WO1999017850A2 - A universal tactile feedback system for computer video games and simulations - Google Patents
A universal tactile feedback system for computer video games and simulations Download PDFInfo
- Publication number
- WO1999017850A2 WO1999017850A2 PCT/US1998/019905 US9819905W WO9917850A2 WO 1999017850 A2 WO1999017850 A2 WO 1999017850A2 US 9819905 W US9819905 W US 9819905W WO 9917850 A2 WO9917850 A2 WO 9917850A2
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- WIPO (PCT)
- Prior art keywords
- tactile sensation
- actuators
- audio
- tactile feedback
- tactile
- Prior art date
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
- A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
- A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
- G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/1037—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/30—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by output arrangements for receiving control signals generated by the game device
- A63F2300/302—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by output arrangements for receiving control signals generated by the game device specially adapted for receiving control signals not targeted to a display device or game input means, e.g. vibrating driver's seat, scent dispenser
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/60—Methods for processing data by generating or executing the game program
- A63F2300/6063—Methods for processing data by generating or executing the game program for sound processing
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
- A63F2300/8082—Virtual reality
Definitions
- This invention relates to a tactile feedback system for computer and video game systems and, more particularly, to a universal tactile feedback system for computer and video game systems which provides real time tactile feedback to enhance a user's experience while interacting with a computer/video game or simulation
- Games and simulations are now executed, in homes and arcades, on a vast array of available hardware platforms, where each hardware platform yields its own unique combination of complexity, and fidelity, and cost
- game players may have many different types of control input devices at their disposal that are used to interact with a game or simulation
- driving games and simulations may use any combination of control input devices such as steering wheels, gear shifters, and gas/brake/clutch pedal units
- Flight games and simulations may use any combination of control input devices such as throttles, weapons controllers, joysticks, rudder pedals, and flight yolks
- First person perspective action games may use any combination of joystick, mouse, or 3D control In most cases, a person playing a game or simulation is sitting in a seat of some kind while interacting with the hardware control input devices In order for tactile sensation to be effectively implemented by a modern
- a tactile feedback seating unit that can produce tactile feedback within a seat, that is not based upon a low frequency speaker system, that can function via host- independent digital audio analysis and/or host-dependent direct digital control, the digital signal not necessarily being specific to the actuators in the seat, but rather a general control signal for a distributed system, in order to represent tactile sensations occurring in real time within a computer generated game or simulation, such that the person sitting in the seat feels this representation, and the tactile feedback provided by such a system further enhances the believabi ty of the simulation
- the tactile feedback seating unit as a self contained unit, where a plurality of tactile feedback actuators are embedded inside a semi-rigid sealed foam cushion, such that the unit is portable, lightweight and quiet, and can fit in almost any chair and function with almost any application SUMMARY OF THE INVENTION
- the present invention provides a tactile feedback system for computer based video games and simulations More specifically, the tactile feedback system comprises
- the host-independent mode allows the tactile feedback controller to interpret the audio signals from a video game to generate the control signals for the tactile sensation generators Under this mode of operation, the tactile feedback controller is able to use the audio signals to properly decipher the actions of the video game, independent of any control signals from the video game
- This mode allows the present tactile feedback system to operate without the direct support of the video game developer, and without regard to the specific hardware that is used to run any given computer game or simulation Therefore, this mode is called the "host-independent" mode of operation
- the host-dependent mode allows the tactile feedback controller to receive and process digital control signals from a video game to generate control signals for the tactile sensation generators This requires that the control signals from the video game be designed specifically for the tactile feedback system
- the tactile feedback controller processes the control signals from the video game and causes the proper tactile sensations to be generated thereby physically imitating the current actions of the video game
- This mode requires specific accommodation by the host gaming hardware and software to function Therefore, this mode is called the 'host dependent' mode of operation
- the tactile feedback controller has the capability to process signal data and to simultaneously activate one or more tactile sensation generators to simulate the desired action Namely, the tactile feedback controller appraises the desired action called for by the control signals from the video game and then assesses the best combination of the available tactile sensation generators to effect the tactile sensations associated with the desired action
- the present tactile feedback system allows for customization by the user
- a set of parameters can be adjusted to allow the user to tailor how the tactile feedback controller will process the control signals from the video game, e g , amplification time delays, duration of sensations, and etc
- the present tactile feedback system allows a user to calibrate each of these parameters to satisfy individual preferences or to account for differences in current or future computer systems The desired setting for these parameters can be saved for each user and/or for each video game
- the tactile sensation generators include a tactile sensation seating unit, a tactile sensation chest harness, and various tactile sensation actuators that can be attached to or embedded within various control input devices and/or non-interactive surfaces in contact with the user These tactile sensation generators are coupled to the tactile feedback controller and, in combination therewith, form the present tactile feedback system
- FIG 1 depicts a block diagram of the present tactile feedback system
- FIG 2 depicts an illustrative configuration of the present tactile feedback system
- FIG 3 depicts a block diagram of the present tactile feedback controller
- FIG 4 depicts a block diagram of the audio signal preprocessing section
- FIG 5 depicts a circuit diagram of the front end circuit
- FIG 6 depicts a circuit diagram of the variable gain preamplifier
- FIG 7 depicts a circuit diagram of the treble audio filter and peak hold buffer
- FIG 8 depicts a circuit diagram of the midrange audio filter and peak hold buffer
- FIG 9 depicts a circuit diagram of the bass audio filter and peak hold buffer
- - - depicts a flow chart of a method for generating control signals for tactile sensation generators under a host independent and host dependent modes of operation
- is a flow chart for the method of post-processing the audio signals is flow chart of a method for processing raw audio signals with a plurality of audio analysis parameters
- is a flow chart of the batch data transmission method is a flow chart of a no user intervention" method to trigger the batch data transmission method
- FIG 32E is a rear side view of a joystick, with a tactile sensation actuator attached to its shaft,
- FIG 32F is a top down view of FIG 32E
- FIG 33A is a top down view of a rudder pedals control input device
- FIG 33B is a right side view of a rudder pedals control input device
- FIG 33C illustrates tactile sensation enhanced replacement pedal surfaces
- FIG 33D is a right side view of the apparatus of FIG 33C.
