheral of the invention; 
           [0018]      FIG. 5  is a perspective view of the peripheral of the invention; 
           [0019]      FIG. 6  is a diagram showing the movements that are possible for the shell of the input peripheral of the invention; and 
           [0020]      FIG. 7  is a view analogous to  FIG. 2  showing some of the movement control means forming part of the peripheral of the invention. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0021]    With reference to  FIG. 1 , the input peripheral  1  of the invention comprises a base  2  having a leg  3  with its end engaged in a soleplate  4  that is resting on a bearing plane P defined in this example by a table top  5 . 
         [0022]    The input peripheral  1  comprises a shell  6  of ergonomic domed shape suitable for being held easily in the hand. 
         [0023]    The shell  6  is connected to the base  2  by means of a linkage made up as follows:
       a first connection element  7  having a plane bottom end  8  that extends against a plane surface  9  of the base  2  parallel to the bearing plane P, and a spherical top end  10 . The first connection element  7  is thus free to slide on the plane surface  9 ; and   a second connection element  11  having a bottom end  12  in the form of a spherical cavity complementary to the spherical top end  10  of the first connection element  7  and fitted thereon so as to form a ball-and-socket connection between these two elements, and having a circularly cylindrical top end  13  that rotatably receives a complementary circularly cylindrical cavity  14  of the shell  6  so as to form between the second connection element  11  and the shell  6  a pivot connection about a pivot axis referenced  7  that passes through the center of the spherical end  10 . The second connection element  11  is prevented from turning about the pivot axis Z by stop means described in greater detail below with reference to  FIG. 2 .       
 
         [0026]    These dispositions make the following movements possible:
       the shell  6  can tilt angularly relative to the base  2  under the effect of a torque imposed by the hand of an operator on the shell  6  about axes that are contained in an equatorial plane of the spherical end  10  and parallel to the bearing plane P;   the shell  6  can turn relative to the base  2  about the pivot axis Z; and   the shell  6  can move in translation relative to the base  2  under the effect of a force developed in the base plane by the hand of the operator, during which the plane bottom end  6  of the first connection element  7  slides on the plane surface  9  of the base  2 .       
 
         [0030]    The tilting and the turning give the shell  6  three degrees of freedom in rotation, whereas the movement in translation gives the shell  6  two degrees of freedom in translation. 
         [0031]    It should be observed that a force exerted by the hand of the operator on the shell  6  in a transverse direction perpendicular to the plane surface  9  is transmitted directly to the base  2  via the connection elements  7  and  11 , and gives rise to no movement of the shell  6 . The operator can thus rest the hand on the shell  6 , thereby relieving the arm and avoiding any carpal stress. 
         [0032]    The five degrees of freedom of the shell  6  made possible by the linkage between the shell  6  and the base  2  are advantageously used to represent the five corresponding degrees of freedom of a virtual or real object being manipulated with the help of the input peripheral of the invention. 
         [0033]    The sixth degree of freedom, i.e. the degree that corresponds to moving in translation in the transverse direction that is prevented by the linkage, is controlled in this example by means of a scroll wheel  100  carried by the shell  6 . 
         [0034]    As can be seen in  FIG. 2 , the input peripheral  1  is fitted with auxiliary parts, namely a first slider  20  and a second slider  30 . The first slider  20  is mounted on the base  2  to slide in a direction  21  that extends in the above-mentioned equatorial plane. For this purpose, and as can be seen in  FIG. 1 , the first slider  20  has side walls with slots formed therein that receive tenons  23  carried by uprights  24  secured to the base  2  and facing each other on opposite sides of the plane surface  9 . 
         [0035]    The second slider  30  is mounted in the first slider  20  to slide in a direction  31  that extends in the above-mentioned equatorial plane, perpendicularly to the direction  21 . For this purpose, the second slider has tenons  32  that are received in grooves  22  in the first slider  20 . 
         [0036]    It should be observed that the first slider  20  and the second slider  30  are never subjected directly to the force delivered by the hand of the operator. In particular, they are never subjected to any transverse force transmitted directly from the shell  6  to the base  2  via the connection elements  7  and  11 . The sliders  20  and  30  are subjected solely to driving forces in a plane that is parallel to the plane surface  9 . They are therefore subjected to very little stress. 
         [0037]    The sliders  20  and  30  do not contribute to defining the linkage between the shell  6  and the base  2  except insofar as they prevent the second connection element  11  from turning about the pivot axis Z. 
         [0038]    For this purpose, the first connection element  7  and the second slider  30  are connected together by studs  33  that extend in radial directions contained in the above-mentioned equatorial plane. In practice, the first connection element  7  and the second slider  30  are molded as a single piece. As a result, the second slider  30  is permanently centered on the spherical end  10  of the first connection element  7  and tracks the movements thereof. 
