WO1997021160B1 - Method and apparatus for providing force feedback for a graphical user interface - Google Patents
Method and apparatus for providing force feedback for a graphical user interfaceInfo
- Publication number
- WO1997021160B1 WO1997021160B1 PCT/IB1996/001441 IB9601441W WO9721160B1 WO 1997021160 B1 WO1997021160 B1 WO 1997021160B1 IB 9601441 W IB9601441 W IB 9601441W WO 9721160 B1 WO9721160 B1 WO 9721160B1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- force
- recited
- cursor
- target
- user
- Prior art date
Links
- 230000035807 sensation Effects 0.000 claims abstract 45
- 230000001276 controlling effect Effects 0.000 claims abstract 2
- 230000004044 response Effects 0.000 claims 14
- 230000002104 routine Effects 0.000 claims 14
- 238000000034 method Methods 0.000 claims 7
- 230000003993 interaction Effects 0.000 claims 6
- 230000002596 correlated Effects 0.000 claims 5
- 238000006073 displacement reaction Methods 0.000 claims 5
- 210000003813 Thumb Anatomy 0.000 claims 3
- 230000000875 corresponding Effects 0.000 claims 3
- 238000004088 simulation Methods 0.000 claims 3
- 230000001133 acceleration Effects 0.000 claims 2
- 238000007906 compression Methods 0.000 claims 2
- 230000005484 gravity Effects 0.000 claims 2
- 230000000051 modifying Effects 0.000 claims 2
- 230000000414 obstructive Effects 0.000 claims 2
- 230000001419 dependent Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 claims 1
- 230000005055 memory storage Effects 0.000 claims 1
Abstract
A human/computer interface device (14) which has a physical object (34), such as a joystick, controlling a graphical object, such as a cursor, within the graphical user interface GUI. A signal (24) is output from the host computer to the interface device to apply a force sensation to the physical object using one or more actuators (30). The force sensation assists the user to select a desired operating system fonction or physically informs the user of the graphical objects encountered by the cursor within the GUI. A microprocessor (26) local to the interface apparatus can be used to control forces on the physical object.
Claims
AMENDED CLAIMS
[received by the International Bureau on 6 September 1997 (06 09 97), original claims 1 -92 replaced by new claims 1-107 (15 pages)]
1 A method for providing force feedback to users interacting with a graphical user interface environment of a computer system, the method compπsing steps of
receiving an indication of movement of a physical object that is manipulated by a user, said physical object being included in a human interface device that outputs said indication to said computer system;
moving a user-controlled graphical object within a graphical user interface including at least one graphical target, said movement of said graphical object based on said indication of said movement of said physical object, wherem said user-controlled graphical object and said graphical user interface are displayed on a display screen connected to said computer system, and wherem said graphical user interface allows said user to interface with operaϋng system functions implemented by said computer system when said user-controlled graphical object interacts with graphical targets associated with said operating system functions;
outputting a signal from said computer system to said interface device to command said interface device to apply a force sensation to said physical object, wherein said force sensation is associated with said interaction of said user-controlled graphical object with at least one of said targets associated with said operating system functions of said graphical user interface, and wherein said force sensation applied to said physical object is determined, at least in part, by a location of said cursor in said graphical user interface with respect to at least one of said targets located in said graphical user interface.
2. A method as recited in claim 1 wherein said user-controlled graphical object is a cursor
3 A method as recited in claim 2 wherein said force sensation applied to said physical object is determined, at least in part, additionally by at least one of:
a velocity of said physical object with respect to a ground of said physical object,
an acceleration of said physical object with respect to a ground of said physical object, and
a history of previous locations of said cursor m said graphical user interface with respect to targets located m said graphical user interface.
4 A method as recited in claim 3 wherein said force sensation on said physical object assists said user to select said target associated with said force sensation
5. A method as recited in claim 3 wherein said force sensation on said physical object informs said user of other targets in said graphical user interface which can be manipulated to interface said user with at least one operating system function.