- FIG 33E illustrates tactile sensation generators affixed to the underside of each rudder pedal
- FIG 33F is a right side view of the apparatus of FIG 33E
- FIG 34A is a front view of a flight control yolk's handle
- FIG 34B is the apparatus of FIG 34A wherein left and right hand control yolk tactile sensation generators are applied
- FIG 34C is the apparatus of FIG 34A, with left and right hand tactile sensation generators applied in upper outside positions on the control yolk's two handles
- FIG 34D is the apparatus of FIG 34A, with a larger, single tactile sensation generator applied
- FIG 35A is a front view of a steering wheel
- FIG 35B is a side view of a steering wheel
- FIG 35C is a front view of a steering wheel with tactile sensation generator attached to one spoke on the steering wheel
- FIG 35D is a side view of the apparatus of FIG 35C
- FIG 36A is a top down view of a pedal unit control input device
- FIG 36B is a side view of a pedal unit control input device
- FIG 36C is a top down view of a pedal unit control input device with tactile sensation actuators attached
- FIG 36D is a side view of the apparatus of FIG 36C
- FIG 37A is a side view of a shift knob upon a shaft
- FIG 37B is a shift knob with an embedded tactile sensation generator
- FIG 37C is the shift knob of FIG 37B, additionally with an embedded solenoid,
- FIG 37D illustrates a dense foam insert in the interior of the shift knob
- FIG 38A depicts a front view of an illustrative hand held control input device
- FIG 38B is the back of the controller as depicted in FIG 38A
- FIG 38C illustrates a vibratory tactile sensation generator attached to the back of the hand held control input device
- FIG 38D illustrates tactile sensation generators for the left hand and right hand contained within a single housing where two motors and one solenoid are embedded within or attached to the apparatus of FIG 38A
- FIG 39 depicts a front and side view of a vest-based tactile sensation generator
- FIG 1 depicts a high level block diagram of a tactile feedback system 100 interfacing with a computer system or video game console 102 (hereinafter host computer)
- the host computer 102 is connected to the tactile feedback system 100 by electrical connections 103 and 104 which may carry analog or digital signals respectively
- signals from the host computer can be passed to the tactile feedback system using other types of communication channels 106, e g , channels that employ infrared radiation, radio wave or sound wave If these communication channels are used, then the corresponding receivers must be implemented on the tactile feedback system, e g , RF receiver, IR receiver or a microphone
- the configuration of having the host computer 102 coupled to the tactile feedback system 100 is only illustrative and the present invention is not so limited Namely, the host computer 102 can be implemented as any device that is capable of sending the necessary control signals, such that the tactile feedback system is capable of operating one or more tactile sensation generators (e g , a gaming console with integrated tactile feedback controller functionality)
- the tactile feedback system is capable of operating one or more tactile sensation generators (e g , a gaming console with integrated tactile feedback controller functionality)
- the tactile feedback system 100 comprises a tactile feedback controller 110 and one or more tactile sensation generators 120
- the tactile feedback controller 110 is connected by power distribution cables 116 to multiple independent tactile sensation generators 120
- the present invention can be modified such that only control signals are forwarded to the tactile sensation generators where each generator is able to be activated under its own power source
- the tactile feedback controller 110 comprises a host independent portion 112 and a host dependent portion 114 Namely, the host-independent portion allows the tactile feedback controller 110 to interpret the audio signals from a video game to generate the control signals for the tactile sensation generators Under this mode of operation, the tactile feedback controller is able to use the audio signals to properly decipher the actions of the video game, independent of any control signals from the video game
- the host-dependent portion allows the tactile feedback controller 110 to receive and process the control signals from a host computer 102 to generate the control signals for the tactile sensation generators
- the control signals from the host computer 102 is designed specifically for the tactile feedback system
- electrical connection 103 represents the audio cable (stereo or mono) that carries the analog audio signal produced by the host computer 102 More specifically the host computer 102 has one of its audio output ports, e g , an amplified or line-level 1/8 inch stereo output connector, connected via line 103 to an input port 118 of the tactile feedback controller 110 Similarly, electrical connection 104 represents a cable that carries the digital signal produced by the host computer
- the digital cable 104 is a parallel cable, e g , a DB25 to DB25 "straight through' male to male cable
- the present invention can be implemented with any type of digital cables, port configurations and various other transmission protocols (such as RS-232 DB9 serial or USB universal serial bus, PCMCIA card connector and cable, coaxial cable, and the like)
- a pass through port 117 is coupled to port 119 to allow the signals carried on the electrical connection
- This pass through port allows multiple tactile feedback controllers 110 to be daisy chained to support additional tactile sensation generators This pass through port also serves to pass non-tactile sensation related signals to other peripherals, e g , a printer
- twelve (12) pins on the electrical connection 104 are employed to communicate with the tactile feedback controller 110
- the present invention employs a 12 bit bus for communication with a communication format having a 4-b ⁇ t control word and an 8-b ⁇ t data word
- the physical locations for the 4-b ⁇ t control word and 8-b ⁇ t data word on line 104 are referred to as PORT A and PORT B, respectively
- bus for communication
- buses of any size can be implemented Generally, the selection of a communication protocol and bus size is governed by the requirements of a particular application For example, a more powerful microcontroller may have sufficient I/O pins to allow a communication format greater than 12 bits
- bi-directional communication can also be implemented between the host computer 102 and the tactile feedback controller 110 Such bi-directional communication would allow the tactile feedback controller 110 the ability to transmit internal status, verification and operating data to the host computer system 102
- the present 12-b ⁇ t communication bus is used for two separate and distinct types of communication sending batch data transmissions and sending host-dependent direct digital control signals Batch data transmissions allow the host computer 102 to send configuration data in real time to the tactile feedback controller 110
- These batch data transmissions may include such information as default settings, user preferences device configurations, application specific audio analysis parameters, system analysis display modes, which are described in detail below
- the other type of communication that occurs over the 12-b ⁇ t bus (comprised of 4-b ⁇ t PORT A and 8-b ⁇ t PORT B) is the transmission of control signals necessary to support the host-dependent mode of operation If the software application executing on the host computer 102 supports this mode of operation, the user can place the tactile feedback controller 110 in the host-dependent mode by flipping a mode select switch In this mode of operation, control signals necessary to operate the various tactile sensation generators are derived from the control signals received from the host computer 102