         [0039]    To enable the shell  6  to tilt angularly in spite of the presence of the studs  33 , the spherical cavity  12  in the second connection element  11  includes grooves  15  (one of which is visible in  FIG. 1 ) allowing the studs  33  to pass through the wall of the spherical cavity  12 , and enabling the second connection element  11  to tilt angularly about an axis contained in the above-mentioned equatorial plane, while preventing the second connection element  11  from turning about the pivot axis Z. 
         [0040]    Thus, during a movement of the shell  6 , the second slider  30  moves by an amount equal to the component of the movement of the shell  6  in said direction  31 , and it entrains the first slider  20 , causing it to move by an amount equal to the component of the movement of the shell  6  in the direction  21 . 
         [0041]    During turning of the shell  6 , the shell  6  turns relative to the second connection element  11  by an amount that is equal to the component of the turning about the pivot axis Z of the shell  6  relative to the second connection element  11 . 
         [0042]    These arrangements make it easy to put sensors into place for sensing the various movements of the shell  6 . 
         [0043]    In this respect, and as can be seen in  FIG. 1 , the shell  6  carries a two-axis inclinometer  40  suitable for measuring tilting movements of the shell  6  in rotation about axes contained in the equatorial plane. 
         [0044]    In addition, the input peripheral of the invention includes a potentiometer  41  disposed between the second connection element  11  and the shell  6  to measure turning about the pivot axis Z. The potentiometer  41  comprises an inner portion and an outer portion that are free to turn relative to each other about the pivot axis Z. The inner portion is engaged on a peg  42  of the second connection element  11  that presents a flat (visible in  FIG. 3 ) for preventing the inner portion from turning. The outer portion is prevented from turning relative to the shell  6  by means of a snug  43  co-operating with the flanks of an opening  16  in the circularly cylindrical cavity  14  of the shell  6 . 
         [0045]    These two sensors serve to measure all movements in rotation of the shell about the center of the spherical end  10  of the first connection element  7 . 
         [0046]    Furthermore, and as can be seen in  FIG. 3 , the input peripheral of the invention has a first rectilinear movement sensor  44  comprising an optical reader  45  secured to the base  2  and an optical ruler  46  secured to the first slider  20 , and a second rectilinear movement sensor  47  comprising an optical reader  48  secured to the first slider  20  and an optical ruler  49  secured to the second slider  30 . These two rectilinear movement sensors enable the rectilinear movements of the shell  6  along the directions  21  and  31  to be measured. 
         [0047]    Finally, for the sixth degree of freedom controlled by the scroll wheel  100 , a rotation sensor  101  (represented by dashed lines since it is hidden by the wheel  100 ) is placed on the axis of the wheel  100  to measure movement in rotation thereof. 
         [0048]    According to a particular aspects of the invention, the input peripheral includes means for reinitializing the sensors, which means are visible in  FIG. 1 . 
         [0049]    The reinitialization means comprise firstly a first ball  50  placed in a housing hollowed out in the first connection element  7  and opening out to the plane bottom end  8  thereof, the ball being urged against the plane surface  9  of the base  2  by a spring  51 . In the position shown in  FIG. 1 , the first ball  50  is engaged in a hollow formed on the plane surface  9  of the base  2  in the center of said surface, thereby enabling the shell  6  to be indexed relative to the base  2 . For example, by placing a switch in the bottom of the hollow so as to be driven by the first ball  50 , it is possible to obtain an electrical signal that can be used to reinitialize the electrical signal coming from the rectilinear movement sensors  44  and  47  when the shell  6  is thus indexed relative to the base  2 . 
         [0050]    The reinitialization means also comprise a second ball  52  received in a housing hollowed out in the first connection element  7  so as to open out into the top of the top spherical end  10  thereof, and urged against the spherical cavity  12  of the second connection element  11  by a spring  53 . In the position shown in  FIG. 1 , the second ball  52  is engaged in a hollow made in the spherical cavity  12  in line with the pivot axis Z, thereby enabling the second connection element  11  to be indexed relative to the first connection element  7 , and on the same principle as described above, enabling the electrical signals coming from the inclinometer  40  to be reinitialized. 
         [0051]    In the invention, the input peripheral also includes a hull  60  that can be seen more particularly in  FIG. 4 , which hull comprises a bottom  61  with an orifice  62 , and a side wall  63  that bulges outwards a little. 
         [0052]    As can be seen in  FIG. 1 , the hull  60  is placed under the shell  6  so that the bottom  61  of the hull  60  bears against the soleplate  4 , while the side wall  63  co-operates externally with a complementary side wall  64  of the shell  6 . 