6. A computer readable medium including program instructions for performing steps for a process of providing force feedback to the user of a graphical user interface displayed by a computer system, the steps comprising:
determining a location of a user-controlled cursor within a graphical user interface displayed on a display screen of a computer system, said cursor being controlled by said user by manipulating a physical object of an interface device, wherein a position control paradigm is implemented on said computer system such that movement of said cursor in said graphical user interface approximately corresponds to movement of said physical object with reference to an origin of said interface device;
determining which targets displayed within said graphical user interface are associated with target forces that affect said physical object based on said location of said user-controlled cursor, wherein said targets allow said user to interface with operating system functions implemented by said graphical user interface;
providing a signal to apply a resulting force to said physical object based on said forces associated with said targets which affect forces on said physical object.
7. A computer readable medium as recited in claim 6 wherein at least one of said targets is associated with at least two different target force sensations depending on said location of said cursor with respect to said at least one target.
8. A computer readable medium as recited in claim 7 wherein said two different target force sensations include an internal target force sensation and an external target force sensation, wherein said internal target force sensation is applied to said physical object when said cursor is located within said target, and said external target force sensation is applied to said physical object when said cursor is located outside said target.
9. A computer readable medium as recited in claim 8 wherein said internal target force sensation includes a capture force sensation when said cursor is located near a boundary of said target, and wherein said internal target force sensation includes a dead region force sensation when said cursor is located within said boundary and near a center of said target.
10. A computer readable medium as recited in claim 8 wherein said targets of said GUI are ordered in a hierarchy, and wherein said step of determining which targets may affect force sensations on said physical object includes determining a cursor target of lowest hierarchy in which said cursor is located.
1 1. A computer readable medium as recited in claim 10 wherein an internal target force sensation associated with said cursor target affects said physical object and wherein no other internal force sensations of other targets affect said physical object.
12. A computer readable medium as recited in claim 11 wherein other targets at a hierarchical level lower than said cursor target have external force sensations that affect said physical object, wherein said cursor is not located in said other targets.
13. A computer readable medium as recited in claim 12 wherein said resulting force sensation applied to said physical object is a sum of said internal target force sensation of said cursor target and said external target force sensations of said other targets at said hierarchy lower tJian said lowest hierarchical level.
14. A computer readable medium as recited in claim 13 wherein said other targets are included within said cursor target and are at a lower hierarchical level than said cursor target.
15. A computer readable medium as recited in claim 12 wherein when said cursor is located in at least two of said cursor targets, only the target displayed on top of said other targets of said at least two targets is selected as said cursor target.
16. A computer readable medium as recited in claim 6 further comprising a step of mapping force sensations to targets provided by said graphical user interface.
17. A computer readable medium as recited in claim 16 wherein said step of mapping force sensations includes assigning ranges to said targets, said ranges defining external regions around said targets which affect said external force sensation on physical object when said cursor is located within said external regions.
18. A computer readable medium as recited in claim 9 wherein said capture force sensation includes a snap-over force sensation, said snap-over force sensation providing a resistance to said movement of said cursor when said cursor from within said target to outside said target.
19. A computer readable medium as recited in claim 9 wherein said external target force sensation includes a force field, said force field providing an attractive force sensation to said physical object to draw said cursor toward said target.
AMENDED SHEET (ART-CUE 19)
20. A computer readable medium as recited in claim 9 wherein said external target force sensation includes a force field, said force field providing a repulsive force sensation to said physical object to push said cursor away from said target.
21. A computer readable medium as recited in claim 9 wherein said external target force sensation includes two intersecting groove force sensations, said groove force sensations biasing said cursor to move toward said target and locking said cursor on said target.
22. A computer readable medium as recited in claim 21 further comprising a step of removing said groove force sensations after said cursor is locked on said target when said target is selected by said user.
23. A computer readable medium as recited in claim 16 wherein said target is one of an icon, button, slider, menu item on a pull-down menu, and window.
24. A computer system for providing force feedback to a user of a graphical user interface displayed by said computer system, comprising:
means for determining a location of a user-controlled cursor within a graphical user interface displayed on a display screen of a computer system, said cursor being controlled by said user by manipulating a physical object of an interface device, and wherein targets are provided in said graphical user interface which are associated with operating system functions implemented by said graphical user interface, said cursor being movable to select said targets to implement said associated operating system function;
means for determining which targets displayed within said graphical user interface are associated with target forces affecting said physical object based on said location of said user- controlled cursor; and
means for providing a signal to apply a resulting force sensation to said physical object based on said forces associated with said targets which affect forces on said physical object.
