DE4400790A1 - GUI computer mouse with force feed back and position data - Google Patents

Abstract

An input device for use with a computer system has a housing (3) in the form of mouse, contg. four rollers (6) set into the base in bearings. Electrical stepping motors (7) with rollers (8) are engaged by the balls and the torque loading is dependent upon the applied hand pressure. Outputs are generated via cable that can be used to control a screen cursor with the motors providing tactile feedback to the user. Position values may also be determined from the motors.

Description

The invention relates to a device or method in the preamble of claim 1 specified type.

Are known:
Devices for operating or pointing in interactive systems (mouse, trackball, joystick, pen, pad, screenpad, touchscreen).

There are various pointing devices known for working with DV systems. For example, exist Pointing devices (mouse, trackballs, digitizing tablets, light pens, joysticks, pens, gamepads), which give the user the opportunity to make hand movements - e.g. B. understandable on the screen - at to transmit a data processing system. These devices collect information about the movement of the entire device or parts thereof. Furthermore, they usually have buttons or switches that z. B. on the selected position can trigger a program command by pressing a button, so that interactive work with a data processing system is possible.

Control of the position, usually represented by an arrow (cursor), is usually carried out only visually on a monitor.

Except for the kinesthetic feeling when pointing and dialing "click" process, there is no other negative or positive kinesthetic feedback, with some exceptions for the Game sector generate tactile, kinesthetic feedback through program-controlled vibrators. For operations such as B. with GUIs such input devices are not suitable, nor are they tactile feedback can be developed differently due to the design.

Similar effects as with mice and trackballs are with so-called digitizing tablets and Light pen achievable, with such solutions, the position of the pointing device is absolute and not relatively determined. Other devices exist under the names "joystick" or "gamepad". For you, too, using a cross button or a stick will give you an orientation for e.g. B. Movements of objects generated on a screen. With various programs (CAD, DTP, etc.) the selectable screen points are visual Snap and rest modes modified to make it easier to select the points.

The control over the user's own movement is purely visual and requires thereby a high degree of concentration.

Highly variable user interfaces such as touch screens or screen pads have the disadvantage for hardly any "target" or feedback for the respective user haptically and kinesthetically, let alone offer feedforward.  

In recent times, so-called interactive user guides, e.g. B. "Graphical User Interface" new quasi-standard - not just for computers. As a result, in the interplay of Keyboards, pointing instruments and data display devices achieved a high level of user friendliness become.

The disadvantage is that there is only an optical control of the pointing or operating process, which requires inappropriately high user concentration.

Devices for operating or pointing and registering and generating kinesthetic and tactile information (flight or driving simulator, manipulators, hand control sticks with e.g. pistol-like handles):

Joysticks are known in flight simulators, the working resistances, gravity and inertia forces simulate, simulated forces are z. B. between a control horn and a user transferred bilaterally.

Only situations such as those that occur during a flight or driving process are simulated and is intended as a device only for a specific application or on one Functional sequence fixed, e.g. B. only for operating a joystick.

Other applications are e.g. B. manipulators, which are constructed in a similar manner, and z. B. for Act remote control in a master-slave system. Here, too, only insists on this Use case tailored solution and it is mainly for manipulators in several Space axes provided.

Since the operating and control handles are usually gripped, a motorized, bilateral control not possible. The possibilities of movement of the fingers to each other will be extremely limited. For use in operating areas such as B. when operating one interactive user interface (GUI), these solutions - due to their design - are unsuitable.

Devices for generating kinesthetic information (aids for the blind, vibrators for warning or Notification devices):

In so-called blind aids there are solutions that enable the blind to see visible parts of them To make the environment (to a limited extent) tactile accessible, as is the case with devices that do enable Braille to be transmitted using controllable pens on a pad.

Lying in the nature of things, it plays a bilateral kinesthetically perceptible Power transmission does not matter, so that here too only special solutions in a narrow Field of application exist.

Device for operating or pointing and registering and generating kinesthetic and tactile information (virtual reality, data glove, data suit):

Bilateral tactile and kinesthetic information directly to the whole body or parts of it transmit, happens in so-called VR applications by z. For example: data gloves or whole Suits.

This development is still in its infancy and has the disadvantage of real-time applications overwhelming conventional IT systems. In addition, wearing such components very annoying and covers or surrounds relatively large areas of the body, are only as garments time-consuming to put on and take off, bulky, when dressed for normal others Tasks very difficult or unusable.

For fine kinesthetic or motor processes such as the creation of kinesthetic Sensations such as indirect feeling e.g. B. a "virtual" groove (z. B. 0.5 mm thickness), or that Plucking on a rubber band, the components are also too imprecise to control. At mobile applications such as B. with notebooks or note pads is the power supply and Space requirements for such devices is a hindrance. These disadvantages also apply to various other solutions described here.

General Devices for operating and regulating (rotary controls, sliders, switches, buttons):

Various solutions are available for operating devices of all kinds and for communicating with them known:

Knobs, sliders, switches, buttons, etc .; these are in their capacity, e.g. B. bobbing, clicking. clickable, switchable, smooth or stiff, rough or sliding, by oils or the like kinesthetically viscous, touch and / or pressure sensitive, with servomechanism, motor driven etc.

The disadvantage here is that when operating a wide variety of components on the Ergonomics for the respective user can only be considered to a limited extent.  

The arrangement of the respective components is usually only for one or a few Use cases thought. They are also in "your bilateral power and control behavior not variably controllable to a user.

The "remembering" of positions of the operating instruments is haptically satisfactory Designs only expensive through z. B. to perform servo mechanisms.

The following tasks are solved with the characterizing features of claim 1. The invention has for its object a device or method of the beginning described type to create that in a pointing, operating or input operation Runtime variable, DV-controlled, freely programmable, interactive, kinesthetic-tactile-motor Keeps input and / or output scenarios available to such a process for the user to make it clearer, more controllable and more effective.

In addition, the device should be as small and handy as possible, as well as with others System components both in terms of software and hardware, inexpensive, with low Energy consumption and can be combined without major changes to other modules.

Furthermore, a high level of fine motor and kinesthetic control can be achieved without the user to significantly impair his other freedom of action.

That during the pointing, operating or input process between the device or parts thereof as well as bilateral forces and movements occurring to the user on the part of the device can be influenced interactively and freely programmable with high control.

In a further training is a higher comfort for the operation of user interfaces from z. B. To achieve DV systems. Here, an important for the pointing, operating or input process, there is effective, haptic, tactile and / or kinesthetic feedback.

A high kinesthetic, tactile feedback or Feedforward can be achieved. This means that not only tactile feedback via the control or Pointing process takes place, but also a positive feedback is possible, for. B. can from Back pressure exerted on a "virtual pressure" can also be used to control users (even without Covering a distance in the control process).

The invention includes the knowledge that through a freely programmable registration and Influencing the bilateral path and force relationships between the user, the pointing, operating and / or input device or respective parts thereof and with it loose, one or more times rotatable and / or slidably connected documents or other devices, suitable kinesthetic, motor and / or tactile effects can be achieved.

In a further advantageous embodiment, this is done by the fact that, for. B. pointing, operating or input device moved on a support or on an axis, or respective parts thereof, forces and moments on the part of the device interactive and free are programmable and recordable, in a "passive" and / or "active" way.