- the tactile feedback controller 110 can be implemented such that it is able to automatically select its optimal mode of operation, e g , the presence or absence of a start code from the host computer or the detection of a valid signal by the host independent section 112
- a mode select toggle switch is implemented to select one of two possible positions, e g , host-independent mode or host-dependent mode This switch can be activated at any time by a user to select the desired mode, even while the system is in use
- FIG 2 depicts an illustrative configuration of the present tactile feedback system 100
- a host computer 102 is coupled to the tactile feedback controller 110 which, in turn, is coupled to one or more tactile sensation generators 120
- the tactile sensation generators may include a tactile sensation seating unit 510, a tactile sensation chest harness 520, a tactile sensation enhanced throttle 530, a tactile sensation enhanced joystick 540, a tactile sensation enhanced flight yolk with a left handle 535 and a right handle 545, tactile sensation enhanced rudder pedals with a left pedal 550 and a right pedal 560 a tactile sensation enhanced steering wheel 570, a tactile sensation enhanced shift knob 575, tactile sensation enhanced driving pedals 585 extending from a pedal base unit 580, a vest-based tactile sensation generator 595 , and a tactile sensation enhanced hand held game controller 598
- FIG 3 depicts a block diagram of the present tactile feedback controller 110 More specifically, the tactile feedback controller comprises a plurality of ports 117 119
- ADCs ADCs
- the processing of the audio signals are generally performed under the control of the microcontroller 320 using the appropriate software application residing in the ROM 344
- port 119 comprises a 4 bit input port and an 8 bit input port which are designed to receive control and data signals from the host computer 102
- the 4-b ⁇ t port is referred to as PORT A
- the 8-b ⁇ t port is referred to as PORT B If a valid 12 bit signal is received by PORT A and PORT B then the 12 bit signal is analyzed by the processor 340 to generate the control signals for the tactile sensation generators
- the microcontroller 320 is alerted that one or more configuration functions are being requested by a user Various configuration functions are described later in this disclosure
- control signals for the tactile sensation generator (derived from either the host-independent mode or the host- dependent mode), are converted into multiple independent pulse width modulation (PWM) control signals that are sent via TTL circuit lines to the transistor switch circuits 350, to drive one or more tactile sensation generators 1 0 that are connected to the tactile feedback controller 110
- PWM pulse width modulation
- a display 370 (20 LEDs) is coupled to the microcontroller 320 for providing a visual aid to a user who is performing a configuration function or who is simply monitoring the status of the tactile feedback controller 110 More specifically, the display allows the user to see the internal activity of the tactile feedback controller 110, by activating the LEDs in a manner that illustrates the status of many different types of information This information may include real time audio sampling data, real time audio analysis data, direct digital signal control data, and various parameters that control aspects of the tactile feedback generated by the tactile feedback controller 110
- this display can be implemented in many different ways or not at all
- an alphanumeric liquid crystal display (LCD) having two (2) display lines of 12 characters can be used to display a parameter name on the first LCD display line, and the parameter's numerical value on the second LCD display line, followed by some unit label (e g , seconds, percent, amplification, reduction, and the like, as necessary)
- simple messages such as "YES", "NO
- FIG 4 depicts a block diagram of the audio signal preprocessing section 310
- the audio signal preprocessing section 310 comprises a front end circuit 410, a variable gain preamplifier 420 and three separate audio filters/buffers 430- 450
- a stereo audio signal from the host computer 102 enters the front-end circuit 410 within which the stereo audio signal is combined into a composite signal
- host computer 102 sends an audio signal via audio cable 103, comprising a left audio channel and a right audio channel
- the front end circuit 410 contains a mixer for combining both channels of a stereophonic audio signal to form a composite audio signal, a high pass filter for limiting noise that is below the audio band, e g , lower than 20 Hz, and a diode signal miter for limiting (clipping) the amplitude of the input signal to protect the audio signal preprocessing section 310 from overly powerful audio signal inputs
- FIG 5 A detail circuit diagram of the front end circuit 410 is depicted in FIG 5
- variable gain preamplifier 420 establishes the dynamic range of the analog audio signal preprocessing section 310
- the tactile feedback controller 110 provides the user with a calibration knob that varies the resistance provided by a potentiometer, which, in turn, determines the gam of the variable gain preamplifier 420
- the gain of the variable gain preamplifier 420 is set too high, the audio signal has a tendency to saturate and, consequently, the usefulness of the audio signal is compromised
- the gain of the variable gain preamplifier 420 is set too low, the audio signal does not have sufficient dynamic range to provide useful data to the host-independent section 112
- FIG 6 A detail circuit diagram of the variable gain preamplifier 420 is depicted in FIG 6
- FIG 6 illustrates a switch SW5 to address audio output signal of different strengths
- a host computer 102 may typically produce an audio signal in two different types of audio output signal strengths, i e , amplified "speaker” outputs and non-amplified "line level” outputs
- Most audio output cards allow a computer user to select a signal strength that is optimal for his or her audio equipment
- older audio output cards often provided only amplified audio output signal strength on a single connector
- Amplified 'speaker" audio output typically provides 4 watts of amplification at 8 ohms resistance
- the single output can be split via a readily available Y-type adapter that will provide two output jacks from the single pre-existing jack
- the Y-adapter provides one connector for the user s speakers, and a second connector for the user to couple the host computer to the tactile feedback controller 110
- the second type of audio output signal strength is non amplified "line level" audio output, which is commonly used by stereo equipment
- This audio output signal strength is typically meant for an external stereo amplifier, such that the audio output of the host computer 102 can be broadcast from the user's home stereo system
- the line level output jack can also be split, when necessary, with a Y type adapter ln order to accommodate these different audio signal strengths
- the tactile feedback controller 110 provides a small two position switch (depicted as SW5 in FIG 6), that changes the gain of the variable gain preamplifier 420 as appropriate for the audio output signal strength provided by the host computer 102