         [0053]    The orifice  62  allows the leg  3  of the base  2  to pass through the bottom  61 . The orifice is large enough to enable the shell  6  to move, while being small enough to ensure that the bottom  61  always remains captive in the space  67  that extends between the soleplate  4  and the base  2 . The hull  60  is thus constrained to move parallel to the soleplate  4 , and thus to the bearing plane P. 
         [0054]    The co-operation between the side walls of the hull  60  and the shell  6  constrains the hull  60  to follow the linear movements of the shell  6  and to follow its movements in rotation about an axis parallel to the transverse direction, with the shape of the walls  63  and  64  nevertheless allowing the shell  6  to tilt angularly relative to the hull  60 . 
         [0055]    The hull  60  prevents any objects or pollution from penetrating under the shell  6 . Furthermore, it prevents a clumsy operator getting fingers pinched between the shell  6  and the soleplate  4 . 
         [0056]    In practice, the side walls of the hull  60  and of the shell  6  face each other with a small amount of clearance. Skids  65  integrally molded on the inside face of the side wall  64  of the shell  6  provide contact over a small area with the side wall  63  of the hull  60  so as to reduce friction between these two elements. 
         [0057]    The input peripheral of the invention is particularly suitable for being used together with computer-assisted design (CAD) software, or with software for viewing virtual objects. 
         [0058]    As can be seen in  FIG. 5 , a wire  66  conveying the electrical signals from the various sensors leaves the hull  60  to be connected to a computer  70 , where the software is installed. 
         [0059]    The input peripheral can be used in several ways. Firstly, each position of the shell  6  and of the scroll wheel  100  as measured by the sensors can be associated with a position in the virtual space in which the virtual object being manipulated is to be found. It is also possible to associate each position of the shell  6  and of the scroll wheel  100  with a travel speed in the virtual space in which the virtual object being manipulated is to be found. 
         [0060]    In a particular aspect, both types of association can be combined, using the following method. 
         [0061]    In  FIG. 6 , there can be seen a diagram representing the five degrees of freedom of the shell  6 . 
         [0062]    The rectangle  80  defines the set of positions that can be occupied in the above-mentioned equatorial plane by the center of the spherical end  10  of the first connection element  7 . An inner rectangle  81  within the rectangle  80  defines a central zone  82  and a peripheral zone  83 . 
         [0063]    The following associations are then selected: each position of the shell  6  in the central zone  82  is associated with a position of the virtual object in the virtual space; and each position of the shell  6  in the peripheral zone  83  is associated with a travel speed of the virtual object in the virtual space. 
         [0064]    Similarly, the cone  85  defines the angular tilting possible for the pivot axis Z about said center. An inner cone  86  within the outer cone  85  defines a central zone  87  and a peripheral zone  88 . 
         [0065]    The following associations are then selected: each position of the pivot axis Z in the central zone  86  is associated with an angular position of the virtual object in the virtual space; and each position of the shell  6  in the peripheral zone  88  is associated with a speed of rotation of the virtual object in the virtual space. 
         [0066]    Finally, the angular sector  90  defines possible turning of the shell  6  about the pivot axis Z. An inner angular sector  91  within the angular sector  90  defines a central zone  92  and a peripheral zone  93 . 
         [0067]    The following associations are then selected: each angular position of the shell  6  in the central zone  92  is associated with an angular position of the virtual object in the virtual space; and each angular position of the shell  6  in the peripheral zone  93  is associated with a speed of rotation of the virtual object in the virtual space. 
         [0068]    The same principles are applied to the scroll wheel  100 . 
         [0069]    In order to show up these various zones, the input peripheral of the invention is fitted with means for controlling the movement of the shell  6 . 
         [0070]    As can be seen in  FIG. 7 , the control means comprise foam pads  110  placed on supports  111  and extending between the ends of the uprights  24  of the base  2  so as to form resilient abutments against which the first slider  20  comes into abutment at the ends of its stroke. 
         [0071]    The portion of the movement of the first slider  20  in which the first slider  20  does not come into contact with either of the foam pads  110  corresponds to the central zone  82 . In this portion, the shell  6  is not subjected to any opposing force (except for low levels of friction). The portion of the movement of the first slider  20  in which the first slider  20  is in contact with one or the other of the foam pads  110  corresponds to the peripheral zone  83 . In this portion, the shell  6  is subjected to a return force because of the first slider bearing against one or the other of the foam pads  110 . The presence of a return force enables the operator to distinguish between the central zone and the peripheral zone. 