In the case of an "active" influenceability, a DV-controlled generation of a controlled force and / or movement in at least one - preferably freely selectable - direction or by at least one - optionally freely selectable - axis between user and the pointing, operating or Input device or parts thereof with respect to, with it loose, rotatable or displaceable related documents or other arrangements can be achieved in order to achieve the desired tactile to transfer kinesthetic effects to the user.

With a "passive" legability, the ease of movement of the pointing, Operating or input device or parts thereof in at least one - preferably freely selectable - Direction or around at least one - possibly freely selectable - axis, related to, with it loose, rotatable or movably connected documents or other devices, by computer-controlled, controlled Braking can be influenced.

In a preferred embodiment, in a pointing or operating device, for. B. a "mouse" or an ordinary rotary control, by at least one, with respect to at least one axis, each of a joint and / or one surface (level, base), movable element, DV-controlled Forces or moments can be generated or absorbed, so that the movement or mobility at least part of the pointing or operating device can be influenced.

Moments and forces are e.g. B. in an "active" manner, by at least one suitable z. B. electric motor-like, DV-controllable arrangement on at least one of the above-described, movable element transferable.

In an alternative embodiment, at least one element (e.g. as a rolling or sliding device or one Level, such as B. at least one ball of a pointing device or as a rotating device. one Axis, such as B. the axis of a rotary controller or rocker switch) also directly through z. B. magnetic Forces (rotor / stator combination) can be influenced in a suitable manner.  

For this purpose, a ball must be made of a suitable material, at least in some areas exist and may have a segmented structure to z. B. suitably influenced by coils to be.

With knobs etc. U. appropriately adapted actuators described above. Take influence.

Furthermore, instead of the "active" embodiment of the device described above, a "passive" Variant trainable, in which the respective elements z. B. as rollers, axes or balls equipped directly with DV-controllable brakes or are part of such brake arrangements. This can be done by z. B. coils moves brake shoes to the respective z. B. as a brake disc trained components act. An inductive brake would therefore also be possible. Suitable combinations of "active" and "passive" influencing are possible in order to, for. B. that Accelerate or optimize the overall behavior of the DV-controlled influencing.

Furthermore, z. B. the simulated gripping and pressing or pulling against one simulated resistance can be generated efficiently and efficiently. The brake-like Device simulate the resistance without a constant energy-consuming operation z. B. motor-like devices which perform the movements required for the device according to the invention, Generate forces or moments.

An advantage here is a brake arrangement that is not activated or passive (Energy-saving) state has an inhibiting or blocking effect and is only decoupled with DV control.

The above elements, e.g. B. barrel or spherical roles with a "mouse" that the desired To transfer kinesthetic sensations to the user are suitable for this fix, guide or store.

In another advantageous way, "runners" on a pointing device (e.g. a mouse) can can in turn have DV-controlled rollers or ball arrangements, "extended or retracted" become. It does not have to be for a stable (not wobbly) position of the pointing device act necessary "runners" with regard to the document.

Pointing devices such as a mouse and trackball can be used to determine the position Relative movements at least on a movable element such. B. a ball, a roller or the like. be removable in a suitable manner by rotary movement.

User (re) action forces / moments exerted on (re) action forces / moments by the Device according to the invention can be generated by suitable DV-controlled Braking / accelerating are used for the operating process, being generated by the user Forces against these "resistances" generated by the device by suitable measuring methods (capacitive, piezo, strain gauges etc.) can be recorded in accordance with DV and can be incorporated interactively. A device which transmits forces through striding structures is also possible. The Alternatively, the controllable kinesthetic effects can also be transmitted by controllable ones "Mecanum" wheels are made.

In the case of a trackball, in addition to the running characteristics and guides, can be operated by pressing the User the position of the ball with respect to its housing and thereby the bilateral Force relationships between ball, ball guide and user through arrangements according to the invention Can be influenced by DV control.

In the case of a data processing system with remote or wearable pointing, operating or Input device or parts thereof, the data or control pulses as well as the Power supply are transmitted through the same interface that z. B. also the Transfers pointer data.

Various influences are freely programmable in switches and controllers by the influencing according to the invention Characteristics of the force-displacement behavior can be simulated when operating a control knob. The generation of z. B. (On) click or artificial resistances Operation of devices of all kinds.

Also other, otherwise mechanically generated impressions, such as when operating locks, Switching, tensioning or spring mechanisms occur through suitable combinations and DV control of the device according to the invention.

In an expanded version, for example in the case of a rotary controller of the type according to the invention suitable, also DV-generated "click", "latch" or "click" when moving the Control button along the axis of rotation a highly variable input device can be created. Sliders, buttons and switches can also be equipped in a similarly suitable manner.

The pointing or operating device, e.g. B. as a mouse (or pen), in the areas where fingers (e.g. gripping!) or palms on, lying on or in with (e.g. sideways for thumb and opposite fingers), preferably laterally arranged, "active" according to the invention and / or "passive" devices can be provided, e.g. B. a grasp (or its distorted  Simulate projection onto the device according to the invention, or the position of the fingers to register or influence accordingly.

In a preferred embodiment, the inside and top sides of such devices are also here can also be equipped with arrangements, the tactile stimuli DV-controlled z. For example, preferably with hands in the area of the inside of the hands, inside of the fingers and fingertips.

These arrangements also apply to the other variants of the described here device according to the invention.

These arrangements can be partially or fully compatible with the keys more conventional Replace pointing devices.

In an advantageous embodiment, the pointing or operating device is, for. B. as a mouse (or pen) in areas where there are fingers (e.g. when operating a button / switch!) or palms lie on or rest on it (or are in trough-like arrangements on the pointing device) "Active" and / or "passive" devices according to the invention are also provided in order to be DV-controlled To convey a "direct" tactile impression, or movements and pressure on the part of the Query user.

In the broadest sense, such an impression would advantageously be similar to the natural process, such as e.g. B. directly touching a surface.

These devices can, for. B. by DV-controllable, height-adjustable pin matrix to the Give fingertips or other areas of the hand tactile / haptic impressions, while z. B. the Hand moves the pointing device, or on it (the hand) DV-controlled forces can be exerted. Tactile stimuli can also be triggered by DV-controlled electrodes arranged in a matrix be triggerable.

"Buttons" in so-called GUI's can z. B. in an operation with a "Snap" the pointing device in a direct tactile experience.

In a further embodiment of the invention, it can be registered in a suitable manner in a DV-controlled manner whether the User exerts force on the pointing device according to the invention, or releases it in order if necessary, such as B. in the case of a mouse "moving away", unwanted movement and / or Prevent force conditions DV-controlled.

In the case of a pad, the pad-like screen or touchscreen is on the device or respective parts thereof by DV-controlled generation of local, magnetic fields in this document can be influenced. For example, a wire matrix or coil arrangement can be in or under the pad (or screenpad) DV-controlled the force relationships and the movement or mobility influence the device or parts thereof inductively.

Furthermore, by only one or more fingers located and attached, Foxglove-like devices according to the invention, the z. B. magnetically suitable by a pad can be influenced, a kinetically aesthetic feedback and / or control process is carried out become.

In the case of devices in which the pad has "active" influence on parts of the device which e.g. B. how "pens" should act, should be taken under DV control, is a DV-like detection of the forces exerted by the user in the grip area, inter alia, at suitable points on the Pen's attached pressure sensors such as B. capacitive measuring diaphragms or Strain gauges can be displayed.

The areas of the "pen" body intended for contact with a pad can be also by a ball with associated devices according to the invention for "active" or "passive" DV-controlled influencing, as shown above, be equipped.