25. A computer system as recited in claim 24 wherein said means for determining said targets includes means for determining a cursor target of lowest hierarchy in which said cursor is located.
26. A computer system as recited in claim 25 wherein said cursor target is a menu item in a pull-down menu.
27. A computer system as recited in claim 26 wherein said menu item is associated with a snap-over force at a boundary of said menu item, said snap-over force providing a obstructive force to said movement of said cursor when said cursor is moved from one menu item to another menu item.
28. A computer system as recited in claim 26 wherein said menu item is associated with a snap-to force at a center area of said menu item, said snap-to force providing an attractive force that keeps said cursor at said center area of said menu item.
29. A computer system as recited in claim 25 wherein said cursor target is a slider having a thumb that can be moved within a linear guide.
30. A computer system as recited in claim 29 wherein said slider is associated with a snap-to force provided at a middle line along a length and halfway across a width of said guide of said slider, said snap-to force providing an attractive force that keeps said cursor at said middle line of said guide.
31. A computer system as recited in claim 25 wherein said cursor target is an icon, wherein said icon is associated with an attractive force associated wim a surrounding region having a predetermined size, said attractive force pulling said physical object and said cursor when said cursor is moved within said region.
32. A computer system as recited in claim 29 wherein said icon is associated with an capture force associated with a boundary of said icon, said capture force providing an obstructive force to said physical object when said cursor is moved out of said icon.
33. A computer system as recited in claim 29 wherein said icon is associated with a dead region force associated with an internal region of said icon, said dead region force providing a predetermined damping force to said physical object when said cursor is moved in said internal region.
34. A computer system as recited in claim 52 wherein said target is a graphical button.
35. A system for providing force feedback to a user manipulating an interface device, the system comprising:
a host computer system for receiving an input control signal describing a location of a user manipulable physical object in a degree of freedom and for providing a host output control signal, wherein said host computer system updates the location of a user-controlled cursor within a graphical user interface displayed on a display screen of said host computer system, said cursor being updated based on said input control signal, and wherein said host computer system displays a number of targets in said graphical user interface and determines which targets are associated with target forces that affect said physical object based on said location of said user-controlled cursor, wherein said targets allow said user to interface with operating system functions implemented by said graphical user interface, and wherein said host output control signal commands resulting force to said physical object based on said forces associated with said targets which affect forces on said physical object;
a microprocessor local to said interface device and separate from said host computer system for receiving said host output control signal from said host computer system and providing a processor output control signal, wherein said microprocessor is operative in a local control process to provide said processor output control signal to said actuator in response to said position and motion of said object independently of said host output control signal;
an actuator for receiving said processor output control signal and providing a force along said degree of freedom in accordance with said processor output control signal to said physical object coupled to said actuator; and
a sensor for detecting motion of said user manipulable object along said degree of freedom and outputting said input control signal to said microprocessor, said input control signal including information representative of the position and motion of said object, and wherein said microprocessor provides said input control signal to said host computer system.
36. A system as recited in claim 35 wherein said host output signal is a high level command from said host computer system, and wherein said processor implements one of a plurality of local routines selected in accordance with said high level command to implement said local control process.
37. A system as recited in claim 35 further comprising a memory device accessible by said local processor, wherein said local processor stores a spatial representation of said targets in said memory device such that said processor may detect when said target forces affect said physical object.
38. A system as recited in claim 37 wherein said memory device includes a permanent memory storage for storing predetermined target forces associated with said targets.
39. A method for providing force feedback for graphical objects in a game implemented on a computer system, the method comprising the steps of:
displaying a user-controlled first graphical object on a display screen of a computer system, said graphical object moving on said display screen during a game in response to manipulations of a physical object of an interface device by a user, said interface device being coupled to said computer system;
displaying a second graphical object on said display screen;
when said first graphical object collides with said second graphical object on said screen:
a) displaying a compression of said first object where said second object contacts said first object, wherein said first object has a defined simulated compliance and said second object has a defined simulated mass;
b) applying a force to said physical object manipulated by said user in at least one degree of freedom provided by said interface device, said force being applied in a direction corresponding to the direction of said compression and having a magnitude in accordance with said simulated masses of said first and second graphical objects.
