Methods and apparatus for providing touch-sensitive input in multiple degrees of freedom

Abstract

Disclosed is a multiple coordinate controller device having a three-dimensional body with a first surface portion and a second surface portion where the second surface portion is not coplanar with the first surface. A first transducer with a first sensing surface is coupled to the first surface portion of the body and capable of detecting both positions and a range of pressure forces at positions on the first sensing surface. The first transducer is further capable of providing a first range of z coordinates at a detected x,y coordinate in response to the range of pressure forces on said first sensing surface. A second transducer having a second sensing surface is coupled to the second surface portion of the body and capable of detecting both positions and a range of pressure forces at the positions on the second sensing surface. The second transducer is further capable of providing a second range of z coordinates of opposite polarity to the first range of z coordinates in response to the range of forces on second sensing surface.

Description

CROSS REFERENCE TO RELATED APPLICATIONS[0001]The present application is a continuation-in-part of U.S. patent application Ser. No. 08 / 696,366 filed on Aug. 13, 1996, now abandoned which is a continuation-in-part of U.S. patent application Ser. No. 08 / 509,797 filed on Aug. 1, 1995, now U.S. Pat. No. 5,729,249, which is a continuation of U.S. patent application Ser. No. 08 / 238,257 filed on May 3, 1994, now abandoned, which is a continuation-in-part of U.S. patent application Ser. No. 07 / 798,572 filed on Nov. 26, 1991, now U.S. Pat. No. 5,335,557, all of which are incorporated herein by reference. The present application also claims the benefit of U.S. Provisional Application No. 60 / 086,036, filed May 19, 1998, which is incorporated herein by reference.BACKGROUND OF THE INVENTION[0002]1. Field of the Invention[0003]The present invention relates to the field of input control devices. More specifically, it relates to force-sensitive input-control devices with multiple surfaces capable of...

AI Technical Summary

Benefits of technology

[0014]An input controller of the present invention incorporates multiple force / touch sensitive input elements and provides intuitive input in up to 36 degrees-of-freedom, including position and rotation, in either a Cartesian, cylindrical or spherical coordinate system. Input can be provided in the provided degrees of freedom without requiring movement of the controller, so that the controller is suitable for controlling both cursors or other computer objects in an interactive computer system and for controlling equipment such as heavy cranes and fork lift trucks.

[0019]The present invention provides an intuitive, inexpensive, and accurate controller for providing input in 3 or more degrees of freedom. The controller is flexible in its ability to manipulate objects and provide a relatively large number of degrees of freedom for a user, such that multiple objects can be manipulated simultaneously by a user. This allows realistic control of objects such as virtual hands in a simulated environment. In addition, the controller is not manipulated in free space and thus does not cause hand fatigue. The multiple dimensions of input can be generated without requiring movement of the controller, which provides a controller suitable for controlling both cursors and displayed objects in an interactive computer system. Further, the controller is insensitive to acoustic or electromagnetic noise and is thus suitable for controlling equipment such as heavy cranes and forklift trucks.

Problems solved by technology

However, current 3D and 6D input devices do not exhibit the refinement, accuracy or ease of use characteristic of existing 2D input devices.

In fact, existing 3D / 6D input devices are typically cumbersome, inaccurate, non-intuitive, tiring to use, and limited in their ability to manipulate objects.

However, the user is required to wear a bulky and awkward glove and movement of these awkward controllers in free space is tiring.

Further, these devices are typically affected by electromagnetic or acoustic interference, and they are limited in their ability to manipulate objects because of the inherent dissimilarity between the free-form movement of a glove and the more constrained movement of manipulated objects.

However, it is affected by the presence of metals and also requires manipulating the controller in free space.

However, all “flying mouse” devices require the undesirable and tiring movement of the user's entire arm to manipulate the controller in free space.

Further, these devices are either tethered by a cord or sensitive to either electromagnetic or acoustic noise.

This device is a 6D controller using 6 independent accelerometers in an “inertial mouse.” However, the device must still be moved in space, and the use of accelerometers rather than ranging devices limits the accuracy.

However, these devices are subject to a number of disadvantages.

For example, it is difficult to provide for precise positioning, as there is no provision for the use of a stylus.

Further still, these devices provide for only relative control and have no provision for providing an absolute origins or an absolute positions.

They are therefor not suitable for providing closure in digitized 3D inputs.

Finally, they are limited in their ability to provide an intuitive feel for 3D manipulation of a controlled object not specified in the Cartesian coordinate system.

For example, they are not readily adaptable to spherical or cylindrical coordinate systems.

However, these devices are currently limited in manipulating objects beyond 2.5 dimensions, i.e. X-position, Y-position, and positive Z-direction, and are not available in any intuitive controllers.

However, these devices do not typically provide for 3D / 6D inputs.

However, this device does not provide inputs for roll, yaw or pitch, and does not provide any input for a negative Z input (i.e. there is no input once the stylus is lifted).

Thus, it is limited in its ability to provide 3D positioning information, as this would require an undesirable bias of some sort.

Accordingly, many input control devices used for interactive computer graphics are not suitable for use in field applications.

This poor user interface requires the operator to select and select and pull one of a number of levers corresponding to the boom rotation control to cause the boom to rotate to the left.

Such non-intuitive controls makes training difficult and time-consuming and increases the likelihood of accidents.

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