Combinations of pad-induced forces and arrangements to influence the Force relationships and mobility on the pointing or operating device itself or the respective Parts of it are possible.

Even with a magnetically influenceable pad (which, for example, is not itself controlled by DV), can from the device according to the invention magnetically induced, DV-controlled forces influence the sliding and / or rolling properties of the pointing device are taken.

In an advantageous embodiment, the part that generates the kinesthetic sensations predominantly in a pen such as B. is provided for a so-called. Note pad arranged. It can through the Dv-supported influencing of the running properties of one located at the tip of the pen Ball generated with the help of a controllable braking device part of the desired property become.

Through a mine-like formation of the area that comes into contact with the base, and through a controllable longitudinal mobility of this mine with respect to an outer, tangible sleeve the desired effect can also be magnetic forces between the base and the pointing device be achieved. Here z. B. DV-controlled, the grip sleeve with respect to the mine longitudinally displaceable  be and a ball rotatable with respect to the mine.

Both mine and ball would be DV-controlled, "active" and / or depending on the application can be influenced "passively". Such interference can affect the mine (the location of the mine in relation to the sleeve) by a DV-controllable arrangement similar to a linear motor, possibly in combination can be achieved with a DV-controllable brake-like device.

A quasi-reverse operating principle is also possible for the device according to the invention: the device according to the invention or parts thereof (in the case of a pen, it would accordingly be the tip coming into contact with the base such as e.g. B. the mine or part thereof) with braking "Feet" (e.g. made of rubber). These can be "retracted" with the help of DV, so that the Pointing or operating device on z. B. to place runners with high lubricity and / or DV-controlled bez. the pad sliding, distance producers, "to drive out", so, based on with it loosely or rotatably or movably connected documents or other devices, one causing slipping, sliding effect.

In addition, z. B. the pointing or operating device or parts thereof in free Programmable vibrations (e.g. when "driving over" a virtual "bump surface"!) offset to convey tactile information, preferably when "driving through" a so-called GUI. These vibrations can also persist if there is no movement of the pointing or Operating device is carried out to optimize operability.

With a graphical user interface, for example, buttons would be easily identifiable. At z. B. Gradations of gray could then be specifically influenced by the type and intensity of the vibrations. The Vibrations could also be suitably, e.g. B. by a - DV-detected - removal of the hand be switched off.

In an advantageous embodiment, a pointing, operating or input device is part of a highly variable user or user interface, with the kinesthetic, tactile and / or haptic good usability can be achieved and at the same time a high "memory" for already saved settings or presets of the operating instruments.

The device according to the invention has the advantages that when operating the pointing or Operating device motor, tactile and / or kinesthetic feedback to the user take place, e.g. B .:

- Can "cross" or "cross" (the cursor on the monitor) a line using a Pointing device (e.g. a "stop line" in a CAD program) gives the user a feeling be, as "cross over" a slight line-shaped cant on the base or vice versa:

A kind of rest feeling would be created by "driving into a smooth valley".

- Points, lines, areas of different colors or different structures can be created with one Pointing devices are "announced" kinesthetically before they are visually reached and crossed become. These announcements can e.g. B. by a "suction" effect,

- Resting points or lines could be perceived kinesthetically even without visual representation what could lead to a clearer visual representation.

- Certain areas can be kinesthetic for operation, e.g. B. limited in a window become.

- The kinesthetic feeling of being able to pull on a "rubber band" would be for many to operate Programs such as B. graphics programs an advantage, also the haptic feeling of resistance overcoming or "in front of" yourself would drastically accelerate the pointing device and make orientation easier. Various other effects could thus be represented kinesthetically:

- A picture would be "passable" kinesthetically.

- A point in a CAD drawing can be found faster and more securely "through trough formation".

- important commands could be "sluggish" or one would have to "climb a mountain"

- In a word processing program, finding a line in the text would be done through the kinesthetic Feedback of a rest process can be done more safely and quickly.

- Variably changeable, latching switch and controller positions can be made on control panels can be simulated.

- Fields, so-called windows in GUIs, can be controlled more quickly due to the "suction" effect.

- Objects displayed on a screen can be felt and felt haptically, tactile and kinesthetically can be gripped or stored in a controllable manner.

- When driving through a color gradient or a gray value gradation in one The graphics program can change the feeling in your hand from "smooth" to "rough".

- In computer games in the so-called "jump and run" games z. B. the edge in front of you  Jump of the character through a repulsive effect (the ease of movement of the body or the pointing or operating device decreases) are indicated.

- At z. B. a "virtual edge" could execute commands by registering through the user generated pressure on this "edge" to be triggered.

- In scientific software applications, math functions or electrical "Drive through" fields by simulating "force fields" with the pointing device; the "Passage" through unusual, z. B. viscous or even nonexistent media would be noticeable.

- The active influencing of movement or mobility z. B. a pointing device can also be used to support the user's own movement (a kind of "servo effect"), or for learning z. B. gestures on a notepad (e.g. by "driving through" a simulated Channel).

- Routes and areas "often traversed" with the pointing device on such a new GUI can be learned through the data processing system and with repeated use z. B. light or stronger - palpable - to be "leader";

- In the case of branches of the pointing or operating paths, the user can accordingly forces exercised for the further course - in relation to the alternative possibilities - Specify options kinesthetically.

- In a similar way, writing movements or other finger or hand movements can be learned kinesthetically supported by the figure to be learned as kinesthetically smooth "Valley" is trained.

- The virtual plucking of strings or the simulation of a pick would be conceivable;

- With z. B. "dangerous" (important) commands the user - or his hand - "pushed away" become;

- The user can also get kinesthetic "angles" that differ according to a code Can have meanings, e.g. B. double short pull can be a certain command family be assigned;

- A virtual "reaching behind" or "(Da) hind hook", such as. B. in the process when index cards to leaf through or open a book.

- Combinations of kinesthetic, tactile interactions as well as the movement of the pointing device with the hand as well as capturing and influencing - changing - finger positions. (To grab packing and showing!) enable complex sequences of commands in a pleasantly natural way;

- Distorted, tactile projected onto pointing and / or operating elements such as pen pens or mice etc. and kinesthetic scenarios can be created with the effect of a high and safe Ease of use.

- Generation of - "projected" and / or onto the pointing or operating device according to the invention for this "distorted" movement and kinesthetic scenarios can be represented, such as. B .:

- crushing, grinding, cutting, cutting, sawing, hammering, scratching, scraping, smoothing, Carving, planing, grinding, filing, polishing, under, behind, intermediate, etc. gripping, bending, breaking. These kinesthetic scenarios can e.g. B. used as tools, and in various Application programs trigger command sequences;

- The cursor would also be conceivable as a kinesthetic lasso, for example by B. a "haptic" circle an "object" to be selected is put over and then the object is optionally also dragged along. Other maneuvers can be manipulated by "bulldozer or cow catcher like" manipulations be generated. In the event of "collisions" with objects on a GUI, as well as through Simulation of surface properties and weights in such "objects" and their A kinesthetic feedback can also be generated for documents.

- The simulated penetration into a (e.g. body to be selected) can be done using a "skewer" function will be realized.

The pointing or operating device can also be controlled by DV - if desired articulated arranged - trough-like devices can be provided, which allow z. B. the "Stretching device" of the individual fingers in the pointing and / or operating process, kinesthetically feedback can be included.