40. A method as recited in claim 39 wherein said force has a magnitude also in accordance with a simulated compliance of said first graphical object.
41. A method as recited in claim 40 wherein said force has a magnitude also in accordance with simulated velocities of said first graphical object and said second graphical object.
42. A method as recited in claim 40 wherein said force has a magnitude also in accordance with a simulated gravity acting on said second graphical object.
43. A method as recited in claim 40 wherein said first graphical object is a linear segment, and wherein said second graphical object is a circular object.
44. A method as recited in claim 40 wherein said second graphical object moves on said display screen during a game in response to manipulations of a second physical object of an second interface device by a second user, said second interface device being coupled to said computer system.
45. A method as recited in claim 44 wherein said first and second interface devices input sensor signals indicating motion of said first physical object and said second physical object, respectively, wherein said user is a first user and said force command to said first interface device is based on sensor signals output from said second interface device, and wherein a force command output to said second interface device is based on sensor signals output from said first interface device.
46. A method as recited in claim 40 wherein said second graphical object moves on said display screen during a game in response to manipulations of a second physical object of an second interface device by a second user, said second interface device being coupled to a second computer system coupled to said computer system through a network interface.
47. A method as recited in claim 40 further compπsing a step of changing said simulated compliance of said first graphical object when an input command is received from said user operating an input device on said interface device.
48. A method as recited in claim 40 further comprising displaying a goal object on said display screen and wherein said user moves said first graphical object to block said second graphical object from moving into said goal object.
49. A method as recited in claim 43 further comprising changing a displayed orientation of said linear segment according to input data received from said user operating said input device.
50. A method as recited in claim 49 wherein said physical object is a joystick handle, and wherein said input data received from said user includes a spin of said joystick handle in a rotary degree of freedom.
51. A method as recited in claim 50 wherein said interface device provides two linear degrees of freedom to said joystick handle in addition to said rotary degree of freedom.
52. A method as recited in claim 40 wherein said first graphical object represents a paddle and said second graphical object represents a ball.
53. A method for providing force feedback for interacting simulated objects in a simulation implemented on a computer system, the method comprising the steps of:
displaying a user-controlled first simulated object and a second simulated object on a display device of a computer system, said first simulated object moving on said display device during a simulation in response to manipulations of a physical object of an interface device by a user, said interface device being coupled to said computer system;
determining when said first simulated object engages said second simulated object withm said simulation;
displaying said determined engagement of said first simulated object with said second simulated object, wherein said first simulated object has a predetermined simulated compliance and said second object has a predetermined simulated mass; and outputting a force command to said interface device to apply a force to said physical object manipulated by said user in at least one degree of freedom provided by said interface device, said force being applied in the direction of said engagement of said second simulated object with said first simulated object and having a magnitude in accordance with said simulated mass of said second simulated object.
54. A method as recited in claim 52 wherein a simulated compliance of said first simulated object additionally affects said magnitude of said force.
55. A method as recited in claim 53 wherein simulated velocities of said first simulated object and said second simulated object additionally affect said magnitude of said force.
56. A method as recited in claim 53 wherein a simulated gravity acting on said simulated objects additionally affects said magnitude of said force.
57. A method as recited in claim 52 wherein said first simulated object elongates at a point of impact with said second simulated object in accordance with said simulated compliance of said first simulated object.
