CA1235774A - Dynamically interactive responsive control device and system - Google Patents

Dynamically interactive responsive control device and system

Info

Publication number
CA1235774A
CA1235774A CA000435319A CA435319A CA1235774A CA 1235774 A CA1235774 A CA 1235774A CA 000435319 A CA000435319 A CA 000435319A CA 435319 A CA435319 A CA 435319A CA 1235774 A CA1235774 A CA 1235774A
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CA
Canada
Prior art keywords
producing
responsive
recited
motion
motion device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
CA000435319A
Other languages
French (fr)
Inventor
Marshall Williams
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ampex Corp
Original Assignee
Ampex Corp
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Filing date
Publication date
Application filed by Ampex Corp filed Critical Ampex Corp
Application granted granted Critical
Publication of CA1235774A publication Critical patent/CA1235774A/en
Expired legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/10—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using selector switches
    • G05B19/106—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using selector switches for selecting a programme, variable or parameter
    • G05B19/108—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using selector switches for selecting a programme, variable or parameter characterised by physical layout of switches; switches co-operating with display; use of switches in a special way
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23053—Knob with tactile feedback, representing clicks, detents programmed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/23—Pc programming
    • G05B2219/23379—Knob, delivering pulses, digipot, electronic potentiometer
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H3/00—Mechanisms for operating contacts
    • H01H2003/008—Mechanisms for operating contacts with a haptic or a tactile feedback controlled by electrical means, e.g. a motor or magnetofriction

Abstract

ABSTRACT

A general device for the input of information in a binary format through rotational motion is disclosed, having independent means for the simultaneous output of information in a form perceivable to the human tactile sense. In particular, a knob is coupled to a shaft, a tachometer and a particle brake. An associated control means receives information from the tachometer, controls the operation of the particle brake, and interfaces the corresponding operations with the apparatus which is desired to be controlled thereby.

Description

DYN~MICALLY INTERACTIV~ RESPONSIV~ CONTROL DEVICE
AND SYSTEM

BACKGROUND OF THE INVENTION

This invention relates generally to the field of controls and control systems for use with controlled systems or other utilization devices, and more particularly to such controls and control systems wherein an information signal is generated responsive tG
movement of a moveable element and which movement is productive of an associated interactive tactually perceiYAble response.
Broadly speaking, controllable apparatus or more generally utilization devices have long required the capability to interact with a managing element in connection with the operation performed by the managing element. This interfacing capability has required the flow of information in both directions: as status indications from the controllable apparatus or utili-zation device to the managing element, generally hereinafter referred to as an output operation; and conversely from the managing element to the control-lable apparatus, generally hereinafter referred to as an input operation. In the following discussion, input and output will be with reference to the elec-trical system.
In dealing with controllable apparatus the managing element can take numerous forms. Fre-quently the managing element is a human operator who reacts accordingly to status indications from the controllable apparatus. However managing elements can assume other forms, such as automated systems including electro-mechanically controlled implements for effecting operations with respect to one or more selected para-~r lZ3S77~

meters of movement. In this application, "operator" isused to mean any managing element, such as a human operator or electro-mechanically controlled implement or the like, that interacts with the controllable apparatus.
Such systems of necessity must include an interface between the controllable apparatus and the operator which permits the efficient flow of information in both input and output operations. In the broad area of input operation, this frequently includes a displacement device having a moveable portion with a parameter of movement associated therewith. Such parameters of movement can include physical motion of either a trans-latory or rotational nature, e.g., the translatory or rotational movement of a single or multiple position switch, potentiometer, etc. Like~ise, in the broad area of output operations, efficient flow of information requires that the information from the controllable apparatus be in a format perceivable by the operator.
The formatting of such information often involves a plurality of relations involving the visual, auditory or tactile senses. Well known devices useful for the flow of output information to the visual senses are various light indicator devices including light emitting diodes and cathode ray tubes; and to the auditory senses, conventional loud speakers employing permanent magnetics and voice coils, and more recently solid state sounding devices. Tactually perceivable sensations have not been used in a dynamically interactive manner. The use of the tacti~e sense has been restricted to a static interaction, for example, for perception of fixed detents and/or a constant drag in devices executing translatory or rotational motion; e.g., rotational devices having a fixed drag or a fixed number of detents for indication of position.

123S779~

As technology has continued to expand, con-trolled systems have likewise continued to expand in complexity, sophistication, and the scope of the general work or task implemented or controlled. Simultaneously with the growth in the complexity and sophistication of the controlled system has been a corresponding increase in the associated quantity of input and output infor-mation. For human operators of such systems, this has often resulted in a staggering collection of switches, knobs and indicating devices with which to deal, each frequently dedicated to control a unique parameter of the controlled system. As the basic requirement under-lying all such arrays of switches, knobs and indicating devices is the bi-directional flow of information between an operator and the controlled system, a problem is often encountered. This proolem relates particularly to the human limitation that only a finite amount of information can be effectively dealt with at any one time. This includes not only the basic infQrmation which may be flowing in either an input or output sense, but also the human requirement that certain physical parameters such as switch or indicator location on a panel as well as the corresponding information assoc-iated therewith must be simultaneously considered by the operator for an intelligent, desired operation to result. This requirement is particularly significant in areas where the associated desired operator response is either a rapid one or one of a creative nature.
Such requirements have frequently resulted in multifunctional inputs or output devices, such as switches or knobs whose functions can be changed in a dynamic manner in response to changing requirements, or indicating devices such as cathode ray tubes on which the display thereon can be quickly changed. In terms of 123577~L

the art, such devices are referred to as "soft", e.g., soft swi.ches, to indicate that the associated functions can be changed at will.
A particular example of multifunctional use of a push button is observed with the so called "soft keys" which are frequently encountered on the typewriter type keyboard generally found with a computer terminal.
The function of such keyboard keys can be generally assigned to any of a multitude of functions depending upon the particular application; such functions can thereafter be changed as easily as entering new data on the computer terminal.
While switches involving translatory motion whose functions can be changed at will are well known and widely used, input devices involving rotational motion whose function can be easily changed have not seemed to have found equal wide spread use.
With the growth of the use of microproces-sors, digital processing of information is becoming increasingly widespread. Applications previously considered as distinctly analog in nature are now being processed in a digital manner, with the cor-responding use of analog-to~digital converters to transform the analog information of interest to a digital format for the requisite digital processing, and the subse~uent conversion of the results, in a digital format back to an analog format, for interaction with the particular environment. In such an environment where information is converted from a continuous analog nature to a discrete digital nature, it is desirable for input devices from the external world to provide infor-mation directly in a digital rather than analog format.
Input devices capable of providing basic input infor-mation in a digital or binary form frequently represent translatory physical motion, such as the depressing of a ~2357';'9~

switch or key. The corresponding output generally assumes one of the well known con~entional forms sus-ceptible to perception by the operator's visual or auditory sense.
In comparison with input devices involving translatory motion, there has been relatively few input devices involving rotational motion available. In the past, such devices were frequently limited to potentio-meters which directly produced an output in an analog format. Consequently in using such a device for input purposes, a number of problems were present. To ef-fectively use the output of a potentiometer which produces output in an analog format, an analog-to-digital conversion process is essential. An additional problem relates to the fact that the analog signal produced is unalterably associated with a fixed angular position;
i.e., if a potentiometer were going to be used as an input device, the angular reference point, e.g., the zero reference position, always remains at the same angular position. This severely limits the usefulness of the device as an input means to a digital system.
A solution to the problem presented by the nature of the output signal produced by a potentiometer is afforded by the use of a tachometer. In particular, s/~ t-~d *~ a ~e~e~ disc is attached to a rotatable shaft, ~ith a light source positioned on one side of the s-lo~e~ disc, and a light sensing means positioned on the opposite side of the disc, in alignment with the light source.
Consequently, as the shaft is rotated, the beam of the light is interrupted by the rotating disc, thereby producing an output signal, usually of a binary nature.
By appropriate decoding means, both amount of rotation as well as speed of rotation are ascertainable. It is further observed that by use of a second set of slots on the disc, distinct and separate from the first set, but displaced from the first set by an appropriate amount along with a second light sensing means and an optional second light source, information indicative of direction of rotation of the shaft is also produced.
In particular, an input device incorporating a tachometer, while being able to provide input informa-tion, still suffers from a number of short comings. In particular, such an input device, while being capable of providing information based upon rotational motion, would generally lack end stops, i.e., means to limit the extremeties of angular rotation.
Likewise, such an input device would lack detents at selected angular positions. This feature, which is commonly found on analog potentiometers is often quite useful in either presetting the input device to a known value or use as a reference point in the operation of the knob. However, by so providing fixed detents on the above described input device, a similar limitation in the flexibility results.
Furthermore, such an input device as above described incorporating a knob coupled to a tachometer by a shaft would have a fixed rotational friction or drag associated with rotation.- In analog potentiometers, the amount of drag is frequently mechanically selectable, depending upon the particular device selected and the manner in which it is physically mounted. Such flexibi-lity is clearly lacking in the above described input device. However, rotational friction or drag could be effected by mechanical adjustments on the shaft coupling the knob to the tachometer, or by other means, such would again limit the flexibility of resulting device.