It is advantageous if mechanical connecting links on the nail side of the respective fingers are arranged so as not to unnecessarily impede the gripping and rubbing movements. The degrees of freedom required for the movement process can be reversed Robot arm-like arrangements can be achieved.

It is also possible that the hands (or parts thereof, such as: only thumb, index and ring fingers and possibly a support surface in the palm area), in "to the palm of the hand partly as a glove molded devices "can be inserted.  

The advantage here is that the hands at any time quickly without great effort and time from the Device are removable, d. H. the fingers (and possibly the palm) are maximally U-shaped detectable, only the fingertips can be detected like thimbles.

Another operating instruction of the device according to the invention, for. B. how when using a hammer or file.

This would be trainable z. B. by a DV-controlled, articulated 3D arrangement, suitable for Absorption of swing movements also from the wrist by adding a last link (e.g. one multi-unit arrangement) how the handle of a tool can be gripped or gripped and also has such suitable degrees of freedom of movement for the movement process.

The part grasped by the hand of the user can be of a size and shape (as large as that Style of a carpenter's hammer or as "small" as the handle of a wet razor) vary and / or be interchangeable.

Various, simulated tools such as B. hammer, gouge, file, screwdriver, Drills etc. are "flanged".

In a preferred embodiment, this variant of the device according to the invention would be - similar to further up - one - at the end of the actuator - accessible, with sufficient degrees of freedom, Robotic arm, so that the illusion of having a tool in hand can be created using DV control. In addition, it should be very easy to operate and be able to be operated without large inertia forces Effectively simulate swing movements.

A variant is also advantageous in which a two-part 3D input arm that is equipped with a Part that simulates the handle of a tool and another part that is the one to be machined Represents material to e.g. B. to be able to simulate very hard objects better.

Advantages in a further embodiment are that when operating z. B. one User interface ("graphical-kinesthetic surface") or operating device directly on one - sufficiently large screenpad or touchscreen also real kinesthetically perceptible (palpable and palpable), variably controllable objects, such as markings, "placeholders", game figures, Symbols etc. exist, but their properties can also be changed. B. to operating or pointing instruments are convertible.

It would also be possible on the sufficiently large pad-like display, puck-like, real, tangible Bodies of various shapes, according to the invention, interactive, DV-controlled, any maneuvers and / or to have positions entered or carried out. These bodies could then be specific Positions different functions such as slide or rotary control, game figure, vehicle, handle, Represent symbol, marker, variable etc.

In interaction with the display-like documents, the function of the respective body would be complete Display-supporting or informative presentation can be easily implemented.

For example, a cylindrical body in a "clickable" position can be identified by radially arranged numbers the screenpad can easily be represented as a rotary knob. A slider would show up a sliding track can be recognized as such.

The body or even figures can thus interact and interact with the interactive Represent different properties of the surface.

This means that the surface can either be a mixer or an eco-simulation, one CAD workplace, mutate into a game of skill or a management scenario.

The bodies can be "parked" or held in a rest position on the edge of the pad in order to then - in the actively movable version - as if by magic the respective position on the surface to take.

Of course, the bodies can also be removed or positioned by hand, doing this both registered (e.g. touchscreen-like) and, as required, in the interactive history be included.

A manual movement of the body on the base is also conceivable, the forces from Users on the body actively in the movement sequence, e.g. B. by "back pressure or pull" can be introduced.

The body or the pointing or operating device or respective parts thereof can also controllable suction cup-like, or similar suitable devices to their position stabilize.

It would also be possible to do a kind of controlled "putting on" the body or the pointing or Operating device or respective parts thereof in order to influence its sliding properties, so that z. B. Forces (z. B. magnetic) that exist between the body and pad - DV controlled - at "Attached" condition (high friction) essentially only secure the body against lifting off to fix its position.

The device or respective parts thereof can also be designed so that their  "Feet" e.g. B. by contact with the pad z. B. Position and further information to a data processing system can convey through the arrangement of the contact points are significant information communicable, e.g. B. what body it is.

In a passive variant there is on the edge or directly on or in the screen or pad (preferably touchscreen) mounting options (which also connect to a can contain bidirectional interface, and thus transfer data and / or energy), such as. B. Patch panels or dovetail grooves, or a corrugated surface. These devices would allow to place the bodies mentioned.

Combinations and variants of the respective embodiments that are not further developed here, Insofar as they relate to the device according to the invention, they fall under those mentioned at the beginning Invention proposal.

Although in the foregoing for the most part the usual designations of certain pointing or operating devices have appeared, the device according to the invention relates the improved use and operation of any pointing, operating and / or Input device or respective parts thereof and with it loose, - one or more - rotatable and / or slidably connected documents or other devices.

Advantageous further developments of the invention are characterized in the subclaims or are described below together with the description of the preferred embodiment of the invention represented in more detail with the aid of the figures. It shows:

FIG. 1 shows a pointing device with DV-drivable ball rollers (top view);

FIG. 2 shows a pointing device with DV-drivable ball rollers (bottom view);

FIG. 3 shows a pointing device with DV-drivable ball rollers (side view);

FIG. 4 shows a pointing device with DV-drivable ball rollers (. Hor-section);

Fig (vert section.) 5 a pointing device with DV-drivable ball rollers.

Fig. 6 DV-drivable sliding or brake assembly (view and partial section.);

Fig. 7 is an inventive, DV-controllable key with a likewise DV-controllable pin grid array assembly in perspective view;

Fig. 8 is a pointing device equipped with a DV controllable stimulus electrode assemblies (perspective view);

Fig. 9 multi-part input and output device (view);

Fig. 10 thimble-shaped design of the device according to the invention with a suitable pad (perspective view).

In Figs. 1 to 5 according to the invention a pointing device (3) is in u div. Views. Cuts shown. Forces are transmitted between the user ( 4 ) and the pointing device ( 3 ) and the base ( 5 ). In this case, this is done with four driven or driven ball rollers ( 6 ) which are guided in suitable bearings ( 9 ). Forces ( 7 ) which can be controlled by DV (preferably step), forces are absorbed or generated using rollers ( 8 ). If desired, the motors can also indirectly determine information about the position of the pointing device, so that another, e.g. B. optical determination of the data is unnecessary. With the help of suitable control, any directions ( 10 a-h) and moments can be achieved through the various rotary arrangements ( 11 a-d) for the bil. Optionally, depending on the controller, a user will do this e.g. B. as a train, pressure or torque. A DV-controllable height adjustment of the individual balls has been omitted in this illustration. In general, however, that certain impressions such as z. B. to feel "trough-like" wells, are more educable.

The balls can also be driven or driven off at their equator, which may suitably reduce a loss of friction. A trackball can also be operated by several motors. As with conventional pointing devices, data and energy are also transmitted via a cable ( 12 ) from e.g. B. DV system - however - transmitted bilaterally.

In the embodiment shown here, the pointing device is influenced with the present invention, sides and arranged above buttons (13-16) is provided. The laterally arranged devices ( 13, 14 ) are suitable for gripping processes, which in this case are carried out by the thumb and fourth finger. Pushbuttons ( 15, 16 ) arranged above are advantageously suitable for operating buttons in a GUI, the respective switching state, as well as the engaging or disengaging operation, being suitable using DV-controllable coil combinations ( 17 ) (e.g. in some areas also as linear acting stepper motor) can be kinesthetically supported. The coil combination can be both "active" and "passive" acting by z. B. a coil area actuates a brake, another in turn is responsible for the position of the switch and force states during the operation.