- This small switch is labeled SPKR and LINE, and is set by the user to match the signal provided by the audio output jack on the host computer 102 In the SPKR position, the switch is closed, which effectively bypasses a gain inducing resistor (R10 of FIG 6) within the variable gam preamplifier 420, thereby reducing the range of amplification available to the variable gain preamp
- variable gain preamplifier 420 simultaneously feeds, via line 145, to three separate audio filters/peak hold buffers 430-450 that split the resulting audio signal into independent bass, midrange, and treble analog audio information streams
- the original stereo audio signal exits the audio signal preprocessing section 310 as three independent audio signals, composed of an analog bass signal on line 152, an analog midrange signal on line 162, and an analog treble signal on line 172
- Detail circuit diagrams of the treble audio filter and peak buffer 450 midrange a jdio filter and peak buffer 440 and the bass audio filter and peak buffer 430 are depicted in FIGs 7-9 respectively
- the bass audio filter and peak hold buffer 430 uses a low pass filter that passes low frequencies, e g , below 338 Hz
- the treble audio filter and peak hold buffer 450 uses a high pass filter that passes high frequencies, e g , above 1 6 KHz
- the midrange audio filter and peak hold buffer 440 uses a difference amplifier that removes the combined signals of the bass and treble audio filters from the signal that exits the variable gain preamplifier 420
- the midrange filter yields an audio signal that is essentially what remains after the bass and treble frequencies have been isolated, combined, and then subtracted from the main signal This reduces the overlapping roll-off that occurs as the frequency responses of the high and low pass filters fade out and extend beyond their respective frequency cutoff properties This ensures that the bass 430, midrange 440, and treble 450 filters will yield independent signals that do not suffer from too much frequency intersection
- a bandpass filter could be used in place of the difference amplifier, in order to specifically pass a tunable band illust
- FIG 10 illustrates a flow chart of a method 1000 for generating control signals for tactile sensation generators under a host independent mode or a host dependent mode of operation
- Method 1000 starts in step 1005 and proceeds to step 1010, where the tactile feedback controller 110 is initialized
- the initialization step executes a power on reset sequence for the microcontroller 320 which may include a RAM/ROM and I/O hardware initialization Namely, the integrity of the RAM is verified and default information, such as stored variables and various tables, are loaded from the ROM and into the RAM of the microcontroller 320
- step 1020 method 1000 queries whether the user wishes to invoke a special demonstration mode of the tactile feedback system If the query is positively answered, then method 1000 proceeds to step 1025, where a demonstration is presented to the user where various tactile sensation generators (including the LED display) are activated in a predetermined sequence If the query is negatively answered then method 1000 proceeds to step 1030, where the method 1000 queries whether configuration command is detected
- the demonstration mode is designed to be skipped, by default, unless the user performs the specific action that requests it More specifically, the present invention checks to see if a specific button, the "Function Select" switch, is depressed by the user during the power on reset sequence
- the stored demonstration in the ROM can also be used as a manufacturing test to verify newly manufactured tactile feedback controllers
- the demonstration sequence can be used to detect malfunction The demonstration lasts approximately 90 seconds
- method 1000 queries whether a configuration command is detected More specifically, in the present invention, configuration commands are provided in the form of a batch data transmission Batch data transmissions carry data that allows various operational parameters of the system to be reconfigured in real time These batch data transmissions begin with a multi-stage trigger (code), which alternatively strobes back and forth between two predetermined values If the data present on the input ports of the tactile feedback controller 110 is identified as a trigger strobe for a batch data transmission, then method 1000 proceeds to step 1035 where the configuration commands/data within the batch data transmission are executed Examples of functions that can be executed at this step include 1 ) changing display modes of various internal variables on the LED display (See Appendix A for a list of such display modes), 2) setting various tactile sensation generator power output parameters, and 3) setting any of the audio postprocessing parameters at discussed below in step 1065 Once all the configuration commands/data are serviced by the tactile feedback controller 110, method 1000 proceeds to step 1040
- step 1040 method 1000 queries whether host dependent mode is selected If the query is negatively answered, then method 1000 proceeds to step 1065, where audio signal postprocessing is executed If the query is affirmatively answered, then method 1000 proceeds to step 1050, where method 1000 determines if digital control is active Namely, if the tactile feedback system is set in the host independent audio analysis mode, method 1000 executes the digital audio post processing procedure If the tactile feedback system is not set in the host-independent audio analysis mode, then the system is in the host-dependent direct control mode by default
- step 1050 method 1000 queries whether digital control has been previously activated since the last power on reset. Namely, method 1000 determines if a specific start code has been received at PORT A and PORT B The specific start code indicates that a software application on the host computer 102 is attempting to send digital signals to the tactile feedback controller 110 More importantly, the initial reception of this start code would have initialized the host dependent section 114 of the tactile feedback controller 110 Such initialization places the host dependent section 114 in condition to receive control signals from the host computer This start code is employed to keep the direct digital control mode from erroneously reacting to data on the parallel printer port bus that may not be intended for the tactile feedback controller 110 This may occur if devices other than tactile feedback controllers 1 10 are daisy chained along the parallel bus, such as printers, tape back up drives, portable SCSI devices, and so on If the query is affirmatively answered i e , direct digital control was previously activated method 1000 proceeds to step 1060 where direct control signal postprocessing is executed If the query is negatively answered, method 1000 proceeds to step 10
- step 1055 method 1000 queries whether a start code has been received and whether initialization is presently in progress Namely, it is possible that although host dependent section 114 is not in condition to receive control signals from the host computer at step 1050, but it may be in active condition pending the completion of initialization that is currently in progress If the query is affirmatively answered, then step 1055 proceeds to step 1060 In other words, method 1000 checks if the previously read data from the digital input ports represents a predetermined initialization and reset code If so, direct digital control is activated, and method 1000 proceeds to step 1060 where the digital control signal postprocessing is executed
- step 1055 proceeds to step 1050 and waits for the activation of the host dependent section 114 Namely, if the appropriate initialization and reset code is not present, digital control remains inactive, and returns to step 1050