lZ357 ~'4 SUMMARY OF THE INVENTION
. . .
The invention relates to apparatus comprisiny:
first means for providing an output response for controlling a controllable apparatus, the first means having a moveable portion for effecting the output response and providing a tactually perceivable sensation in response to movement of the moveable portion; second means Eor providing a status indication; and third means responsive to the status indication for controlling the tactually perceivable sensation provided by the first means in accordance with each of a selected one of a plurality of relations determined by the status indication.
In its method aspect, the invention relates to a method for the input o~ information from a motion device to a eontrolled system to eontrol at least one operating parameter assoeia,ed therewith, and for the production of information in a tactile format in response to an output therefrom, eomprising the steps of: translating information from the motion device to a format for eommunication to the controlled system; producing a control signal responsive to the translated information from the motion device to control an operating parameter associated with the controlled system and for producing an output signal; restricting the maximum angular displacement of the rotational device between a pre-defined first and seeond limit in response to the output signal; and providing tactile indication of a plurality of angular positions responsive to the output signal.

kh/l~

~Z35774 In accordance wi~h the present invention, a positionable device having a moveable portion capable of translating motion directly into an information signal, and which is capable of simultaneous response to status indications from controllable apparatus or operator providing output information to a managing element through the tactile sense, is providéd. The design of such a positionable device with input/oùtput interactive capability incorporating the present invention is extremely flexible, having the major parameters of interest associated with input and output operations being easily and dynamically changeable. The tactually perceivable sensations can be provided in functional relation or a random, arbitrary or other desired relation to movement of the moveable portion and which is changeable in response to one or more selected parameters of movement of the moveable portion. One may select among a plurality of such relations in response to any selected input, e.g., status indication. The parameters associated with input operations including direction of movement, amount of movement and rate of movement are easily defineable and changed. In particular, movement of the moveable portion could be associated with either an increase or decrease in value of one or more of the parameters, and the resulting magnitudes of parameter change associated with a given angular displacement or angular rate of rotation can likewise be easily adjusted or changed. In a like fashion, tactile parameters associated with output operation including amount of static rotational friction present, as well as the number and location of end stops and detents are easily definable and ehangeable. In particular, the amount of static rotational friction can - qa -12:35774 vary both in response to angular position and direction of rotation. In addition, the existence and placement of end stops to limit rotation in either direction, as well as the number, placement and force required to by-pass detents is likewise easily definable and changeable.
In accordance with the present invention, a dynamically interactive responsive control device and system is produced by the combination of a rotatable shaft having a knob affixed to one end for operator interface, and communicating with a tachometer, a particle brake, and a control means.
A particle brake is a device having a rotat-able shaft attached to a slotted disc which is enclosed in a chamber filled with magnetic particles, surrounded by an electrical winding through which a current can be passed. As a current is passed through the electrical winding, the magnetic particles tend to line up along the lines of force created by the magnetic field, resulting in a drag which opposes rotational motion imparted to the shaft. The amount of drag produced is directly proportional to the current applied to the electrical winding. By appropriately controlling the current through the electrical winding, a number of different and distinct tactile effects can be easily produced. In particular, by passing a continuous current through the winding, a corresponding static rotational friction effect can be achieved in amounts determined by the magnitude of the continuous current.
End stops to limit rotation can be simulated by the passing of a relatively large current through the electrical winding corresponding to the particular angular position at which the placement of the individual end stops are desired. In a similar fashion, detents can be simulated by the passing of a lesser amount of ~235779~

current through the electrical winding correspondin~ to the particular angular positions at which the placement of the individual detents are desired.
The above described combination of a rotat-able shaft having a knob for operator interface and communicating with a tachometer and a particle brake includes control apparatus such that rotational in-formation derived from the tachometer is used, both in control of the particular application of interest, as well as in the generation of output information to control the particle brake in a format which is per-ceivable ~y the operators tactile sense. In particular, input information derived from the tachometer, e.g., direction of rotation, angular displacement and rate of rotation, is used both in the control of the particular application of interest and also in the generation of associated output information in a format perceivable by the operator tactile sense, including rotational drag, end stops and detents.

DE~CRIPTION OF FIGURFS
~ = = .

FIGURE 1 illustrates in a block diagram form the basic operation and the interactions in a soft knob with tactile feedback.
FIGURE 2 illustrates an optical tachometer.
FIGURE 3 illustrates the waveforms produced in the operation of the optical tachometer illustrated in FIGURE 2.
FIGURE 4 illustrates a circuit for the decoding of rate and direction information from the signals produced by the optical tachometer illustrated in FIGURE 2.
FIGURE 5 illustrates waveforms associated with the operation of the circuit illustrated in FIGURE 4.
FIGURE 6 illustrates a particle brake.

3~

FIGURE 7 illustrates a hardware implementation of a soft knob with tactile feedback.
FIGURES 8A and 8B together illustrate a hardware implementation of a soft knob with tactile feedback em-ploying a microprocessor.
FIGURES 9A-9D to~ether illustrate in a flow chart format a program which could be used in the hardware im-plementation illustrated in FIGURES 8A and 8B.

DETAILED DESCRIPTION

10 A transducer 1 in accordance with the present invention is illustrated generally in the two diagrams of FIGURE 1 and is seen to be capable of uni-directional and bi-directional flows of information relative to an operator of the transducer. Moreover, as will be apparent upon consideration of the following detailed description of various preferred embodiments of the transducer 1, said flows of information are selectable.
The transducer 1 of the present invention is capable of providing the bi-directional flow of information between an operator and the transducer (or of onlv providing information to the o~erator) through operator/transducer interaction means 2, the bi-directional flow of infor-mation between the transducer and the associated electrical system over a communication link 21, the uni-directional flow of information from the transducer to the electrical system over the link 21,or a separate communication link 23, and the uni-directional flow of information from an external source to the transducer over another communication link 18, A particularly salient feature of this invention is associated with the aforementioned operator/transducer interaction means 2 that is capable of providing information flow to the associated electrical system and the selectively bi-hf/jj :, 123577~

directional flow of information to the operator in atactitely perceivable format operat:ively associated with the transducer. This transducer advantageously prcvides the ability for the operator to input information to the transducer 1 and receive outputs from the transducer 1 so that, if desired, ap~roPriate responses can be e~ecuted.
Knob 10 functions as the direct operator interface, for both the inPut and outPut of information with reference to-an electrical system, generally indicated in FIGURE 1 as application 19. Mounted for rotation with knob 10 on a common shaft 12 is an input transducer means 13 for the input of information to control means 17, and output transducer means 15 for the output of information from control means 17 to an operator in a format perceivable by the tactile sense. Control means 17 functions to receive input information from input transducer means 13 and to communicate such information to application 19.
Control means 17 likewise functions in response to information from input transducer means 13 and appli-cation 19 to control the transmission of output infor-mation to outPut transducer means 15 for further transfer through shaft 12 and knob 10 to a human operator by communication through the tactile sense.
It should be understood that application 19 represents in general any electrical system with which it is desirable to interface information. It should also be clear that control means 17 could likewise receive information 18 from an e~ternal source unrelated to application 19. In a similar manner it should be clear that input transducin~ means 13 could communicste directly by signal 21 to application 19, or simultaneously with control means 17 and apPlication l9 by sip,nal 23.
Likewise control means 17 could communicate directly with application 19 indebendent of information received by communication link 23 from input transducing means 13.

hf/jj ~23~7~74 Several features of the dynamically interactive responsive control device and system in accordance with the present invention should be clear. The movement associated with the input of information does not have a restoring force associated therewith. In particular, when motion associated with the input of information occurs, the portion of the input device remains stationary in the final position in which it is positioned. In addition, the resistance to motion can be independently controlled, and in par-ticular does not have to be referenced to position or displacement.
In the preferred embodiment, input transducer means 13 is implemented using an optical tachometer, an embodiment of which is illustrated in FIGURE 2.
Referring to FIGURE 2, upon rotation of knob 10, shaft 12 will rotate. Coupled to shaft 12 is a disc 20 havirg optica] gradations 22 which permit the passage of light from source 25 therethrough. A second set of grad-ations are present on plate 27. Rotation of disc 20 results in an op~ical interference pattern in the light responsive light energy falling on sensors 24 and 26 due to the relative motion between the gradation on disc 20 and those present on pl~te 27. In particular, the gradations present on plate 27 in cooperation with the gradations on disc 20 result in the production of the respective waveforms by sensors 24 and 26 having a quadrature relationship, as illustrated in FIGURE 3. The manner in which the gradations are placed on plate 27 and disc 20 to result in the waveforms illus-trated in FIGURE 3 is well known to those skilled in the art.
A circuit for the decoding of the wavefor~s produced by sensor 24 and 26 in response to rotation of knob 10 is shown in FIGURE 4.
Input signals from sensors 24 and 26 are supplied as inputs to EXCLUSIVE-OR gate 30 whose rate output 32 is a sequence of pulses proportional to angular displacement of shaft 12, and the rate of which is proportional to angular kh /' .