Fig. 6 shows a modified version of a "runner" of a pointing device ( 3 ) in the form of a DV-controllable sliding or braking arrangement. Instead of an "active" acting rolling device such. B. in Fig. 1-5 a passive variant is shown here, the sliding properties bez. a pad ( 5 ) influenced by Dv. This is suitably done by means of an extendable, highly slidable pin ( 18 ) which separates the pointing device from the connection between the base ( 5 ) and a non-slip arrangement ( 19 ). Depending on the document, a reverse arrangement can also be represented, in which, for. B. "braking feet" are extended. This arrangement according to FIG. 6 can of course also be implemented in a pen, suitably adapted. The thimble-like device can thus also be advantageously configured.

Operating devices can be provided with tactile stimulation arrangements ( 20 ) in the area where they come into contact with the user during the operating process. In Fig. 7, a button or switch ( 21 ) is schematically shown, which contains a DV-controllable pin matrix ( 20 ). In a preferred embodiment, pins can be adjusted in height by means of matrix-like coil arrangements and thus trigger tactile sensations. The technical training can also be presented in modified form using solutions known from the aid for the blind (braille pads, etc.).

The height adjustment and power transmission of the arrangement ( 21 ) takes place essentially like the button arrangements ( 13-16 ) described in FIGS . 1-5. In this representation according to FIG. 7, the key ( 21 ) can only be controlled or moved rigidly in one axis. Expanded solutions are of course also conceivable, which the button z. B. by several, articulated arrangements ( 17 ) can also pivot and rock its position.

Another possibility of tactile stimulation is to use electrodes ( 22 ) to set pulses on z. B. to transfer the fingertips. As a result, tactile information can be transmitted to the user with little effort. In the embodiment according to FIG. 8, the thumb, index finger, middle finger and ring finger are each assigned a DV-controllable surface ( 22 ). These areas can in turn be part of a combination with z. B. the key adjustability according to Fig. 1-5. Others, e.g. As described further below thimble similar arrangements of Fig. 13 such arrangements (22) may have alternative or in addition.

To objects - e.g. B. in a GUI - to handle with more degrees of freedom, is shown in Fig. 9, a multi-part input and output device ( 3 ). In this embodiment, the fingers, thumb, index and middle fingers ( 4 ) that are most important for a fine motor process are inserted into thimble-shaped devices ( 29, 30 ). These arrangements ( 29, 30 ) are connected to DV-controllable, multi-section, articulated arms ( 27 ) so as to be able to be influenced by the arrangement ( 26 ) according to the invention. A knob ( 4 ) serves to relieve the arm and hand weight in order to keep the fingers unaffected for the fine motor processes.

Depending on requirements, the area around the fingertips can be "slimmed down" in order to ensure the most free, airy and unimpeded feeling during the operating process ( 30 ). The end part ( 30 ) should usefully be suspended in such a way that optimum freedom of movement is ensured and gripping processes are not impeded. The thimble-shaped devices ( 29, 30 ) can in turn be equipped with arrangements which generate tactile stimuli. Preferably, z. B. limit a pin matrix area ( 20 ) to the important sensitive part of the fingertip.

In Fig. 10, a thimble-shaped design ( 33 ) of the device according to the invention u. In combination with a suitable pad ( 32 ) may prove to be suitable to optimize operating processes. This thimble ( 33 ) can be influenced in various ways. For example, a magnetic influence by a pad is conceivable, the generation of the field from both the "thimble" and a pad, for. B. can be achieved with a suitable coil arrangement ( 34 ). Miniature versions of the sliding or rolling version - in an active or passive version - are also conceivable. The pad itself can be part of a screen or it can also be without image generation.

Claims (117)