- step 1060 can be called to service new data on the digital input ports by two primary means polling the input ports for new data, or responding to hardware interrupts generated by the microcontroller 320 as determined by the capability of the selected microcontroller This polling and/or interrupt response occurs to insure that no vital digital control signal data is missed
- step 1070 method 1000 receives either postprocessed audio signals from step 1065 or postprocessed direct digital signals from step 1060 Using these postprocessed signals, method 1000 generates the necessary and appropriate control signals for the various tactile sensation generators 120 It should be understood that method 1000 will continue to operate until the tactile feedback controller 110 is turned off
- FIG 11 is a flow chart for the method 1065 of postprocessing the audio signals, i e , the digital audio postprocessing step 1065 of FIG 10 Method 1065 starts in step 1105 and proceeds to step 1110 where the raw audio signals on paths 152, 162 and 172 are digitized as illustrated in FIG 4 above
- ADC analog to digital converters
- 330 produces a set of three raw digital signals, BASS audio signal, MIDRANGE audio signal and TREBLE audio signal
- step 1120 the set of three raw digital signals, BASS audio signal, MIDRANGE audio signal and TREBLE audio signal are respectively processed with a set of BASS, MIDRANGE and TREBLE audio analysis parameters (see FIG 12), which yields a calculated BASS result, a calculated MIDRANGE result, and a calculated TREBLE result
- step 1130 these three individual calculated audio results are combined to yield a single host-independent master control signal from audio signal postprocessing analysis, which is then placed into the internal RAM based digital control signal table (discussed below) for generating the control signals for the various tactile sensation generators
- the calculated signals are combined by simply selecting a value corresponding to the highest value among the three calculated values
- other methods can be employed, e g , a weighted average calculation
- step 1140 method 1065 ends or returns to step 1070 of FIG 10
- FIG 12 is a flow chart of a method 1120 for processing the raw audio signals with a plurality of audio analysis parameters
- the set of three raw digital signals, BASS audio signal MIDRANGE audio signal and TREBLE audio signal in step 1110 of FIG 11 are modified in accordance with a set of audio analysis parameters
- FIG 12 only illustrates 11 parameters since these same parameters are applied to all three raw signals, with the exception of having different audio band specific values for each raw signal
- FIG 12 uses the audio band specific subscripts to identify the audio band of BASS, it should be understood that the subscripts imply that BASS specific default values were employed to process the raw BASS signal
- the actual value of each parameter is individually programmable for each of the three available audio bands, and only affects the audio band to which its subscript specifically applies
- FIG 12 illustrates the audio analysis parameters that are used to produce the three individual calculated audio results It should be noted that the present invention is not limited by the number of parameters that are employed
- each raw digital audio sample begins by copying the raw digital audio samples into three individual buffers within the RAM 342 of the microcontroller 320 These buffers are referred to as the calculated bass result the calculated midrange result and the calculated treble result
- Each of these three buffers carries the cumulative results of the calculations that are performed as the specific parameters of each parameter set illustrated in FIG 12 are applied to change the values within the three buffers This essentially yields three constantly changing calculated audio result buffers while the original raw digital audio samples remain unchanged In this fashion, the original raw digital audio samples are stored and made available for later use by other calculations within the digital audio post-processing method
- the three buffers emerge from the three audio analysis parameter sets as the final audio band specific calculated audio results
- step 1210 the parameter Squelch is applied to the raw signal
- the SQUELCH parameter provides a means of ignoring audio signals that have an amplitude that is less than some desired threshold, e g , 2% of the maximum signal value
- the maximum value is 255 in binary
- a 2% threshold equates to approximately a value of 5 ( 02 x 255) If a raw digital sample is less than its appropriate SQUELCH parameter, the appropriate calculated result is forced to zero If the raw digital sample is greater than or equal to its appropriate SQUELCH parameter, the appropriate calculated result is set equal to the original raw digital sample
- the next two parameters are PREAMP QUALIFIER and PREAMP MULTIPLIER, which function as a pair
- These two parameters function together to provide a means of preamp fying quiet sounds by some factor, while leaving louder sounds unaffected This is useful, for example in helicopter simulations, where the sound of the rotor blades spinning in the background can generally impart some useful velocity or engine activity cue, but such sound is typically very quiet so as not to be overwhelming during the simulation
- These two audio analysis parameters effectively allow these quiet sounds to be preamplified, such that the velocity or engine activity cue can be translated into useful tactile feedback, while not affecting louder
- the calculated audio result is qualified for preamplification, and therefore multiplied (e g , amplified) by its PREAMP MULTIPLIER The result of this calculation cannot be larger than the PREAMP QUALIFIER value that qualified the multiplication in the first place If the result of this calculation is larger than the PREAMP QUALIFIER value, the result is set equal to the PREAMP QUALIFIER value This eliminates the possibility that quiet sounds will become over amplified In step 1240, the next parameter is the EQUALIZER This step allows a current calculated audio result to be reduced or amplified, e g , equalized, by some factor Specifically, the equalizer provides for effectively multiplying any given calculated audio result by any number between 000 and 8 00 with 0 03 increments This yields approx 32 levels of reduction from 0% to 97% of the original value in approximately 3% steps (e g , multiplying any given calculated audio result by any number between 0 00 and 0 97) This also yields approx 265 levels of amplification from 103%
- step 1250 the next parameter is MAXIMUM This parameter limits the result of the EQUALIZER multiplication result to some highest allowed value or maximum, e g , no higher than 75% of the maximum level
- the MAXIMUM parameter limits high equalization results when relatively high amplitude signals are generated by the host computer 102
- the MAXIMUM parameter is useful when high equalization values are used, and affected upon high amplitude audio signals
- the next parameter is the RISE RATE This parameter establishes a maximum allowable rise rate between two sequential audio samples If the difference between a current digital audio sample and its corresponding prior sample is a positive value that exceeds the RISE RATE parameter e g , a value corresponding from 20 ms to 2 seconds, then the RISE RATE parameter is added to the prior of the two sequential samples, and the result is used in place of the most recent calculated audio result, thereby effectively yielding a reduced rise rate in accordance with the RISE RATE parameter