123~774 velocity of shaft 12. Flip-flop 34 is a D-type f~p-flop.
The output from sensor 24 is supplied to the clock input 36 and the output from sensor 26 is supplied to the D input 38 of flip-flop 34. Consequently upon every high-to-low transition occurring on the output signal from sensor 24, the direction output 40 of flip-flop 34 will assume the corresponding state of the output from sensor 26. The output 40 of the flip-flop 34 is indicative of the direction of rotation of the knob 10.
The operation of the circuit illustrated in FIGURE
4 can be further understood by reference to the waveforms illustrated in FIGURE 5. FIGURE 5(a) and 5(b) illustrate the output waveforms from sensor 24 and 26 respectively in response to rotation of disc 20 (FIGURE 2). FIGURE 5(c~
illustrates the corresponding outpu-t 40 from flip-flop 34.
FI~URE 5~d) illustrates the corres2onaing output 32 from EXCLUSIVE-OR gate 30.
As knob 10 (FIGURE 2) is rotated in a first direction, the outputs produced by sensors 24 and 26 will be as illustrated in FIGURE 5(a) and 5(b). At time tl, the high-to-low transition occurring on the output of sensor 24 will result in the state of flip-flop 34 assuming the current state of the signal from sensor 26 (FIGURE 5(b)).
Consequently, the output 40 from flip-flop 34 will assume a high state, as illustrated in FIGURE 5(c).
For the purpose of illustration, assume that a change in the direction of rotation of knob 1~ occurs at time t2. The change in the direction of rotation of knob 10 will be detected by the circuit of FIGURE 4 at time t3, when the signal from sensor 24 changes from a high to a low state. At the occurrence of the high to low transition of the output from sensor 24 at time t3, flip-flop 34 will once again assume the state of the output from sensor 26.
~ue to the change in direction of rotation of knob 10, the corresponding state of the output from sensor 26 at time t3 will be low. Consequently, the output 40 from flip-flop 34 kh/'~

~23~774 will assume a low state. From observing FIGURE 5 (c), it is clear that in the simple circuit of FIGURE 4~ the output 40 of flip-floD 34 is indicative of the dlrection of rotation of knob 10. FIGURE 5 (d) illustrates the corre-sponding output 32 from EXCLUSIVE-OR gate 30.
Consequently, it is clear that by the use of a tachom-eter coupled to a shaft, rotational motion can directly produce information in a binary format. In particular, direction of rotation, angular displacement and angular speed are all ea~;ily obtainable.
In the preferred embodiment of the present inven-tion, a Two Channel Incremental Optical Encoder manu-factured by Hewlett Packard, series HEDS-5000 is used to implement the above described tachometer. The Hewlett Packard 28mm DIA~IETER Tl~O CHANNRL INCREMENTAL OPTICAL EN-CODER KIT tentative data sheet dated January 1981, number 5953-0469 (1/81).
In the preferred embodiment, outDut transducer means 15 (FIGURE 1) is implemented using a particle brake, best illustrated in FIGURE 6. Affixed to shaft 12 is a disc 50 having a plurality of slots 52. Disc 50 is constructed of non-magnetic material, and is completely enclosed in a non-magnetic housing 54 which is filled with magnetic particles 56 in a powder form. Magnetic flux 58, produced by coil 60 in response to current I 62, follows a path normal to the surface of disc 50 and in alignment with a portion of the locus of positions occupied by slots 52. In response to application of a current I 62 to coil 60, a magnetic flux 58 is created, the amount of which being directly pro-por.ional to the amount of current I 62 applied to coil 60.
In response to the magnetic flux 58, the magnetic particles 56 blind hf/ ii 123~774 to~ether along the li-les of magnetic flux 58. The strength of the resulting link is directlv ~ro~ortional to the amount of the magnetic flux as determined by current I 62. Consequently, rotation of shaft 10 can be restricted by the creation of drag resulting from the a~plication of a current I 62.
A ~article brake as above described suited for use as the output transducer means 15 is commercially avai]-able from DANA INDUSTRIAL and identified by the ~rademark SOFSTFP. The SOFSTEP particle brake is more fully de-scribed in DANA INDUSTRIAL Simplatrol catalog S-llOO.
By controllin~ the current to the particle brake, a number of different tactile res~onses can be achieved.
By ~assin~ a continuous current through coil 60, a rotational friction or drag effect can be obtained. In particular, the amount of drag produced is direct]y pro-portional to the amount of current passed throu~h coil 62.
Consequently, the amount of dra~ produced can be easily adiusted according to varving reauirements of different applications.
T~hile the amount of drag associated with rotational motion of potentiometers in the past is constant, a number of new and distinct programmable tactile res~onses are easily available in accordance with the present invention.
Broadlv s~eaking, by varyin~ the amount of current through coil 62, the amount of drag Droduced can vary in any desired relation to angular ~osition, angular velocity, direction of rotation, or any parameter or condition of interest. By way of example, in a complex process control application wherein the present invention is used to control a critical Parameter, the existence of an undesirable condition resulting either from parameter adjustment (or other unrelated causes) can be easily communicated to hf/ii 12~77~
the humar operator by an increase in the amount of drag reflected as increased resistance to further movement of the knob 10 affixed to the shaft 12. For e~ample, if the rate of increase of a parameter associated with angular position is producing undesirable results, this condition is communicated to the human operator by increasing the amount of drag in an amount appropriate to the particular conditions present.
In a similar fashion, by appropriate use of angular position information from input transducer means 13, and controlling the current through coil 62 in response thereto, limits can easily be placed on the amount of per-missible angular rotation of the shaft 12, i.e., end stops could be positioned at any desired angular location relative to the rotation of the shaft.
Likewise, by appropriate adjustment of the magnitude of the current passed through coil 62 in response to angular position information from input transducer means 13, the relative angular location of points of interest can be easily communicated to the human operator, i.e., detents can be placed at any desired angular position relative to the rotation of the shaft 12.
Conse~uently, it is clear that -the combination of a knob, particle brake and tachometer coupled by a common shaft, with the operation of the particle brake controlled by a control means in response to information from the tachometer, provides a soft knob with tactile feedback having extremely flexible characteristics and a broad range of applications, limited only by the sophistication of the control means.
FIG~RE 7 illustrates an embodiment of the control system of the present invention employing a rotatable soft knob with tactile feedback in an application providing tactually perceivable indications representative of program-mable clockwise and counter clockwise end of rotation stops, programmable detents, and variations in drag associated with each direction of rotation of the rotatable knob. Moreover, - lG --kh/~

~2357~4 the control system embodiment is constructed to provide an analog control output to con-trol an application of interest, as well as to provide a tactile indication of information either from the application of interest or from an unrelated application.
Rate output 32 and direction output 40 are supplied to the respective count and direction inputs of up/down counter 80. In response to the output provided by flip-flop 34 on direction output line 40, up/down counter 80, in response to the output provided by the EXCLUSIVE-OR gate 30 on rate output line 32 counts in either a numerically increasing or decreasing sequence. Consequently, the numeric value of the count present in up/down counter 80 will corres-pond to the angular position of knob 10.
The output from up/down counter 80 is supplied to upper limit comparison means 82, mid~range detent means 84, lower limit comparison means 86 and digital to analog converter 87.
The output provided on line 89 from digital to analog converter 87 is an analog signal proportional to the angular position of knob 10, inasmuch as the counts accumulated in the up/down counter 80 is proportioned to the amount and direction of angular displacement of the knob. The output provided on line 89 is used to control the particular application 91 of interest where a control voltage in an analog format may be desired. However, it is clear that a corresponding digital control signal is available directly from the output from up/down counter 80 for applications requiring such.
Upper limit comparison means 82, mid-range detent means 8~ and lower limit comparison means 86 simultaneously receive the output provided by the up/down counter 80. Each of the comparison means functions to compare the numeric value of the dlgital output signal from up/down counter 80 with pre-selected numeric values which can be defined depending UpGn the particular application and input to the comparison means, e.g., such as by thumbwheel switch settings.
The respective outputs from upper limit comparison kh/J~