1. The device and method according to claim, characterized in that during the pointing, operating or input operation between a pointing, operating or input device or parts thereof, and a user occurring bilateral forces and movements for the pointing, operating or Input process, suitable interactive and freely programmable can be influenced. 2. Device and method characterized by the DV-controlled registration and / or Generation of kinesthetic, haptic or tactile states. 3. Device according to claim 1 or 2, characterized in that the device at least a sensor for occurring force, distance and / or acceleration relationships between the Body of a user or parts thereof and the device or parts thereof. 4. Device according to one of the preceding claims, characterized in that the Device at least one DV-controllable actuator for generating or influencing force, Paths and / or acceleration relationships between the body, the user or parts thereof and the device or parts thereof. 5. Device according to one of the preceding claims, characterized in that the Device or parts thereof is part of a pointing or operating device. 6. Device and method according to one of the preceding claims, characterized characterized in that pointing or operating movements by the pointing or Operating device can be influenced and / or supported by DV control. 7. Device and method according to one of the preceding claims, characterized characterized in that information that comes from a data display device or the like or with it correspond, can be represented kinesthetically, tactilely and / or haptically. 8. Pointing, operating or input device or method for recording and / or playback of kinesthetic or tactile scenarios, characterized by a compatible, to be freely programmable part of a GUI or other user interface. 9. Device according to one of the preceding claims, characterized in that in the Operation of the pointing device or the operating device motor, tactile and / or kinesthetic states can be communicated bilaterally between a user and a data processing system. 10. Device or method for communication with data processing systems or operating device characterized by a freely programmable registration and influencing the bilateral Path and force relationships between the user, the pointing, operating and / or input device or respective parts thereof and with it loose - one or more times - rotatable and / or displaceable associated documents or other devices to kinesthetic, motor and / or tactile To achieve effects. 11. The apparatus or method according to claim 10, characterized in that on the User - e.g. B. on a pad - moving pointing, operating or input device, or respective parts thereof, forces and moments on the part of the device - interactive and free programmable - can be exercised or recorded, in a "passive" and / or "active" way. 12. The apparatus or method according to claim 10 or 11, characterized in that in the case an "active" influence a DV-controlled generation of a controlled force, movement and / or acceleration in at least one preferably freely selectable direction or by at least an - optionally freely selectable - axis between the user and the pointing, operating or Input device or parts thereof with respect to, with it loose, rotatable or displaceable connected levels or other arrangements can be achieved in order to achieve the desired tactile to transfer kinesthetic effects to the user. 13. The device or method according to any one of claims 10 to 12, characterized in that in the case of a "passive" influence, the ease of movement of the pointing, operating  or input device or parts thereof, in at least one - preferably freely selectable - direction or by at least one - possibly freely selectable - axis, related to, with it loose, rotatable or displaceable connected levels or other devices, by DV-controlled, controlled braking can be influenced. 14. Device according to the preceding claims, characterized in that in the pointing or operating process, a kinesthetic, tactile feedback or feed forward can be achieved and that Not only is tactile feedback possible via the control or pointing process, but also A positive feedback can be achieved by the user on the one hand device according to the invention - "virtual pressure" counter pressure exerted by the user too Can be used to control the computer, even without covering a distance in the control process. 15. Device according to one of the preceding claims, characterized in that in the Pointing, operating and / or input device such. B. a mouse or a rotary or Slider - by at least one - with respect to at least one axis, one joint and / or one surface each - movable element, DV-controlled - generates forces or moments and / or are recordable, so that the movement or mobility of the ball, and thus also the device or parts thereof are affected. 16. The apparatus according to claim 15, characterized in that moments or forces at least one suitable z. B. electric motor-like, DV-controllable arrangement at least a movable element can be transferred. 17. Device according to one of the preceding claims, characterized in that at least one element (e.g. as a rolling or sliding device relative to a plane, such as at least a ball of a pointing device or as a rotating device. an axis, such as B. the axis of a Knob or rocker switch) also directly through z. B. magnetic forces (rotor / stator Combination) can be influenced in a suitable manner. 18. The apparatus according to claim 17, characterized in that the movable elements as Balls for this purpose at least in some areas made of a suitable material exist and may have a segmented structure to z. B. suitably influenced by coils to be. 19. The apparatus according to claim 17 or 18, characterized in that rotary controls etc. by - u. U. suitably adapted - servomotors can be suitably influenced. 20. Device according to one of the preceding claims, characterized in that in the "passive" variant the respective elements z. B. as rollers, axes or balls, directly equipped with DV-controllable brakes or are part of such brake arrangements. 21. The apparatus according to claim 20, characterized in that by suitable, DV- controllable coils moving brake shoes on the respective - e.g. B. trained as a brake disc - Components act or that the braking process is carried out by DV-controlled induction. 22. Device according to one of the preceding claims, characterized in that in the Pointing, operating and / or input device a suitable combination of "active" and "Passive" influencing takes place, for. B. the overall behavior of the DV-controlled influencing accelerate or optimize. 23. Device according to one of the preceding claims, characterized in that in the Pointing, operating and / or input device, the simulated gripping and pressing or Pulling against a simulated resistor is generated in an energy-saving and effective manner by the DV controlled brake-like device simulates the resistance without a constant energy-consuming Actuation of active-acting, motor-like devices that for the invention Generate necessary movements, forces or moments. 24. Device according to one of the preceding claims, characterized in that in the Pointing, operating and / or input device, a brake arrangement exists, which is in the passive Hibernation has an inhibiting or blocking effect and is only DV-controlled, decoupled in a controlled manner.   25. Device according to one of the preceding claims, characterized in that in the Pointing, operating and / or input device the above-described movable elements to transfer the desired kinesthetic sensations to the user - such as B. spherical Roles with a "mouse" - to be fixed, guided or stored in a suitable manner. 26. Device according to one of the preceding claims, characterized in that in the Pointing, operating and / or input device - preferably arranged on the underside - "Skids" (e.g. a mouse), which in turn have DV-controlled rollers or ball arrangements can be "extended or retracted", which is not - for a stable (not wobbly) Position of the pointing device with respect to the base - necessary "runners" must act. 27. The device according to any one of the preceding claims, characterized in that the Pointing, operating and / or input device such as a mouse or a trackball - for that Position determination required - relative movements at least on a movable element such as e.g. B. a ball, a roller or the like can be removed in a suitable manner by rotary movement. 28. Device according to one of the preceding claims, characterized in that the Approach, reach or traverse freely selectable areas of the user interface with the help a pointing, operating and / or input device or respective parts thereof, an impression can be conveyed as if the user could exert a force against a virtual object, by a resistance can be induced kinesthetically by DV-controlled braking, whereby from User generated forces against this resistance by suitable measuring methods (capacitive, piezo   Strain gauges etc.) to be recorded in terms of data processing and included interactively. 29. Device according to one of the preceding claims, characterized in that in the Pointing, operating and / or input device such. B. a mouse one, by DV-controllable striding structures force transmitting device is provided or the transmission of the Kinaesthetic effects are carried out by DV-controllable "Mecanum" wheels. 30. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device such as a trackball, by actuating the User the position of the ball with respect to its housing and thereby the bilateral Force relationships between ball, ball guide and user through arrangements according to the invention Can be influenced by DV control. 31. Device according to one of the preceding claims, characterized in that at a DV system with a remote or removable display, operating or input device or parts thereof, the data or control impulses and the energy supply by the same Interface arrangement are transferable, the z. B. also transmits the pointing data. 32. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device such. B. in switches or controls by Influence according to the invention - freely programmable - various characteristic curves of the force-displacement behavior the operation of a control button can be simulated, e.g. B. the generation of (on) clicks or artificial resistances when operating devices of all kinds. 33. Device according to one of the preceding claims, characterized in that in the Pointing, operating and / or input device Sensory impressions, such as when operating - usually purely mechanical - locking mechanisms, switching, tensioning or spring mechanisms occur by suitable combination and DV control of the device according to the invention are achievable. 34. Device or method according to one of the preceding claims, characterized characterized in that the pointing, operating and / or input device such. B. one Rotary control by suitable, also DV-generated "click", "latch" or "click" when Moving the control button along the axis of rotation a highly variable input device is trainable. 35. Device according to one of the preceding claims, characterized in that the  Pointing or operating device - z. B. as a mouse (or pen) in the areas where fingers (e.g. gripping!) or palms lying on, lying on or in, with (e.g. sideways for thumb and opposite fingers) - preferably laterally arranged - "active" according to the invention and / or "passive" devices can be equipped, for. B. a grasp (or its distorted Projection on the device according to the invention) or to simulate the position of the fingers to register or influence accordingly. 36. Apparatus according to claim 35, characterized in that the inner or upper sides such arrangements can be equipped with devices that control DV tactile stimuli z. B. at Hands preferably in the area of the inside of the hands, inside of the fingers and fingertips to transfer. 