- the next parameter is the DECAY RATE This parameter establishes a maximum allowable decay rate between two sequential audio samples If the difference between a prior digital audio sample and its corresponding current sample is a positive value that exceeds the DECAY RATE parameter then the DECAY RATE parameter is subtracted from the prior of the two sequential samples and this result is used in place of the most recent calculated audio result, thereby effectively yielding a reduced decay rate, in accordance with the DECAY RATE parameter
- the last four parameters function together to provide a means of interpreting various audio amplitude inducing simulated events, and subsequently generating an appropriately strong tactile response Essentially, it is very important to recognize abrupt increases in audio amplitude over some number of sequential digital audio samples In games or simulations, any number of generally traumatic events can occur that will require a very powerful response by the tactile feedback controller 110 when it is operating in its host independent audio analysis mode For example, a simulated car being driven by the simulation user may bump another simulated car, or crash into a simulated object at a high velocity Likewise, a simulated enemy missile or other simulated offensive/defensive weapon may strike a simulated vehicle being piloted by the simulation user These types of simulated events, and others like them, are typically accompanied by an abrupt and varied rise in the amplitude of some appropriately provided sound effect (hereafter referred to as a "crash" event) However, this rise in audio amplitude may not inherently have enough power, and/or may not last long enough, to cause a powerful
- CRASH MAGNITUDE In order to rectify this shortcoming, in steps 1280 and 1290 the next two parameters CRASH MAGNITUDE and CRASH TIME SPAN, together allow the combined magnitude and time span of an abrupt rise in the digitally sampled audio to generate a crash" response
- the tactile feedback resulting from this 'crash" response is then controlled by the last two parameters in step 1292 and 1294 CRASH HOLD and CRASH FADEOUT
- the CRASH MAGNITUDE parameter establishes the minimum rise in sampled audio amplitude that will qualify as a "crash event
- the CRASH TIME SPAN parameter establishes the maximum time allowed for an acceptable CRASH MAGNITUDE rise to develop For example, these parameters may look for a rise in amplitude of 30% of the maximum possible amplitude over a 0 125 second time span Together, these two parameters across all three audio bands provide for a very powerful and versatile method of detecting events that require strong tactile feedback responses If a sound event generates a rise in
- step 1120 ends in step 1295 or returns to step 1130 of FIG 11, where the three individual values are combined to yield a host-independent master control signal from audio analysis
- this audio-derived control signal is then placed into the device 0 "master device" entry in the internal RAM based digital control signal table for power distribution as discussed below
- the signal residing within the ' master device ' entry in the internal RAM is regarded as the master control signal, regardless as to how this signal was generated Namely, this signal can be generated by both the host independent mode or the host dependent mode
- a signal extracted from this 'master device entry (device 0) shall be referred to as the master control signal
- FIG 13 is a flow chart of a method 1060 for direct control signal postprocessing Namely, it is a flow chart that illustrates the processing step of 1060 in FIG 10
- Method 1060 processes digital control signal data generated by the host computer 102 that is received from PORT A and PORT B in real time
- This digital control signal data can be implemented in numerous ways, with each approach carrying different types of information within the transmitted data
- the digital control signal may be a simple, single code, that causes a course of events to occur within the microcontroller 320
- the digital control signal can be a set of values, which may include some tactile feedback effect identification number, and some parameters to define the effect, such as intensity, duration step value, the included actuators, and so on
- the only limitation on the implementation of any given communications protocol content is that the host computer 102 and the tactile feedback controller 110 must be in agreement as to the particular syntax of the implemented communications protocol Namely, the structure of the digital control signal that is generated by the host computer 102 must be intelligible to the tactile feedback controller 110 This is accomplished by programming
- the digital control signal has two distinct components a "device value” and a "device activity value” appearing in PORT A and PORT B respectively
- the device value designates the specific device that is to be affected by the accompanying device activity value
- the device activity value, appearing on PORT B designates the amount of tactile feedback that is to be generated by the designated device (PORT A)
- the device value is transmitted on the 4-b ⁇ t control signal, and the device activity value is transmitted on the 8-b ⁇ t data signal
- PORT A is a 4-b ⁇ t port that can receive any value between 0 15
- PORT B is an 8-b ⁇ t port that can receive any value between 0-255 Therefore, the PORT A device value can be any number between 0-15, and the PORT B device activity value can be any number between 0-255
- PORT A and PORT B represent a 12-b ⁇ t communications bus between the host computer 102 and the tactile feedback controller 110
- the device pointer (PORT A) may have a
- the device values physically implemented by any single tactile feedback controller 110 are generally limited to the number of I/O pins that are provided for Pulse Width Modulation (PWM) control signal output Therefore, it is likely that the range of possible device values transmitted over PORT A may outnumber any given single implementation of PWM control signal generation output pins
- the microcontroller 320 has 8 I/O pins designated as control signal output pins
- the microcontroller 320 can only provide 8 I/O pins As a result, it is entirely possible for a transmitted PORT A device value to designate a specific device that is not physically implemented by any given tactile feedback controller 110 that may receive that device value In such cases, that specific control signal is ignored by each tactile feedback controller 110 for which that signal is invalid
- the present invention is designed in such a way that many tactile feedback controller 110 can be daisy chained together, by providing a pass-through parallel port 117 on each controller In this manner, each and every tactile feedback controller 110 connected to the same communication bus will receive the same control signal, including the same device pointer value
- each tactile feedback controller 110 may control a completely different and independent set of tactile sensation generators, by only responding to some subset of the possible device pointer values that it may receive Tactile sensation generator hardware that is connected to one tactile feedback controller 110 may not be present on another controller
- Each microcontroller 320 has some limited number of available I/O pins that individually control the transistor switch circuits 350 that subsequently power some configuration of multiple independent tactile sensation generators 120