58. An interface device for use with a host computer displaying graphical targets and a cursor, at least one of said targets associated with an operating system function implemented by said host computer, said interface device providing force feedback sensations to a user in coordination with displayed interactions between said cursor and said targets, said interface device comprising:
a user manipulatable object grasped and moved by a user;
a support mechanism coupled to said user manipulatable object and which supports said user manipulatable object with respect to an origin while allowing a plurality of degrees of freedom in the motion of said user manipulatable object with respect to said origin;
a local processor separate from said host computer, said local processor executing a local process simultaneously with execution of a host application by said host computer, said local processor coupled to said host computer by a communication interface, said local process involving the execution of a plurality of local force routines;
an actuator electrically coupled to said local processor and physically coupled to said user manipulatable object for imparting a controllable force upon said user manipulatable object in at
AMENDED SHEET (ARTICLE T9) least one of said degrees of freedom, said degree of freedom in which said force is imparted being a forced degree of freedom;
a sensor apparatus coupled to said local processor, said sensor apparatus providing said local processor with a locative signal responsive to and corresponding with manipulation of said user manipulatable object along said forced degree of freedom;
a user adjustable switch apparatus coupled to said local processor, said switch apparatus providing a switch state signal to said local processor representing the state of said switch;
a plurality of host commands received by said local processor over said communication interface, each of said host commands including a command identifier and at least one of said host commands including a command parameter;
a plurality of force routines stored in memory accessible to said local processor, wherein said force routines control a magnitude of said force produced by said actuator as a function of said locative signal, wherein a particular one of said force routines is locally executed in response to a particular one of said received host commands, said particular force routine being selected based in part upon said command identifier of said particular host command, and wherein said force routine uses values derived from a command parameter of said particular host command, said values used to coordinate force sensations caused by said force routine with a displayed interaction between said cursor and at least one of said targets displayed by said host computer,
wherein said local process is implemented on said local processor, said local process:
enabling communication between said interface device and said host computer,
reporting a representation of said locative signal to said host computer, wherein said host computer updates a displayed location of said cursor in response to said representation,
executing one of said force routines in response to at least one of said received host commands, wherein said executed force routine is coordinated with said displayed interaction between said cursor and at least one of said targets, and
reporting a representation of said switch state signal to said host computer, wherein said host computer executes an operating system function in response to a particular switch state when said cursor interacts with at least one of said targets associated with said operating system function.
59. An interface device as recited in claim 58 wherein at least one of said force routines is a damping routine that causes said actuator to output a damping force upon said user manipulatable object that is a function of the velocity of said user manipulatable object, wherein said damping routine is executed by said local processor in correlation with a display by said host computer of said cursor dragging said target.
60. An interface device as recited in claim 59 wherein said target is one of a thumb of a slider, a window, and a graphical icon.
61. An interface device as recited in claim 59 wherein a damping coefficient is used by said damping routine and is derived from a parameter in one of said received host commands, wherein said damping coefficient controls an intensity of said damping force.
62. An interface device as recited in claim 59 wherein said intensity of said damping force is correlated to a storage size of a file represented by said target.
63. An interface device as recited in claim 59 wherein said intensity of said damping force is correlated to a size or type of a file represented by said target.
64. An interface device as recited in claim 59 wherein said damping force is applied to said user manipulatable object in response to a state of said switch state signal.
65. An interface device as recited in claim 58 wherein at least one of said force routines is an inertia routine that creates an intertia force upon said user manipulatable object that is a function of an acceleration of said user manipulatable object, said inertia routine being executed by said local processor in correlation with said displayed cursor dragging a displayed target.
66. An interface device as recited in claim 65 wherein said target is one of a thumb of a slider, a window, and a graphical icon.
67. s An interface device as recited in claim 65 wherein a mass value used by said inertia routine is derived from a parameter received from said host command and effects a magnitude of said inertia force.
68. An interface device as recited in claim 67 wherein said magnitude of said inertia force is correlated to a displayed size of said target.
69. An interface device as recited in claim 67 wherein a magnitude of said inertia force is correlated to a size or type of a file represented by or displayed in said target.
70. An interface device as recited in claim 65 wherein said inertia force is imparted upon said user manipulatable object in response to a state of said switch state signal.
71. An interface device as recited in claim 58 wherein at least one of said force routines is a stretch routine that causes said actuator to generate a force upon said user manipulatable object whose magnitude increases with displacement of said user manipulatable object from a defined location, said stretch routine being executed by said local processor in correlation with a display of said cursor modifying a size of a displayed target.
72. An interface device as recited in claim 71 wherein said stretch routine is a spring routine that creates a linear relationship of force output versus user object displacement using a stiffness parameter received from said host computer as a linear proportionality.
73. An interface device as recited in claim 71 wherein said displayed target is a rectangular region and said host computer displays said cursor adjusting a size of said rectangular region.
74. An interface device as recited in claim 72 wherein said rectangular region is a window.
75. An interface device as recited in claim 71 wherein said defined location is derived from at least one parameter received by said local processor from said host computer.
76. An interface device as recited in claim 58 wherein at least one of said force routines is a field routine that causes said actuator to generate an attractive force upon said user manipulatable object having a magnitude based on a field equation, said field equation using a distance of said user manipulatable object from a field origin to generate said attractive force.