37. Apparatus according to claim 36, characterized in that these - preferably laterally and arranged above - devices partially or completely - in a compatible way - the buttons replace conventional pointing devices. 38. Device according to one of the preceding claims 35 to 37, characterized in that the pointing or operating device - z. B. as a mouse or pen - in the areas where fingers (e.g. as when operating a button / switch!) or palms on or rest on it (or are in trough-like arrangements on the pointing device) with likewise inventive "Active" and / or "passive" devices can be equipped to be DV-controlled "direct" tactile To convey an impression or to query movements and pressure conditions on the part of the user. 39. Device according to one of the preceding claims 35-38, characterized in that the pointing or operating device - these devices can z. B. by DV-controllable - Height-adjustable - pen matrixes on the fingertips or other areas of the hand tactile / haptic Submit impressions while e.g. B. the hand moves the pointing device or on it (the hand) DV-controlled forces can be exercised. 40. Apparatus according to claim 39, characterized in that the tactile stimuli also by DV-controllable, matrix-like, electrodes can be triggered. 41. Device according to one of the preceding claims, characterized in that "Buttons" in so-called GUI's directly tactile during an operation with a pointing device and can be experienced kinesthetically - virtually - "snap in". 42. Device according to one of the preceding claims, characterized in that DV- it can be registered in a controlled manner whether the user is exerting force on the pointing device according to the invention exercises, or lets go of the same, if necessary - such. B. In the case of a mouse, a "drive away" - to prevent undesired movement and / or force states in a DV-controlled manner. 43. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device such as a mouse or a trackball by DV controlled generation of local, magnetic fields in a base - e.g. B. a pad-like Screnn or touchscreen or parts thereof - kinesthetically effective influence on the device according to the invention is taken. 44. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device such as a mouse or a trackball z. Legs Wire matrix or a coil arrangement in or under the pad (or screen pad) DV-controlled Force ratios and the movement or mobility of the device or parts thereof inductively influenced. 45. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device or respective parts thereof, by, on individual or several fingers located thimble-like devices according to the invention, the z. B. magnetically influenced by a pad according to the invention, a kinesthetically feedback Pointing and / or regulation process can be carried out. 46. Device according to one of the preceding claims 44 or 45, characterized in that  that in the pointing, operating and / or input device, in which by the document on Parts of the device which, for. B. how "pens" should act, DV-controlled influence is exerted, a DV-based recording of the forces exerted by the user through - at suitable points attached - pressure sensors such. B. capacitive measuring diaphragms or strain gauges is provided. 47. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device for contact with a pad intended areas of the "pen" body - similar to a mouse - with a ball associated device according to the invention for active or passive DV-controlled influencing, as shown above. 48. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device combinations of DV-controlled by a pad induced forces and arrangements for influencing the force relationships and mobility at the Pointing or operating device itself - preferably a pen or a digitizing magnifier - or respective parts thereof can be made. 49. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device from magnetically induced - DV-controlled - forces in interaction with a magnetically influenceable pad (which, for example, is not itself DV-controlled is) influence the sliding and / or rolling properties of the pointing device. 50. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device in an advantageous embodiment of the Kinaesthetic sensation-producing part predominantly in a pen, such as z. B. for a so-called note Pad is provided is arranged. 51. Device according to one of the preceding claims, characterized in that in the Pointing, operating and / or input device through the DV-supported influencing of Running properties of a ball - located at the tip of a pen - with the help of a controllable one Braking device is generated at least part of the desired property. 52. Device according to one of the preceding claims, characterized in that a mine-like formation of the area coming into contact with the base, and by a controllable longitudinal mobility of this mine with respect to an outer, tangible sleeve desired effect magnetic forces between the base and the pointing device can be achieved. 53. Device according to one of the preceding claims, characterized in that - DV-controlled - the grip sleeve with respect to the lead and / or a ball with respect to the Mine are rotatably arranged. 54. Device according to one of the preceding claims 50 and 53, characterized in that that both mine and ball - depending on the application - each DV-controlled, "active" and / or can be influenced "passively". 55. Device according to one of the preceding claims, characterized in that a such influencing the mine (the mine in its position with respect to the sleeve) by a DV-controllable linear motor-like arrangement, preferably in combination with a DV-controllable brake-like device is achieved. 56. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device or parts thereof (as a quasi-reverse Operating principle; with a pen, it would be the tip that comes into contact with the pad such as B. the mine or part thereof) is provided with braking "feet" (z. B. made of rubber). These can be "retracted" with the aid of a computer, so that the pointing or operating device is open e.g. B. to place skids with high lubricity and / or DV-controlled - bez. the document sliding - distance producers to "drive out" so as to - with respect to it loose or rotatable or Slidably connected documents or other devices - a sliding, sliding effect cause.   57. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input device or parts thereof specifically in freely programmable Vibrations (eg when "running over" a virtual "bump surface"!) Are offset by tactile To convey information, preferably when "driving through" a so-called GUI. 58. Device according to one of the preceding claims, characterized in that this Stop vibrations even when there is no movement of the pointing or operating device is done to z. B. to mark buttons on a graphical user interface or at different types of areas to influence the type and intensity of the vibrations. 59. Device according to one of the preceding claims, characterized in that the Vibrations in a suitable manner, e.g. B. switched off by a - DV-detected - removal of the hand become. 60. Device and method according to one of the preceding claims, characterized characterized in that a pointing, operating or input device is part of a graphical kinaesthetic user or user interface (GUI), in which a - bilateral - kinaesthetic, tactile and / or haptic operability is achievable and thereby also high "Memory" for previously saved settings or presets of the Operating instruments can be achieved. 61. Device and method according to one of the preceding claims, characterized characterized in that with a graphical user or operator interface (GUI) kinesthetically, Motor, tactile and / or kinesthetic feedback to the user. 62. Device according to one of the preceding claims, characterized in that optically existing user help or commands such. B. locking operations, rubber band function etc., during the pointing, operating and / or input process, kinesthetically accompanying and / or are reproducible. 63. Device and method according to one of the preceding claims, characterized characterized in that when a "crossing" or "crossing" the cursor of a line on a Monitor is shown by means of a pointing device (for example a “locking line” in a CAD program) the user can be given the impression that he is "crossing" a small line Cant on a pad. 64. Device and method according to one of the preceding claims, characterized characterized in that when "crossing" or "crossing" a line on a monitor is shown by means of a pointing device - such as. B. a "rest line" in a CAD program - the Users get the impression that they are "crossing" a smooth valley. 65. Device and method according to one of the preceding claims, characterized characterized by dots, lines, areas of different colors or different structures are kinesthetically "announceable" before they are visually reached or crossed with a pointing device become. 66. Device and method according to claim 65, characterized in that this announcement done by a "suction" effect. 67. Device and method according to one of the preceding claims, characterized characterized that areas, points, lines or areas, even without visual representation a monitor can be conveyed kinesthetically or haptically. 68. Device and method according to one of the preceding claims, characterized characterized that areas for the operation kinesthetically and / or haptically in a window can be limited. 69. Device and method according to one of the preceding claims, characterized characterized in that a kinesthetic impression can be generated, pull on a "rubber band"  can. 70. Device and method according to one of the preceding claims, characterized characterized in that a haptic for guiding the pointing device or for orientation and / or kinesthetic impression can be simulated to overcome physical resistance or to have "in front of" yourself. 71. Device and method according to one of the preceding claims, characterized characterized in that areas such as a point or a surface - z. B. in a CAD drawing - at Approaching or reaching as a "trough-like" impression can be experienced. 72. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the User interface through DV control gives the user an impression that the Pointing device "stiff" can be operated or the stiffness increases in a way than a hump would exist. 73. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the User interface through DV control gives the user an impression that - z. B. in a word processor - finding jobs such as: B. a line in a text the kinesthetic feedback of a rest process is supported. 74. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the User interface through DV control gives the user an impression that is variable more changeable - e.g. B. latching - switch and controller kinesthetic and / or tactile and are operable. 75. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the User interface through DV control gives the user an impression that fields, so-called Windows in GUIs can be controlled more quickly due to the "smog" effect. 76. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that objects displayed on a monitor can be felt and controlled haptically, tactile and kinesthetically seized or put away. 77. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that, e.g. B. in the "passage" through a color gradient or a gray value gradation in one The graphic program changes the feeling in your hand from "smooth" to "rough". 78. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that at z. B. a "virtual edge" command executing operations by registering through the User generated pressure on this "edge" will be triggered. 79. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that - e.g. B. in scientific software applications - mathematical functions, electrical Fields, viscous or unusual media by simulating "force fields" with the pointing device are kinematically through and experienceable and so to speak a "passage" can be felt.   80. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that the active influencing of movement or mobility z. B. a pointing or Operating device is used to support the user's own movement. 81. Device and method according to claim 80, characterized in that when approaching, Reaching or crossing freely selectable areas of the user interface with the help of a Showing or operating device an impression can be given that the active influence of Movement or agility z. B. a pointing or operating device and method as "Servo effect", or for learning movements - e.g. B. gestures on a notepad - used is by z. B. is "run through" a simulated trough. 82. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that often traveled routes and areas learned by the DVA and with repeated use light or stronger - tangible - "leading". 83. Device and method according to one of the preceding claims 79 to 82, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that with branches of the pointing or operating paths corresponding to the user forces exercised for the further course - in relation to the alternative possibilities - Choices can be given kinesthetically. 84. Device and method according to one of the preceding claims 79 to 84, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that writing movements are learned kinesthetically supported by the ones to be learned Writing figures are designed as kinesthetically smooth, absorbent or leading "valley". 85. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that the operation of an instrument by simulated plucking, striking or tearing of strings or other resonance bodies or by simulating a pick. 86. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that the user - or his hand - at certain, e.g. B. "pushed away" dangerous orders becomes. 87. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the User interface using a pointing or operating device a tactile and kinesthetic can be experienced, feeling can be conveyed to receive a kinesthetically experienced hint that follows a code can have different meanings, e.g. B. double short pulling one assigned to certain command families. 88. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that - e.g. B. on a "virtual edge" - command-executing processes by registering one virtual "reaching behind" or "(back) hook" created by the user (such as with the The process can be triggered if index cards are flipped through or a book is opened are. 89. Device and method according to one of the preceding claims, characterized  characterized in that when approaching, reaching or traversing freely selectable areas of the User interface with the help of a pointing or operating device combinations of Kinaesthetic, tactile interactions of both the movement of the pointing device with the hand and Detecting and influencing - changing - finger positions (e.g. gripping or packing and Show) can be achieved and thus enable complex sequences of commands in a pleasantly natural way. 90. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the User interface with the help of a pointing or operating device, pointing, and / or Control elements such as pen pens or mice etc. projected, distorted, tactile and kinesthetic Scenarios can be generated. 91. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the User interface with the help of a pointing or operating device the generation from - to pointing or operating device according to the invention “projected” and / or “distorted” for this Movement and kinesthetic scenarios can be represented, such as. B. Squeezing, grinding, cutting, cutting, sawing, hammering, scratching, scraping, smoothing Carving, planing, grinding, filing, polishing, under, behind, between, etc. Gripping, bending, breaking. These kinesthetic scenarios can e.g. B. used as tools, and in various Trigger application sequences. 92. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that a cursor is a kinesthetic "lasso" by z. B. a "haptic" circle over a selecting "object" and then - if necessary - an object on the user interface quasi "drag along". 93. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that bulldozer or cow catcher-like manipulations can be generated and that at resulting "collisions" with objects on the GUI, as well as by simulation of Surface properties and weights of "objects" and their bases are also kinesthetic can be represented. 94. Device and method according to one of the preceding claims, characterized characterized in that when approaching, reaching or traversing freely selectable areas of the An impression can be conveyed to the user interface with the aid of a pointing or operating device, that objects on a user interface using a "skewer" function by simulated "Intrusion" z. B. are selectable by the "intrusion" z. B is realized by stiffness. 95. Device according to one of the preceding claims, characterized in that the Pointing or operating device is provided with troughs that allow z. B. the "Stretching device" of the individual fingers in the pointing and / or operating process, kinesthetically feedback can be included. 96. Device according to one of the preceding claims, characterized in that mechanical connecting links can be arranged on the nail side of the respective fingers in order to and not unnecessarily hamper frictional movements. 97. Device according to one of the preceding claims, characterized in that the for the degrees of freedom required by essentially reversed degrees of freedom Robot arm-like arrangements can be achieved. 98. Device according to one of the preceding claims, characterized in that the Hands (or parts of it, such as just the thumb, index and ring fingers, and possibly a support surface in the Palm area), in the palm of the hand preferably partially shaped as a glove Devices are "insertable".   99. Device according to one of the preceding claims, characterized in that the Hands can be quickly removed from the device at any time without great expenditure of time and effort, d. H. the fingers (and possibly the palm) can only be grasped in a U-shape, only the fingertips are to be encompassed like thimbles. 100. Device according to one of the preceding claims, characterized in that the Operating instructions of the device according to the invention essentially that in use a hammer or a file. 101. Device according to one of the preceding claims, characterized in that the Pointing or operating device by a DV-controlled, suitably trained multi-articulated Is equipped, suitable for absorbing swing movements also from the Wrist by placing a last link (e.g. a multi-link arrangement) like the handle of a Tool can be grasped or gripped and also for the movement process, has suitable degrees of freedom of movement. 102. Device according to one of the preceding claims, characterized in that this "handle" various, simulated tools such. B. hammer, gouge, file, screwdriver, drill etc. can be flanged. 103. Device according to one of the preceding claims 100 to 102, characterized in that that the pointing or operating device is - at the end of the actuator - accessible with enough Robot arm equipped with degrees of freedom is one, whereby the illusion can be generated in a DV-controlled manner To have tools in hand. 104. Device according to one of the preceding claims, characterized in that the Pointing or operating device in a suitable manner is smooth and without large Mass inertia forces can be used to effectively and without inertia to swing movements simulate. 105. Device according to one of the preceding claims, characterized in that the Pointing or operating device in partial areas as a 2-part 3D input arrangement can be trained (hammer-anvil arrangement), with part of the handle of a tool can be simulated and the other part represents the material to be processed, e.g. B. very hard To be able to simulate objects better. 106. Device according to one of the preceding claims, characterized in that the Approach, reach or cross freely selectable areas of the user interface directly on a sufficiently large screenpad or touchscreen also real, kinesthetically perceptible (palpable and palpable), variably controllable objects, such as markings, "placeholders", game figures, Symbols etc. exist whose symbolic properties can be changed and e.g. B. to operating or pointing instruments are convertible. 107. Device according to one of the preceding claims, characterized in that on a - sufficiently large - pad-like display, puck-like, real, tangible bodies of different kinds Shape, according to the invention, interactive, DV-controlled, any movements and / or positions or make. 108. Device according to one of the preceding claims, characterized in that body different functions at certain positions such as slide or rotary control, game figure, Represent vehicle, handle, symbol, marker, variable etc. 109. Device according to one of the preceding claims, characterized in that in Interaction with the display-like documents, the function of the respective body through display supportive or indicative presentation is realized. 110. Device according to one of the preceding claims, characterized in that a Body according to the invention in a "clickable" position, by radially arranged numbers on the Screenpad easily as a rotary knob and a slider by displaying a slide  is representable and recognizable. 111. Device according to one of the preceding claims, characterized in that the Body as pointing, operating and / or input devices in a rest position on the edge of the Pad's can be "parked" or held. 112. Device according to one of the preceding claims, characterized in that at Removing or positioning the pointing, operating and / or input device by hand Processes can be registered in a suitable manner (e.g. touchscreen-like) or as required can be included in the interactive process. 113. Device according to one of the preceding claims, characterized in that at the pointing, operating and / or input device a manual movement of the body on the Underlay is executable, the forces exerted by the user on the body actively in the movement sequence, e.g. B. can be introduced by "back pressure or pull". 114. Device according to one of the preceding claims, characterized in that the Body or the pointing, operating and / or input device or respective parts thereof DV- controllable suction cup-like, or similar suitable devices to their position stabilize. 115. Device according to one of the preceding claims, characterized in that a Type DV-controlled "putting on" the body or the pointing or operating device or respective parts thereof exist to influence the sliding properties, so that, for. B. Forces (e.g. magnetic), which exist between body and pad - dv controlled - when "on" (high friction) essentially only have to secure the body against lifting, so its Fix location. 116. Device according to one of the preceding claims, characterized in that in the Pointing, operating and / or input device such as a mouse or respective parts thereof are slidable that their "feet" z. B. by contact with the pad z. B. Position and can convey more information to a data processing system by arranging the Contact points transmitted so significant information, such. B. what body it is. 117. Device according to one of the preceding claims, characterized in that the Pointing, operating and / or input devices in a passive variant on the edge or also directly on the screen or pad (preferably touchscreen) with the help of e.g. B. patch panels or Dovetail grooves or corrugated surfaces can be placed or attached and / or can be connected (where there is also a connection to a bidirectional interface at the same time to transmit data and / or energy).