123~7~4 means 82, mid-range detent means ~4 and lo~ler limit comparison means 86 become true when the count present in up/do~Jn counter 80 equals the respective numeric values pre-set in upper limit comparison means 82, mid-range detent means 84 and lower limit comparison means 8~.
The outputs from upper limit comparison means 82 and lower limit comparison means 86 are both supplied as inputs to OR gate 88. Consequently, the output 90 from OR gate 88 becomes true when the value present in up/down counter 80 equals either of the respective pre-defined values in upper limit comparison means 82 or lower limit comparison means 86, i.e., when the angular position of knob 10 corres-ponds to one of the pre-defined limits for angular rotation.
Due to the inductance associated with coil 60 (FIG~E 6) of particle brake 72, there is associated with the production of magnetic flux 58 a time constant determined by the equivalent inductance and resistance presented by the associated electrical circuit, hereinafter referred to as the particle brake time constant. Consequently, for a perceivable tactile indication to occur in response to a curre.t pulse applied to the coil 60 of the brake 72, the duration of the current pulse must exceed a minimum time period determined by the above discussed particle brake time constant. This is particularly significant in situations wherein the angular velocity of knob 10 is such to result in the production of a true indication from mid-range detent means 84 having a duration less than the particle brake time constant. Employing a tachometer having a large number of slots 22 (FIGURE 2) and rotating the knob 10 at a large angular velocity creates such a situation.
Consequently, the output from mid-range detent means 84 is simultaneously applied as one input to OR gate 92 and as a trigger input to one shot 94. The period of the pulse produced by one shot 94 is adjusted such that it is greater than the above discussed particle brake time constant. The output from one sho-t 94 is applied as the second input to OR gate 92. Consequently, the output 96 from OR gate 92 is a signal having a minimum duration greater than the particle brake time constant, indicative of agree-ment between the angular position of knob 10 and a pre-defined angular position at which a detent tactile response is desired.
The numeric values 100 and 102 presented in a digital format to multiplexer 98 represent the respective desired amounts of drag to be presented to rotation of knob 10 in each direction. Multiplexer 98, in response to the binary state of the signal applied to SEI.ECT input 104 will supply either the clockwise drag value 100 or the counter clockwise drag value 102 as the respective output 106 from multiplexer 98. As the output provided over direction output line 40 from flip-flop 34 is supplied as the input to SELECT
input 104 of ~ultiplexer 98, the direction of rotation of knob 10 will consequently determine which of the two inputs to mu'tiplexer 98 will be supplied as the output 106 there-from.
The value provided over output 106 from multi-plexer 98 is supplied as an input to digital to analog converter 108, which provides at its output 110 an analog signal proportional to the binary value of the digital signal supplied as an input thereto from multiplexer 98. Consequently, the resulting signal on output line 110 from digital to analog converter 108 is an analog signal representative of the amount of desired drag to be presented to rotation of knob 10.
Oper~tional amplifier 112 and resistors 114, 116, 117, 118, 119 and 120 associated therewith form an analog voltage summing means whose output 122 is an analog voltage proportional to the algebraic sum of the respec-tive input voltage, i.e., the voltages present at the output 90 from OR gate 88, an analog input voltage on line 121 from the application of interest, the voltage present at the output 96 from OR gate 92, an analog input voltage on line 123 from kh/l~

~23~774 an external source unrelated to the application, and the voltage present at the output 110 from digital to analog converter 108. Resistors 116, 117, 118, 119 and 120 are each individually adjustable as each determines the amount of amplification which ~,Jill result in the analog voltage signal provided at the output 122 from operational amplifier 112 in response to the level of the associated analog voltage applied thereto. The resulting analog voltage present at output 122 is used to control ~he current and hence the amount of rotational friction or d~ag produced by particle brake 72.
As the magnitudes of each of the inputs to the analog summing circuit can be adjusted by adjusting the values of resistors 116, 117, 118, 119 and 120, the resulting amount of rotational friction produced ~y upper or lo-~e~ compa~ison means ~2 or 86, mid-range detent means 84, the inputs on lines 121 or 123 from either the appli-cation of interest or from the external source unrelated to the application, respectively and the directionally dependent drag represented by the output on line 110 from digital to analog converter 108 respectively, can be in-depenlently adjusted to produce the desired tactile response.
In par_icular, as the value of resistor 116 will determine the amount of current supplied to particle brake 72 when the angular position of knob 10 equals one of the pre-defined limits of rotation, resistor 116 is adjusted to simulate the desired tactile response indicative of an end stop. Likewise the value of resistor 117 will co~trol the amount of rotational resistance produced in response to the input received on lire 121 from the application of interest.
In a similar manner, the value of resistor 118 will determine the amount of rotational friction produced in response to the angular position of knob 10 equalling the pre-defined detent position. The value of resistor 119 will control the amount of rotational resistance produced in response kh/J~

1235~714 to the input received on line 123 :Erom an external source unrelated to the application of interest. Likewise the value of resis~or 120 will determine the amount of continuous drag produced in response to clockwise or coun~er clockwise rotation as defined by clockwise drag value 10~ and counter clockwise drag value 102 present at the inputs of the multiplexer 98.
Consequently, FIGURE 7 illustrates one preferred embodiment of a soft knob having tactile feedback with pre-selectable end stops, detent, as well as a continuous drag effect which is dependent upon the direction of rotation, which can further produce tactile indi~ation responsive to signals from both the application of interest as well 2S an external source unrelated to the application.
The flexibility of the above described soft knob with tact le response can be gledtly expanded t~rough the use of a microprocessor and associated program.
FIGURES 8A and 8B illustrate one possible embodiment of such a design. FIGURES 9A-9D illustrate an exa~ple of a corresponding program in a flow diagram form which could be used in connection therewith.
For purposes of clarity of.discussion, only the particular signals associated with a general microprocessor will be discussed as they relate to the particular embodiment illustrated in FIGURES 8A and 8B. It is clear that other signals not relevant to the present discussion are necessary, as are further details relating to some of the signals which are discussed. These other and further details are not necessary to the understanding of the use of a microprocessor with a soft knob having tactile feed-back, and would be well known to one with ordinar~ skill in the art.
Referring first to FIGURE5 8A and 8B, micro-processor 130 has associated therewith address ~lss 132, data buss 134, as well as interrupt input 136, and READ/~RITE

1~.~1 / ,. '`

~23S7~4 output 138. Interrupt input 136 to microprocessor 130 serves to communicate interrupt commands that notify the microprocessor of the occurrence of external events so that appropriate actions can be taken. In the current embodiment, a 30 ~Iz signal is effectively supplied to interrupt input 136 to result in the regular, periodic execution by micro-processor 130 of a desired action, as more fully described hereinafter. READ/WRITE' signal placed on output line 138 serves to indicate the nature of the operation occurring with respect to data buss 134 and address buss 132, i.e., whether the current operation is the input of information to, or the output of information from microprocessor 130.
Address decode 140, 141, 142, 143, and 144 each are designed to recognize a unique pre-defined address associated with drag register 146, application input register 145, counter register 148, exte-nal source input register 147 and appli-cation output register 150, respectively. In response to the presence of an address value on address buss 132 equal to the pre-defined address of drag register 146, application input register 145, counter register 148, external source input register 147 or application output register 150, the corresponding respective enable signal is produced on one of the lines 152, 153, 154, 155 or 156. An enable signal on one of the lines 152, 154 or 156 functions to effect the transCer of the current numeric value present on data buss 134 to drag register 146, counter register 148 or application register 150 respectively. In a similar fashion, in response to the presence of an address value on address buss 132 equal to the pre-defined address of counter register 148, application input register 145 or external source input register 147 the corresponding enable signals are provided over lines 154, 153 and 155. In response to the provision of the enable signal and the presence of the desired state of READ/WRITE signal on line 138, the numeric value present in count register 148, application input register 145 or kh/)~