- tactile feedback controllers 110 can be designed to respond to some subset of the possible device pointer codes that it may receive If a device pointer value is received that is not implemented by a specific tactile feedback controller 110, then that device pointer and its accompanying activity value will be ignored by that specific controller
- step 1060 starts in step 1305 and proceeds to step 1310 where method 1060 queries whether the received PORT A device value is valid in view of the current specific hardware implementation If the query is negatively answered, i e , if the PORT A device value is not valid for the specific hardware implementation, then method proceeds to step 1320 where the entire digital control signal is ignored If the query is affirmatively answered, i e , if the PORT A device value is valid for the current specific hardware implementation method 1060 proceeds to step 1330, where the PORT A device value is accepted as a valid device pointer In step 1340, the PORT B value is then accepted as the device activity value (for the device that is pointed to by
- Method 1060 then ends in step 1345 or returns to step 1070 of FIG 10 where control signals for the tactile sensation generators 120 are generated
- FIG 14 is a flow chart of a method 1070 for generating control signals for tactile sensation generators Namely, it is a flow chart that illustrates the processing step of 1070 in FIG 10
- Method 1070 starts in step 1405 and proceeds to step 1410, where device values and device activity values are written to a digital control signal table (1510 shown in FIG 15) in the RAM 342 of the microcontroller 320
- the PORT A device value designates a specific numbered entry in an internal RAM based digital control signal table (illustrated in FIG 15) that ultimately stores the PORT B device activity value
- an internal digital control signal table is maintained within the microcontroller 320 that holds all of the digital control signal data that is generated by the host computer 102
- the internal RAM based digital control signal table was initialized with zeros upon the last power on reset
- the default "device activity" value of each entry in the digital control signal table is a zero
- the only event that can change the value of an entry in the digital control signal table is a valid digital control signal
- the PORT A device value actually points to the numbered entry in the table that is to be changed
- the PORT B activity value is the actual value that is inserted into the appropriate device entry in the digital control signal table
- the PORT B value is put into the digital control signal table at the device entry pointed to by PORT A
- step 1430 method 1070 sends the relevant PWM control signals to the relevant tactile sensation generators via the transistor switch circuits 350
- method ends in step 1440 In the preferred embodiment, the method 1000 of FIG. 10 continues until the tactile feedback controller 110 is turned off
- a unique property of the direct digital control mode used by the tactile feedback controller 110 is that device values do not necessarily have to be actual tactile feedback devices Pseudo-devices can be used to make controlling any and all connected tactile feedback devices as easy as possible
- the preferred embodiment uses two pseudo-devices, but makes no specific exclusion to using additional pseudo-devices that may have some practical value
- the two pseudo-devices that are used by the present embodiment of the direct digital control mode are device 0 and device 9 Device 0 serves as a ' master device", and device 9 serves as a "direct control shortcut" These pseudo-devices are absent from the PWM control signal table because they are not actual tactile feedback devices that use PWM output signals
- the device 1 activity value will be some number between 0 and 255 (an 8 bit value, as determined by the bus width of PORTB) If the device 1 activity value is zero, the device 0 activity value is used for PWM translation in lieu of the device 1 zero activity value If the device 1 value is non-zero, the device 1 activity value itself is used for PWM translation This process is repeated for all of the device activity entries (device 2 - device N) in the digital control signal table 1510 as each one gets translated into a PWM value for the PWM control signal table 1530. This process, illustrated by line 1540 of FIG 15, is how the "master device” device 0 propagates throughout all of the devices that are in the "follow the master" mode (e g , having a zero in their activity value entry) As each device specific activity value is translated into a PWM value, it is processed by various device specific power output parameters 1520 that ultimately produce the final device specific PWM value in the PWM table 1530
- the first device specific power output parameter 1520 is determined by the main power supply voltage in use by the universal tactile feedback controller 110, and the power supply range that is appropriate for any given tactile sensation actuator 501
- a "duty cycle" power output parameter is used
- a device specific power output "duty cycle” parameter can scale the provided device activity value to 60% of its original value before inserting it within the appropriate device entry in the PWM control signal table 1530 This will effectively create an average maximum power level of 12 volts, which is the rated power range for the tactile sensation actuator in question
- a device specific "duty cycle' power output parameter 1520 e g , a number between 0 00 and 1 00 in
- Allowing device specific duty cycle parameters can reduce the complexity and cost of the universal tactile feedback system 100 by allowing a single main power supply to support the individual power requirements of many different devices
- the presently preferred embodiment makes no exclusion to using individual power supplies or regulated voltage lines for each device that may be implemented by the present invention
- the presently preferred embodiment uses two voltage sources in order to limit reliance on ' duty cycle" parameter implementation If a mam power supply voltage of 20 volts was being used to drive a tactile sensation actuator 501 with a maximum operating voltage of 5 volts, that device would have to use a 25% duty cycle parameter Although this setting can be used, it would effectively reduce the maximum possible pulse width "ON" time to no more than ' ⁇ of its normal "ON" time at a 100% duty cycle This may create "choppy" actuation within the actuator, as it would be receiving 20 volts for 25% of the time, and 0 volts for 75% of the time, for a PWM average of 5 volts
- a better implementation would be a supply voltage of 10 volts
- the second device specific power output parameter 1520 is determined by the user's personal intensity preferences with regard to the desired intensity that is to be generated by any given tactile sensation actuator 501 Due to the different types and numbers of tactile sensation actuators that can be simultaneously driven by the universal tactile feedback controller 110, the user may desire to individually reduce or increase the tactile feedback generated by any given actuator
- the "duty cycle” parameter sets the operating range of voltage that can be applied to any given actuator
- the duty cycle setting is determined solely by the power requirements of a specific actuator
- the "personal intensity preference" device specific parameter is determined solely by the user s personal preference with regard to the tactile feedback produced by any given specific tactile sensation actuator 501 This parameter is implemented in a similar way to the duty cycle parameter, in that the device activity value is multiplied by the appropriate device specific intensity parameter (e g , a number between 0 00 and 2 00 in 0 03 increments)