77. An interface device as recited in claim 76 wherein said field routine is executed by said local processor in correlation with display of a cursor and a target such that said origin is associated with a displayed location of said target and said generated force acts to draw said user manipulable object and said cursor towards said target.
78. An interface device as recited in claim 77 wherein said cursor is attracted to multiple targets simultaneously, said field routine using a distance between said user manipulatable object and multiple field origins such that a resultant force on said user manipulatable object is a summation of attractive forces associated with each of said multiple field origins.
79. An interface device as recited in claim 77 wherein a location of said field origin is derived from at least one parameter received from said host computer.
80. An interface device as recited in claim 77 wherein a region is defined around a particular field origin, wherein said attractive force associated with said field origin is not imparted on said user manipulatable object when said cursor is outside said region.
81. An interface device as recited in claim 58 wherein at least one of said force routines is a jolt routine that causes a jolt force for a specified magnitude and duration upon said user manipulatable object, a magnitude and duration of said jolt force being derived from parameters received from said host computer.
82. An interface device as recited in claim 81 wherein said jolt routine is executed in coordination with said cursor enteπng or exiting a target.
83. An interface device as recited in claim 82 wherein said target is one of a window, icon, and menu item.
84. An interface device as recited in claim 81 wherein said jolt force has a directton, said direction being derived from at least one parameter received from said host computer.
85. An interface device as recited in claim 58 wherein at least one of said force routines is a capture force rouϋne that resists motion of said user manipulatable object out of a defined boundary by producing an opposing force on said user manipulatable object that is a function of a displacement of said user manipulatable object past said boundary, wherein said capture force rouϋne is executed by said local processor in correlation with a display of interacuon between said cursor and target such that cursor motion past a defined boundary within said target is resisted.
86. An interface device as recited in claim 85, wherein said displacement of said user manipulatable object past said boundary corresponds to displacement of said cursor past a displayed boundary.
87. An interface device as recited in claim 85 wherein said capture force routine implements a dead region havmg a size based upon parameters received from said host, wherem no force is output on said user manipulatable object while said user manipulable object is in said dead region.
88. An interface device as recited in claim 85 wherein said capture force rouune provides an opposing force having a magnitude scaled by a hardness parameter received from said host computer.
89. An interface device as recited in claim 58 wherein a locauon of said boundary is derived in part from a location parameter received from said host computer.
90. An interface device as recited in claim 85 wherein said opposing force is eliminated when said user manipulatable object is moved beyond said boundary by more than a defined snap distance.
91. An interface device as recited in claim 90 wherem said snap distance is derived from a parameter received from said host computer.
92. An interface device as recited in claim 85 wherein said interaction includes motion of said cursor from a location inside a displayed boundary of said target to a location outside said displayed boundary of said target.
93. An interface device as recited in claim 92 wherein said target is one of an icon, window, menu item, and button.
94. An interface device as recited in claim 85 wherein said capture force is eliminated in response to a change in said switch state signal.
95. An interface device as recited in claim 85 wherein said capture force routine uses a history of locative signal values represented in memory accessible to said local processor to determine if said user manipulatable object has crossed said boundary.
96. An interface device as recited in claim 58 wherein a plurality of said force routines are active at once such that a resultant force upon said user manipulatable object is a sum of forces imparted by each of said force routines.
97. A method for providing force feedback to a computer user controlling a location of a displayed cursor, wherein said force feedback corresponds with a displayed interaction between said cursor and a displayed target, said user using an interface device including a user manipulatable object grasped and moved by said user, a support mechanism which supports said object with respect to an origin while allowing a plurality of degrees of freedom in the motion of said object with respect to said origin, an actuator for imparting an electronically modulated force upon said object along a degree of freedom, and a sensor apparatus for providing a locative signal responsive to and corresponding with manipulation of said object along said degree of freedom, the method comprising steps of: displaying a cursor by a computer system, said cursor having a location correlated to said user manipulatable object as indicated by said locative signal; providing a hierarchy of targets displayed by said computer system, wherein a first target is displayed as contained within a second target, said first target being a child and said second target being a parent; providing an internal capture force on said user manipulatable object when said cursor is inside a boundary of a particular target, wherein said internal capture force resists movements of said user manipulatable object that would cause said cursor to move from inside said boundary to outside said boundary of said particular target; and outputting a signal from said computer system to said interface device to command said interface device to cause said actuator to apply said internal capture force upon said user manipulatable object.