1~3~774 external source input register 147 will be transferred to data buss 134. Digital to analog converters 158 and 160 function to convert the respective digital inputs from drag register 146 and application register 150 to corresponding analog voltages on lines 162 and 164 respectively. Analog voltage on line 162 functions to control the rotational resistance produced by particle brake 72, and analog voltage on line 164 is used in the particular application which is desired to be controlled by the rotation of knob 10. It is of course clear that a corresponding digital represent-ation of the particular angular position of knob 10 is present in the output from application register 150, and could likewise be used in those applications requiring a control signal in a digital format. In a similar fashion, analog to digital converters 159 and 161 function to convert the inuut analog vol-tage received from application over line 121 and the input analog voltage received from external source unrelated to application over line 123 to corres-ponding digital values for subsequent transfer to data buss 134.
Count register 148 is a 8-bit presettable up/down counter. The direction of counting is determined by the state of direction signal placed on line 40 and in response thereto, counter register 148 will either increment or decrement the current value of the count therein upon the occurrence of each rate pulse received over line 32. The value present in count register 148 can be pre-set in response to the presence of the appropriate address on address buss 132 to produce enable signal on line 154 to result in the transfer of the current value of the digital signal present on data buss 134 to count register 148. Thereafter that value will be either incremented or decremented in response to direction signal on line 40 and rate signal on line 32. In a similar fashion microprocessor 130 can read the value present in count register 148 by the specifying of the pre-defined address associated with address decode kh/~J`

~23.57'74 142, ~Ihich will result in the contents of counter register 148 being transferred to data buss 134.
Consequently, it is possible for microprocessor 130 to control several operations. In particular, micro-processor 130 can dynamically change the drag or rotational resistance presented to the rotation of knob 10 by con-trolling the current supplied to particle brake 72 through the use of dray resister 146 and digital to analog converter output.
In a similar fashion, microprocessor 130 can provide a control signal in a digital format from the output of application output register 150 for control of appli-cations requiring a control signal in a digital format, or can provide a control signal in an analog format from the output of digital to analog converter 160 for control of applications requiring a control signal in an analog format.
In connection with counter register 148, a number of operations are possible. Microprocessor 130 can either store a digital value in counter register 148 or read the current value of the contents of counter register 148.
In a similar .ormat, microprocessor 130 could receive input information from either the application of interest, or from an unrelated source, as illustrated by analog input signal lines 121 and 123. It is of course clear that while signals input over lines 121 and 123 have been shown to be in an analog format, the format of said - signals could likewise be in a digital format. Input signal lines 121 and 123 enable information from either the application of interest or some other unrelated source to be made available to microprocessor 130 for appropriate response.
Using the hardware configurations illustrated in FIGURES 8~ and 8B, the versatility of the soft knob with tactile feedback is greatly extended. By way of an illus-trative example of the flexibility afforded by the soft knob kh/~

123~774 with tactile feedback, FIGURES 9A-9D illustrate i~ a flow chart format a program which provides not only programmable end stops to the angular rotation of knob 10, but ~etents, drag on the rotation of knob 10 which is both direction and angular position dependent, and responsiveness to input information from both the application of interest ~nd a second unrelated application.
FIGURE 9A illustrates an initialization routine, and FIGURES 9B-9D the main body of the control program.
Referring first to FIGURE 9~ the microprocessor initially stores a zero value in a location called COUNT, indicated by step 170. Location COUNT is used for temporary storage of a value which is frequently compared with the contents of count register 148 to determine the occurrence of various events in connection with the rotation ~f knob 10, as will be more fully described hereinafter. ~hereaf~er, steps 172 and 174 are executed to set the contents of count reyister 148 and drag register 146 to zero. Thereafter, the microprocessor executes the general control routine illustrated in FIGURES 9B-9D in response to the receipt of an interrupt, which in the preferred embodiment occurs at regular spaced intervals of time each thirtieth o~ a second.
Referring to FIGURES 9B-9D, in response t~ the receipt of an interrupt, microprocessor 130 first ~ads the value present in count register 148 in executing step 180, and thereafter determines if the number so read is ~qual to zero by executing step 182 or a positive or a ~gative number by executing step 188. If knob 10 has been rotated in one direction, the value in count register 148 will be a positive number. Conversely, if knob 10 has been rotated in the opposite direction, the value present in count register 148 will be a negative number. Consequently the algebraic sign of the number found in count register 148 will indicate the direction which knob 10 has been rotated.

kh/)~

123~74 A zero val.ue found upon execution of count register 148 in step 182 indicates that the angul~r position of knob 10 has not changed since the last time it was checked by microprocessor 130, as the last task performed in executing step 184 of the general processiny routine (FIGURE 9A) is the setting of the value in count register 148 to zero. Consequently, if -the value found in count register 148 in executing step 180 is zero, micro-processor goes to step 210 as further discussed hereinafter.
In this example, the value of drag presented to the rotation of knob 10 linearly increases with rotation in one direction, and linearly decreases with rotation in the opposite direction. Consequently, check ng the direction of rotation is necessary to determine the appro-priate adjustment, if any, that is to be made to the numeric value stored i.n drag register 14~.
Execution of step 188 determines the direction which knob 10 has been rotated, from the algebraic sign of the number present in count register 148 as previously discussed. If the detected direction of rotation was, in a first direction, indicated as a value greater than zero, the value stored in drag register 146 is incremented by execution of step 190 to effect an increase in the drag presented to rotation of knob 10. If the detected direction of rotation is in the opposite direction, indicated by the presence of a value less than zero present in count register 148, the value stored by execution of drag register 146 is decremented in step 192 to effect a decrease in the drag presented to rotation of knob 10.
After making the appropriate adjustment to the value in drag register 146 by execution of steps 190 or 192, the numeric value found in count register 148 is added to the number stored in COUNT by execution of step 194. The results of the addition is a number indicative ~h/~

12;~S7 ~ ~a of the angular position of knoh 10.
Next, the current position of knob 1~ as determined above is checked through execution of steps 196 and 198 to see if it is equal to or exceeds the maximum amount of angular rotation in either direction.
This is done by comparing the value of COUNT with the corresponding numeric values associated with the desired extremes of rotations. If the condition is found to be true, a maximum torque is produced in a particle brake 72 by executing step 200 to effect the storage of the appro-priate numeric value in drag register 146 and thereby inhibit further rotation of knob 10. Thereafter, micro-processor executes step 202 to output to application register 150 the current value stored in COUNT which is indicative of the angular position of knob 10. There-after as knob 10 is at an extreme of permissible rotation, nothing further is to be done, and the microprocessor resets the value in count register 148 to zero by the execution of step 184 and performs the steps starting with block 210, as more fully described hereinafter.
If the value of COUNT does not equal either of the numeric values corresponding to the permissible extremes of rotation when steps 196 and 198 are executed, the microprocessor next checks the value of COUNT against the respective values which are indicative of the position of a detent by executing steps 204 and 206. I- agreement is found, the microprocessor executes step 208, which outputs the appropriate numeric value to drag register 146 to effect the desired rotational resistance in particle brake 72 to indicate the desired detent. If the result of the comparison of the value of COUNT against the values associated with the location of detents when executing steps 198 and 200 does not agree, this indicates that the position of knob 10 is no-t currently located at an angular kh/~ !