         [0072]    By way of example, there follows a description of a rectilinear movement of the shell  6  in the direction  21 , i.e. the direction in which the first slider  20  moves. This movement is represented in  FIG. 6  by dashed line  95 . This line includes a central range  96  that is said to be “isotonic”, that extends in the central zone  62  and that corresponds to free movement of the shell  6 . The line  95  has two end ranges  97  that are said to be “elastic”, each of which extends in the peripheral zone  83  and corresponds to movement of the shell  6  that is subjected to a return force towards the central range. 
         [0073]    In similar manner, the control means include foam pads  112  disposed on the first slider  20  so as to form resilient abutments against which the second slider  30  comes into abutment at the ends of its stroke. The foam pads  112  mark the boundary between the central zone  82  and the peripheral zone  84  for rectilinear movements along the direction  31 . 
         [0074]    The control means also comprise foam pads  113  (visible in  FIG. 4 ) disposed on the hull  60  to form resilient abutments against which the shell  6  comes into abutment at the ends of its angular tilting stroke about axes contained in the equatorial plane. The foam pads  113  mark the boundary between the central zone  87  and the peripheral zone  88  for angular tilting of the shell  6  about axes contained in the equatorial plane. 
         [0075]    Finally, the control means include foam pads  114  (visible in  FIG. 3  and in  FIG. 1 ) disposed on either side of a partition  115  of the second connection element  11  so as to form resilient abutments against which the flanks of the opening  16  in the circularly cylindrical cavity  14  of the shell  6  come into abutment at the ends of its stroke. The foam pads  114  mark the boundary between the central zone  92  and the peripheral zone  93  for the shell  6  turning about the pivot axis Z. 
         [0076]    It is thus possible for all of the degrees of freedom of the shell  6  to define a central range in which the movement of the shell is free, and end ranges in which the shell is subjected to a return force towards the central range. 
         [0077]    Similarly, the scroll wheel  100  carries foam pads  115  (visible in  FIG. 1 ) that perform the same function. 
         [0078]    Thus, so long as the shell is in the central zones, the software makes the position of the shell correspond to the position of the virtual object in the virtual space. The operator then has the impression of moving the virtual object displayed on the screen directly when moving the shell  6 , in a manner that is very instinctive. If the operator pushes the shell  6  so that it enters into one of the peripheral zones, then the software associates the position of the shell  6  with movement at a given speed, e.g. in order to go quickly to some other portion of the virtual object in order to view said other portion. 
         [0079]    The invention is not limited to the description above, but on the contrary covers any variant coming within the ambit defined by the claims. 
         [0080]    In particular, although a particular linkage is shown that enables the shell to move in any manner relative to the base with the exception of moving in a transverse direction that is perpendicular to the bearing plane, the invention covers any other linkage providing this type of connection, such as for example a single connection element having a plane bottom end that slides on a plane surface of the baser and a spherical top end that is received in a complementary spherical cavity of the shell. 
         [0081]    Although the hull is shown as having a side wall that extends inside the side wall of the shell, the side wall of the hull could extend over the outside of the side wall of the shell. 
         [0082]    Although it is stated that speeds or positions are associated with the position of the shell and the position of the scroll wheel, it is possible to associate other parameters for manipulating the object therewith, such as zooms, or indeed color changes. 
         [0083]    Although it is stated that each degree of freedom has an isotonic central range and elastic end ranges, it is possible to provide for each degree of freedom any possible configuration going from a degree of freedom that is completely isotonic, to a degree of freedom that is completely elastic. 
         [0084]    Although in the example shown, the positions of the shell and of the scroll wheel in the central ranges are associated with positions of the virtual object, and the positions of the shell and of the scroll wheel in the end ranges are associated with travel speeds of the virtual object, other associations could be provided, such as a slow speed in the central range and a fast speed in the end ranges. 
         [0085]    Furthermore, although the movement control means of the shell are constituted by foam pads that co-operate with moving portions of the peripheral, other control means could be used, such as servo-controlled motors leaving movement free in a central range while opposing a return force on such movements in end ranges. Alternatively, the peripheral need have no control means, or could have control means that act on only some of the degrees of freedom of the shell. It should be observed that the central and peripheral ranges managed by the software associated with the peripheral need not coincide with the central and peripheral ranges marked by the control means. 
         [0086]    Although the shell is shown as including a member in the form of a scroll wheel for controlling an additional degree of freedom, the peripheral could include other types of control member, such as a pointer placed on the shell or some other location of the peripheral. 
         [0087]    In addition, the peripheral may include other types of member, such as selection buttons  102  (visible in  FIG. 5 ) placed on the shell, similar to those that are to be found on a mouse. 
         [0088]    Finally, although the input peripheral is described herein in association with computer design and display software, the input peripheral could be used as a member for manipulating a real object, for example via a manipulator arm.