98. A method as recited in claim 97 wherein said interface device provides a switch state signal representing the state of said switch when said user maniplated a switch apparatus included in said interface device, and wherein said internal capture force is eliminated in response to a change in said switch state.
99. A method as recited in claim 98 further producing an attractive external force on said user manipulatable object when said cursor is outside a boundary of a particular target, wherein said attractive external force is applied on said user manipulatable object such that said cursor is moved towards said particular target.
100. A method as recited in claim 99 wherein said attractive external force is removed when said cursor moves from outside a boundary associated with said target to inside said boundary.
101. A method as recited in claim 99 wherein application of said attractive external force and said internal capture force associated with a particular target is dependent upon a location of said cursor and a hierarchy including said target and at least one other targets.
102. A method as recited in claim 99 wherein said attractive external force associated with a particular target is applied when said cursor is inside a parent target of said particular target, and wherein said attractive external force is not applied when said cursor is outside a parent target of said particular target.
103. A method as recited in claim 97 further providing a dead-region within a boundary associated with a given target such that an internal capture force associated with said target is not applied within said dead-region.
104. A method as recited in claim 103 wherein a damping force is applied within said dead-region to provide a feel sensation for said dead region.
105. A method as recited in claim 103 wherein a texture force is applied within said dead- region to provide a feel sensation for said dead region.
106. A method as recited in claim 97 wherein said targets are defined locations upon a web page.
107. A method as recited in claim 97 further comprising a step of performing an operating system function in response to a user command gesture, wherein said internal capture force applied to said object assists said user in selecting said operating system function using said user command gesture.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP96940091A EP0864144B1 (en) | 1995-12-01 | 1996-11-26 | Method and apparatus for providing force feedback for a graphical user interface |
| DE69635902T DE69635902T2 (en) | 1995-12-01 | 1996-11-26 | METHOD AND DEVICE FOR FORCED FEEDBACK FOR A GRAPHIC USER INTERFACE |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US08/566,282 US5734373A (en) | 1993-07-16 | 1995-12-01 | Method and apparatus for controlling force feedback interface systems utilizing a host computer |
| US08/566,282 | 1995-12-01 | ||
| US08/571,606 | 1995-12-13 | ||
| US08/571,606 US6219032B1 (en) | 1995-12-01 | 1995-12-13 | Method for providing force feedback to a user of an interface device based on interactions of a controlled cursor with graphical elements in a graphical user interface |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| WO1997021160A2 WO1997021160A2 (en) | 1997-06-12 |
| WO1997021160A3 WO1997021160A3 (en) | 1997-10-09 |
| WO1997021160B1 true WO1997021160B1 (en) | 1997-11-06 |
Family
ID=27074136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IB1996/001441 WO1997021160A2 (en) | 1995-12-01 | 1996-11-26 | Method and apparatus for providing force feedback for a graphical user interface |
Country Status (5)
| Country | Link |
|---|---|
| US (3) | US6219032B1 (en) |
| EP (2) | EP0864144B1 (en) |
| CA (1) | CA2239125A1 (en) |
| DE (1) | DE69635902T2 (en) |
| WO (1) | WO1997021160A2 (en) |
Cited By (2)
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1995
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1996
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- 1996-11-26 DE DE69635902T patent/DE69635902T2/en not_active Expired - Lifetime
- 1996-11-26 EP EP96940091A patent/EP0864144B1/en not_active Expired - Lifetime
- 1996-11-26 CA CA002239125A patent/CA2239125A1/en not_active Abandoned
- 1996-11-26 EP EP05026072A patent/EP1640851A2/en not_active Withdrawn
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2001
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2007
- 2007-02-06 US US11/703,322 patent/US9582077B2/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8994643B2 (en) | 2003-10-30 | 2015-03-31 | 3D Systems, Inc. | Force reflecting haptic interface |
| US9582178B2 (en) | 2011-11-07 | 2017-02-28 | Immersion Corporation | Systems and methods for multi-pressure interaction on touch-sensitive surfaces |
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