123~771l4 position which would correspond to a desired detent position.
Thereafter, as the value present in COUNT is indicative of the angular position of knob 10, this value is stored in application register 150 by execution of step 202 to produce the corresponding analog voltage 164 to control the particular application of interest.
Thereafter, as the processing of any angular change in position of knob 10 is complete at this point in the program, the value in count register 148 is set to zero by execution of step 184 so that any subsequent change in position will be detected upon execution of steps 180 and 182 when the general control routine is again executed upon receipt of an interrupt.
Thereafter, microprocessor 130 executes step 210 to check the status of the input analGg voltage received over line 123 .rom external source unrelated to the application~ This step and the associated address decode 143, external source input register 147 and analog to digital converter 161 (Figure 8B) illustrate the example, events from unrelated applications (line 18 in Figure 1~.
The appropriate action in response to an affirmative indication from execution of step 210 ~Figure 9D) results in the appropriate ac~ion, as, for example, the execution of step 212 that outputs a value to drag register 146 to effect a rotational resistance in particle brake 72 (FIGURE 8A).
Thereafter, microprocessor 130 executes step 214 to check status of the input analog voltage on line 121 from application. This step and the associated address decode 141, appIication input register 145 and analog to digital converter 159 (FIGURE 8B) illustrate the example, events from the application. This appropriate action in response to an affirmative indication from the kh/i' 12;~7~
execution of step 214 (FI~URE 9D) results in the appropriate action as, ~or example, execution of hlock 216 that outputs a value to drag register 146 to effect a rotational resistance in particle brake 72.
Upon execution of step 216, the microprocessor 130 has completed the processing of any information from knob 10, made the necessary adjustments in the rotational resistance presented by particle brake 72, made the corresponding adjustment in the analog voltage on line 164 that is controlling the particular application of interest, and checked the status of input information from both the application of interest as well as an unrelated application. Thereafter, microprocessor 130 will wait for the next regularly occurring interrupt as indicated by block 186, at which point microprocessor 130 will again execute the above described control program.
Due to the speed at which microprocessor 130 operates, a considerable amount of time will remain between the`completion of the execution of the last task of the above described program and the occurrence of the next interrupt. Consequently, the microprocessor 130 could go on to process other tasks, if desired.
From the foregoing it is likewise clear that the described technique could be further expanded to allow the use of such dynamically interactive responsive control device and system to control unlimited applications, each having different and unique parameters, kh/,~

~23~;774 e.g., drag, detent, end-stops, associated with the opera-tion thereof. Consequently many variations on the above described technique would be apparent to one with ordinary skill in the art which would fall within the spirit, scope and inventive concept of the present invention, which is to be limited only by the following claims.

Claims (110)

THE EMBODIMENTS OF THE INVENTION IN WHICH AN EXCLUSIVE
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. Apparatus comprising:
first means for providing an output response for controlling a controllable apparatus, said first means having a moveable portion for effecting said output response and providing a tactually perceivable sensation in response to movement of said moveable portion;
second means for providing a status indication; and third means responsive to said status indication for controlling the tactually perceivable sensation provided by said first means in accordance with each of a selected one of a plurality of relations determined by said status indication.
2. Apparatus as recited in Claim 1 further comprising:
fourth means responsive to movement of said moveable portion for providing an indication of a parameter of movement of said moveable portion and wherein said third means is additionally responsive to said indication of a parameter of movement for controlling the tactually perceivable sensation provided by said first means.
3. Apparatus as recited in Claim 1 wherein said second means is a controllable apparatus responsive to the output response provided by said first means.
4. Apparatus as recited in Claim 2 wherein said second means is a controllable apparatus responsive to the output response provided by said first means.
5. Apparatus as recited in Claim 3 or Claim 4 wherein said status indication is provided by said second means in response to the output response provided by said first means.
6. Apparatus as recited in Claim 1 wherein said second means is independent of said controllable apparatus.
7. Apparatus as recited in Claim 2 wherein said second means is independent of said controllable apparatus.
8. Apparatus as recited in Claim 6 or Claim 7 wherein said second means is operatively linked to said first means.
9. Apparatus as recited in Claim 1 wherein said second means is responsive to the controllable apparatus and a fifth means independent of said controllable apparatus to provide said status indication.
10. Apparatus as recited in Claim 2 wherein said second means is responsive to the controllable apparatus and a fifth means independent of said controllable apparatus to provide said status indictation.
11. Apparatus as recited in Claim 9 or Claim 10 wherein separate status indications are provided by said controllable apparatus and said fifth means.
12. A control for the input of information to a utilization device to control at least one para-meter associated therewith, comprising:
a member positionable over a range and moveable throughout said range for effecting an output response and providing a tactually perceivable sensation in response to movement of said member with resistance to said movement producing a tactually perceivable sensa-tion controllable independent of its position in said range; and means operatively coupled to said member for generating an indication of the position of said member and direction of movement of said member.
13. A control as recited in Claim 12 further comprising means operatively coupled to said member for controlling the tactually perceivable sensation provided in response to said movement of said member.
14. Apparatus for the input of information from a displacement device to a controlled system to control at least one operating parameter associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising:
first means for translating information from the displacement device to a format for communi-cation to the controlled system;
control means responsive to said first means for producing a control signal to control an operating parameter associated with the controlled system and for producing an output signal;
second means responsive to the output signal for restricting the maximum angular displacement of the rotation device between a pre-defined first and second limit; and third means responsive to the output signal for producing resistance to the rotation of the rotation device.
15. Apparatus for the input of information from a rotational motion device to a controlled system to control at least one operating parameter associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising:
first means for translating information from the rotational motion device to a format for communication to the controlled system;
control means responsive to said first means for producing a control signal to control a parameter associated with the controlled system and for producing an output signal;
second means responsive to the output signal for restricting the maximum angular displacement of the rotation device between a pre-defined first and second limit; and third means responsive to the output signal for producing resistance to the rotation of the rotation device.
16. Apparatus for the input of information from a translatory motion device to a controlled system to control at least one operating parameter associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising:
first means for translating information from the translatory motion device to a format for communication to the controlled system;
control means responsive to said first means for producing a control signal to control a parameter associated with the controlled system and for producing an output signal;
second means responsive to the output signal for restricting the maximum angular displacement of the rotation device between a pre-defined first and second limit; and third means responsive to the output signal for producing resistance to the rotation of the rotation device.
17. Apparatus as recited in Claim 14, 15 or 16, further comprising:
fourth means responsive to the output signal for providing tactile indication of a plurality of angular positions.
18. Apparatus for the input of information from a motion device to a controlled system to control at least one operating parameter associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising:
first means for translating information from the motion device to a format for communication to the controlled system;
control means responsive to said first means for producing a control signal to control and operating parameter associated with the controlled system and for producing an output signal;
second means responsive to the output signal for restricting the maximum angular displacement of the rotational device between a pre-defined first and second limit; and fourth means responsive to the output signal for providing tactile indication of a plurality of angular positions.
19. Apparatus as recited in Claim 18, further comprising:
third means responsive to the output signal for producing resistance to the motion of the motion device.
20. Apparatus for the input of information from a rotational motion device to a controlled system to control a single or plurality of parameters associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising:
first means for translating information from the rotational motion device to a format for communication to the controlled system;
control means responsive to said first means for producing a control signal to control an operating parameter associated with the controlled system and for producing an output signal;
second means responsive to the output signal for restricting the maximum angular displacement of the rotational device between a pre-defined first and second limit; and fourth means responsive to the output signal for providing tactile indication of a plurality of angular positions.
21. Apparatus as recited in Claim 20, further comprising:
third means responsive to the output signal for producing resistance to the rotational motion of the rotational motion device.
22. Apparatus for the input of information from a translatory motion device to a controlled system to control a single or plurality of parameters assoc-iated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising:
first means for translating information from the translatory motion device to a format for communication to the controlled system;
control means responsive to said first means for producing a control signal to control an operating parameter associated with the controlled system and for producing an output signal;
second means responsive to the output signal for restricting the maximum angular displacement of the rotational device between a pre-defined first and second limit; and fourth means responsive to the output signal for providing tactile indication of a plurality of angular positions.
23. Apparatus as recited in Claim 21 further comprising:
third means responsive to the output signal for producing resistance to the translatory motion of the translatory motion device.
24. Apparatus as recited in Claims 14, 15 or 16 further comprising:
fifth means for producing a first signal representative of amount of displacement of the motion device and a second signal representative of direction of displacement of the motion device.
25. Apparatus as recited in Claims 18 or 19 further comprising:
fifth means for producing a first signal representative of amount of displacement of the motion device and a second signal representative of direction of displacement of the motion device.
26. Apparatus as recited in Claims 20, 21 or 22 further comprising:
fifth means for producing a first signal representative of amount of displacement of the motion device and a second signal representative of direction of displacement of the motion device.
27. Apparatus as recited in Claims 14, 15 or 16 further comprising:
sixth means responsive to the controlled system for producing a tactile indication.
28. Apparatus as recited in Claims 18 or 19 further comprising:
sixth means responsive to the controlled system for producing a tactile indication.
29. Apparatus as recited in Claims 20 or 21 further comprising:
sixth means responsive to the controlled system for producing a tactile indication.
30. Apparatus as recited in Claim 14 further comprising sixth means responsive to the controlled system for producing a tactile indication and seventh means responsive to the controlled system for producing resistance to the motion of the motion device.
31. Apparatus as recited in Claim 15 further comprising sixth means responsive to the controlled system for producing a tactile indication and seventh means responsive to the controlled system for producing resistance to the motion of the motion device.
32. Apparatus as recited in Claim 16 further comprising sixth means responsive to the controlled system for producing a tactile indication and seventh means responsive to the controlled system for producing resistance to the motion of the motion device.
33. Apparatus as recited in Claim 18 further comprising sixth means responsive to the controlled system for producing a tactile indication and seventh means responsive to the controlled system for producing resistance to the motion of the motion device.
34. Apparatus as recited in Claim 19 further comprising sixth means responsive to the controlled system for producing a tactile indication and seventh means responsive to the controlled system for producing resistance to the motion of the motion device.
35. Apparatus as recited in Claim 20 further comprising sixth means responsive to the controlled system for producing a tactile indication and seventh means responsive to the controlled system for producing resistance to the motion of the motion device.
36. Apparatus as recited in Claim 21 further comprising sixth means responsive to the controlled system for producing a tactile indication and seventh means responsive to the controlled system for producing resistance to the motion of the motion device.
37. Apparatus as recited in Claims 30, 31 or 32 wherein said seventh means further comprises:

eighth means responsive to the controlled system for inhibiting the motion of the motion device in one direction.
38. Apparatus as recited in Claims 33, 34 or 35 wherein said seventh means further comprises:
eighth means responsive to the controlled system for inhibiting the motion of the motion device in one direction.
39. Apparatus as recited in Claim 36 wherein said seventh means further comprises:
eighth means responsive to the controlled system for inhibiting the motion of the motion device in one direction.
40. Apparatus as recited in Claims 30, 31 or 32 wherein said seventh means further comprises:
ninth means responsive to the controlled system for inhibiting motion of the motion device in both directions.
41. Apparatus as recited in Claims 33, 34 or 35 wherein said seventh means further comprises:
ninth means responsive to the controlled system for inhibiting motion of the motion device in both directions.
42. Apparatus as recited in Claims 36 wherein said seventh means further comprises:
ninth means responsive to the controlled system for inhibiting motion of the motion device in both directions.
43. Apparatus as recited in Claims 30, 31 or 32 wherein said seventh means further comprises:
tenth means responsive to the controlled system for reducing resistance to the motion of the motion device.
44. Apparatus as recited in Claims 33, 34 or 35 wherein said seventh means further comprises:
tenth means responsive to the controlled system for reducing resistance to the motion of the motion device.
45. Apparatus as recited in Claim 36 wherein said seventh means further comprises:
tenth means responsive to the controlled system for reducing resistance to the motion of the motion device.
46. Apparatus for the input of information in a rotational format to a controlled system to control a at least one operating parameter associated therewith, and for the production of information in a tactile format in response to output therefrom, comprising:
shaft means;
a tachometer coupled to the shaft means which produces a first signal in response to angular displace-ment of said shaft means, and a second signal in response to direction of rotation of said shaft means;
control means responsive to the first and second signals of the tachometer for producing a control signal to control the parameter associated with the electrical system and for producing an output signal; and a particle brake coupled to the shaft means responsive to the output signal.
47. Apparatus as recited in Claim 46 wherein said control means comprises:
counter means responsive to the first and second signal for counting in a sequence determined by the second signal, the number of occurrences of the first signal, and producing an output corresponding to the numeric count;
comparison means responsive to the numeric count of said counter means for comparing the numeric count with a plurality of pre-defined numeric values, and producing an output signal when the numeric count of said counter means equals one of said pre-defined numeric values; and conversion means, responsive to the numeric count of said counter means for producing the control signal.
48. Apparatus as recited in Claim 47, wherein said conversion means further comprises:
analog conversion means, responsive to the numeric count, for producing the control signal in an analog format responsive to the numeric value of said count.
49. A method for the input of information from a displacement device to a controlled system to control at least one operating parameter associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising the steps of:
translating information from the dis-placement device to a controlled format for communi-cation to the controlled system;
producing a control signal responsive to the translated information from the displacement device to control a parameter associated with the controlled system and producing an output signal;
restricting the maximum angular dis-placement of the displacement device responsive to the output signal between a pre-defined first and second limit; and producing resistance to the displacement of the displacement device responsive to the output signal.
50. A method for the input of information from a rotational motion device to a controlled system to control at least one operating parameter associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising the steps of:
translating information from the rotation motion device to a format for communication to the controlled system;
producing a control signal responsive to the translated information from the motion device to control an operating parameter associated with the controlled system and producing an output signal;
restricting the maximum angular dis-placement of the rotation device between a pre-defined first and second limit responsive to the output signal;
and producing resistance to the rotation of the rotation device responsive to the output signal.
51. A method for the input of information from a translatory motion device to a controlled system to control at least one operating parameter associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising the steps of:
translating information from the trans-latory motion device to a controlled format for com-munication to the controlled system;
producing a control signal responsive to the translated information from the translatory motion device to control an operating parameter associated with the controlled system and producing an output signal;
restricting the maximum angular displace-ment of the translatory motion device responsive to the output signal between a pre-defined first and second limit responsive to the output signal; and producing resistance to the rotation of the translatory motion device responsive to the output signal.
52. A method as recited in Claim 49,50, or 51 further comprising the steps of:
providing tactile indications of a plurality of angular positions responsive to the output signal.
53. A method for the input of information from a motion device to a controlled system to control at least one operating parameter associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising the steps of:
translating information from the motion device to a format for communication to the controlled system;
producing a control signal responsive to the translated information from the motion device to control an operating parameter associated with the controlled system and for producing an output signal;
restricting the maximum angular dis-placement of the motion device between a pre-defined first and second limit in response to the output signal and providing tactile indication of a plurality of angular positions responsive to the output signal.
54. A method as recited in Claim 53, further comprising the steps of:
producing resistance to the motion of the motion device responsive to the output signal.
55. A method for the input of information from a rotational motion device to a controlled system to control at least one operating parameter associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising the steps of:
translating information from the rotational motion device to a format for communicating the con-trolled system;
producing a control signal responsive to the translated information from the rotational motion device to control the parameter associated with the controlled system and for producing an output signal;
restricting the maximum angular dis-placement of the rotational device between a pre-defined first and second limit responsive to the output signal; and providing tactile indication of a plurality of angular positions responsive to the output signal.
56. A method as recited in Claim 55, further comprising the steps of:
producing resistance to the rotational motion of the motion device responsive to the output signal.
57. A method for the input of information from a translatory motion device to a controlled system to control at least one operating parameter associated therewith, and for the production of information in a tactile format in response to an output therefrom, comprising the steps of:
translating information from the trans-latory motion device to a format for communication of the controlled system;
producing a control signal responsive to the translated information from the translatory motion device to control an operating parameter associated with the controlled system and for producing an output signal;
restricting the maximum angular displace-ment of the translatory motion device between a pre-defined first and second limit in response to the output signal;
and providing tactile indication of a plurality of angular positions responsive to the output signal.
58. A method as recited in Claim 57, further comprising the steps of:
producing resistance to the translatory motion of the translatory motion device responsive to the output signal.
59. A method as recited in Claims 49, 50 or 51 wherein said translatory step further comprises:
producing a first signal representative of amount of displacement of the motion device and a second signal represent-ative of direction of displacement of the motion device.
60. A method as recited in Claims 53, 54 or 55 wherein said translatory step further comprises:
producing a first signal representative of amount of displacement of the motion device and a second signal represent-ative of direction of displacement of the motion device.
61. A method as recited in Claims 56 or 57 wherein said translatory step further comprises:
producing a first signal representative of amount of displacement of the motion device and a second signal represent-ative of direction of displacement of the motion device.
62. A method as recited in Claims 49, 50 or 51 further comprising:
producing a tactile indication responsive to the electrical system.
63. A method as recited in Claims 53, 54 or 55 further comprising:
producing a tactile indication responsive to the electrical system.
64. A method as recited in Claims 56 or 57 further comprising:
producing a tactile indication responsive to the electrical system.
65. A method as recited in Claim 49 further comprising:
producing a tactile indication responsive to the electrical signal including producing resistance to the motion of the motion device responsive to the electrical system.
66. A method as recited in Claim 50 further comprising:
producing a tactile indication responsive to the electrical signal including producing resistance to the motion of the motion device responsive to the electrical system.
67. A method as recited in Claim 51 further comprising:
producing a tactile indication responsive to the electrical signal including producing resistance to the motion of the motion device responsive to the electrical system.
68. A method as recited in Claim 53 further comprising:
producing a tactile indication responsive to the electrical signal including producing resistance to the motion of the motion device responsive to the electrical system.
69. A method as recited in Claim 54 further comprising:
producing a tactile indication responsive to the electrical signal including producing resistance to the motion of the motion device responsive to the electrical system.
70. A method as recited in Claim 55 further comprising:
producing a tactile indication responsive to the electrical signal including producing resistance to the motion of the motion device responsive to the electrical system.
71. A method as recited in Claim 56 further comprising:
producing a tactile indication responsive to the electrical signal including producing resistance to the motion of the motion device responsive to the electrical system.
72. A method as recited in Claim 57 further comprising:

producing a tactile indication responsive to the electrical signal including producing resistance to the motion of the motion device responsive to the electrical system.
73. A method as recited in Claims 66, 67 or 68 wherein said producing resistance step further comprises the step of:
inhibiting the motion of the motion device in one direction responsive to the electrical system.
74. A method as recited in Claims 69, 70 or 71 wherein said producing resistance step further comprises the step of:
inhibiting the motion of the motion device in one direction responsive to the electrical system.
75. A method as recited in Claims 72 or 73 wherein said producing resistance step further comprises the step of:
inhibiting the motion of the motion device in one direction responsive to the electrical system.
76. A method as recited in Claims 66, 67 or 68 wherein said producing resistance step further comprises:
inhibiting motion of the motion device in both directions responsive to the electrical system.
77. A method as recited in Claims 69, 70 or 71 wherein said producing resistance step further comprises:
inhibiting motion of the motion device in both directions responsive to the electrical system.
78. A method as recited in Claims 72 or 73 wherein said producing resistance step further comprises:
inhibiting motion of the motion device in both directions responsive to the electrical system.
79. A method as recited in Claims 66, 67 or 68 wherein said producing resistance step further comprises the step of:
reducing resistance to the motion of the motion device responsive to the electrical system.
80. A method as recited in Claims 69, 70 or 71 wherein said producing resistance step further comprises the step of:
reducing resistance to the motion of the motion device responsive to the electrical system.
81. A method as recited in Claims 72 or 73 wherein said producing resistance step further comprises the step of:
reducing resistance to the motion of the motion device responsive to the electrical system.
82. Apparatus as recited in Claim 14, further comprising:
fourth means responsive to the output signal for providing tactile indication of a plurality of angular positions;
and fifth means for producing a first signal represent-ative of amount of displacement of the motion device and a second signal representative of direction of displacement of the motion device.
83. Apparatus as recited in Claim 23 further comprising:
fifth means for producing a first signal represent-ative of amount of displacement of the motion device and a second signal representative of direction of displacement of the motion device.
84. Apparatus as recited in Claim 14, further comprising:

fourth means responsive to the output signal for providing tactile indications of a plurality of angular positions; and sixth means responsive to the controlled system for producing a tactile indication.
85. Apparatus as recited in Claim 84, wherein said sixth means further comprises:
seventh means responsive to the controlled system for producing resistance to the motion of the motion device.
86. Apparatus as recited in Claim 85, wherein said seventh means further comprises:
eighth means responsive to the controlled system for inhibiting the motion of the motion device in one direction.
87. Apparatus as recited in Claim 85, wherein said seventh means further comprises:
ninth means responsive to the controlled system for inhibiting motion of the motion device in both directions.
88. Apparatus as recited in Claim 85 wherein said seventh means further comprises:
tenth means responsive to the controlled system for reducing resistance to the motion of the motion device.
89. Apparatus as recited in Claim 23 further comprising:
sixth means responsive to the controlled system for producing a tactile indication.
90. Apparatus as recited in Claim 89, wherein said sixth means further comprises:
seventh means responsive to the controlled system for producing resistance to the motion of the motion device.
91. Apparatus as recited in Claim 90, wherein said seventh means further comprises:

eighth means responsive to the controlled system for inhibiting the motion of the motion device in both directions.
92. Apparatus as recited in Claim 90, wherein said seventh means further comprises:
ninth means responsive to the controlled system for inhibiting motion of the motion device in both directions.
93. Apparatus as recited in Claim 90, wherein said seventh means further comprises:
tenth means responsive to the controlled system for reducing resistance to the motion of the motion device.
94. Apparatus as recited in Claim 46, wherein said control means comprises:
counter means responsive to the first and second signal for counting in a sequence determined by the second signal, the number of occurrences of the first signal, and producing an output corresponding to the numeric count;
comparison means responsive to the numeric count of said counter means for comparing the numeric count with a plurality of pre-defined numeric values, and producing an output signal when the numeric count of said counter means equals one of said pre-defined numeric values; and conversion means, responsive to the numeric count of said counter means for producing the control signal.
95. Apparatus as recited in Claim 82, wherein said control means comprises:
counter means responsive to the first and second signal for counting in a sequence determined by the second signal, the number of occurrences of the first signal, and producing an output corresponding to the numeric count;
comparison means responsive to the numeric count of said counter means for comparing the numeric count with a plurality of pre-defined numeric values, and producing an output signal when the numeric count of said counter means equals one of said pre-defined numeric values; and conversion means, responsive to the numeric count of said counter means for producing the control signal.
96. Apparatus as recited in Claim 83, wherein said control means comprises:
counter means responsive to the first and second signal for counting in a sequence determined by the second signal, the number of occurrences of the first signal, and producing an output corresponding to the numeric count;
comparison means responsive to the numeric count of said counter means for comparing the numeric count with a plurality of pre-defined numeric values, and producing an output signal when the numeric count of said counter means equals one of said pre-defined numeric values; and conversion means, responsive to the numeric count of said counter means for producing the control signal.
97. A method as recited in Claim 51, wherein said translatory step further comprises:
producing a first signal representative of amount of displacement of the motion device and a second signal representative of direction of displacement of the motion device.
98. A method as recited in Claim 58, wherein said translatory step further comprises:
producing a first signal representative of amount of displacement of the motion device and a second signal representative of direction of displacement of the motion device.
99. A method as recited in Claim 51, further comprising:
producing a tactile indication responsive to the electrical system.
100. A method as recited in Claim 99, wherein said producing tactile indication step further comprises:
producing resistance to the motion of the motion device responsive to the electrical system.
101. A method as recited in Claim 100, wherein said producing resistance step further comprises the step of:
inhibiting the motion of the motion device in one direction responsive to the electrical system.
102. A method as recited in Claim 101, wherein said producing resistance step further comprises:
inhibiting motion of the motion device in both directions responsive to the electrical system.
103. A method as recited in Claim 101, wherein said producing resistance step further comprises the step of:
reducing resistance to the motion of the motion device responsive to the electrical system.
104. A method as recited in Claim 58 further comprising:
producing a tactile indication responsive to the electrical system.
105. A method as recited in Claim 104, wherein said producing tactile indication step further comprises:
producing resistance to the motion of the motion device responsive to the electrical system.
106. A method as recited in Claim 105, wherein said producing resistance step further comprises the step of:
inhibiting the motion of the motion device in one direction responsive to the electrical system.
107. A method as recited in Claim 105, wherein said producing resistance step further comprises:
inhibiting motion of the motion device in both directions responsive to the electrical system.
108. A method as recited in Claim 105, wherein said producing resistance step further comprises the step of:
reducing resistance to the motion of the motion device responsive to the electrical system.
109. A method as recited in Claim 97, wherein said translating step further comprises:
counting in a sequence determined by the second signal, the number occurrences of the first signal, and producing an output corresponding to the numeric count;
comparing the numeric count with a plurality of pre-defined numeric values, and producing an output signal when the numeric count of said counter means equals one of said pre-defined numeric values;
producing the control signal responsive to the numeric count.
110. A method as recited in Claim 98, wherein said translating step further comprises:
counting in a sequence determined by the second signal, the number of occurrences of the first signal, and producing an output corresponding to the numeric count;
comparing the numeric count with a plurality of pre-defined numeric values, and producing an output signal when the numeric count of said counter means equals one of said pre-defined numeric values;
producing the control signal responsive to the numeric count.
CA000435319A 1982-09-17 1983-08-25 Dynamically interactive responsive control device and system Expired CA1235774A (en)

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EP0111992A3 (en) 1986-08-20
EP0111992B1 (en) 1990-08-01
JPS5966701A (en) 1984-04-16
JPH07168601A (en) 1995-07-04
EP0111992A2 (en) 1984-06-27
JPH0697401B2 (en) 1994-11-30
JPH0820881B2 (en) 1996-03-04
DE3381775D1 (en) 1990-09-06
US4560983A (en) 1985-12-24

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