- the third device specific power output parameter 1520 is a "minimum activation value" which determines the activity threshold below which any given device will remain off
- the minimum activation value parameter is not applied to non-zero device activity values, as non-zero device activity values necessarily mean that a given device is currently under direct digital control If a device has a zero device activity value in the digital control signal table 1510, then that device is being ignored by the host computer for as long as the zero activity value is present (e g , that device is in the "follow the master ' mode) For example, imagine a device that has a minimum activation value of 70% As long as the master device (device 0) activity value is less than 70% of the possible maximum value, the PWM value for that device in the PWM control signal table 403 will always be zero, and that device will remain OFF If and -lb- only if the master device (device 0) activity value equals or exceeds the 70% minimum activation value for the specific device in question, will the PWM value in the P
- FIG 15 illustrates the relationship between the digital control signal table 1510, device specific power output parameters table 1520 and the PWM control signal table 1530
- the "master device” takes effect when the internal RAM based digital control signal table 1510 is translated into another table, the internal RAM based multiple independent PWM control signal table 1530
- the PWM control signal table is loaded with actual Pulse Width Modulation (PWM) power output values that descend from the digital control signal table 1510 If a device activity value other than master device (device 0) is a zero, the activity value from the master device is translated into a device specific PWM value according to the appropriate device specific power output parameters 1520, and is then loaded into the multiple independent PWM control signal table 1530 in place of the absent device specific direct control signal
- PWM Pulse Width Modulation
- the device specific PWM values that actually control the power output of every tactile sensation actuator connected to the system will follow the "master device ' activity value for each and every device that has a zero activity value
- the master device activity value is translated into a device specific PWM value by filtering the master activity value through various device specific power output parameters 1520 that control how each and every device follows the master activity value
- Device activity values coming in via 8-b ⁇ t PORT B, can be any 8-b ⁇ t value from 0 to 255 An activity value of 0 tells any given device to "follow" the "master device” An activity value of 1 is always OFF, e g , generating no tactile feedback
- Any activity value between 2 and 255 generates tactile feedback in direct proportion to that value, where an activity value of 2 represents the smallest possible tactile feedback, and an activity value of 255 represents the greatest possible tactile feedback
- Any activity value given to a specific device is always processed by that device s specific power output parameters when the PWM control signal table 1530 gets filled Any specific device will immediately enter its "follow the master" mode upon receiving an activity value of zero Alternatively, any specific device will immediately enter its direct control mode upon receiving some non zero value In this way, the host computer 102 can take direct control of some specific device for some temporary time frame, and then place that device back into its 'follow the master" mode when it is through dispensing that specific device's control signal
- step 1610 determines in step 1610 that all of the required trigger strobes have been received (typically 4 pairs of strobe triggers) the actual batch data transmission receive mode is entered in step 1635
- the batch data transmission method is a one way communication
- a robust lock step method is used
- any data transmission method could equally be used in its place provided the appropriate corresponding method was implemented in the software that generates the actual data transmissions, and the ROM code within the microcontroller 320 that receives those same data transmissions
- the preferred embodiment makes no specific exclusion to using some other data transmission routine and/or the trigger that signifies the start of the communication
- each cycle through the batch data transmission receive mode begins at step 1665, by waiting until a zero appears on PORT A Steps 1665 and 1670 together yield an endless loop that is only broken when the external software sets PORT A equal to zero After PORT A equals zero the external software sets PORT B equal to the value it wishes to transfer in step 1675 In the meantime, steps 1680 and 1685 together yield an endless loop that is only broken when PORT A does not equal zero In this way, the external software can allow PORT B to stabilize before the external software transmits a non-zero PORT A value
- the next non zero value on PORT A may be the end transmission' code, which the preferred embodiment sets as 15 If this ' end transmission" code is present step 1690 recognizes it exits the data transmission receive mode in step 1660, and ultimately returns to the main software loop via step 1630 If the end transmission code is not present, the non zero value that appears on PORT A will be a pointer for a permanently encoded table in the ROM of the microcontroller 320 This pointer determines which
- the batch data transmission method of FIG 16 can be invoked by either one of two versions of external batch data transmission software applications that run on the host computer 102
- the first of these two applications is the "no user intervention" version, depicted in FIG 17
- the "no user intervention” version is typically executed to qu'ckly and easily configure the tactile feedback controller 110 for use with some specific game or simulation and the appropriate tactile sensation generators for that application, by sending preset configuration files out to the tactile feedback controller 110
- the second of these two applications is the 'user intervention" version, depicted in FIG 18
- the "user intervention” version is typically executed to create, modify, and save configuration files for later use with the "no user intervention" version of the batch data transmission software application
- FIG 19 depicts the host-independent audio analysis calibration method, which always incorporates one version of the two batch data transmission software applications (FIGs 17 and 18)
- the "no user intervention" version 1700 of the batch data transmission software application is used to send preset configuration files to the tactile feedback controller 110
- the user defines the
- step 1720 loads the specific settings from the user designated application specific configuration file
- the default configuration settings together with the application specific configuration settings, comprise a complete configuration data set that step 1730 transmits to the tactile feedback controller 110 This transmission occurs via the parallel cable 104 and the protocol outlined in the batch data transmission method (see FIG 16) If application specific audio analysis calibration instructions were contained within the application specific configuration file, those audio analysis calibration instructions are displayed in step 1740 These displayed calibration instructions are utilized by the host independent audio analysis calibration routine 1900 (see FIG 19)
- FIG 18 is a flow chart of a 'user intervention method 1800 to trigger the batch data transmission method
- Method 1800 starts in step 1805 and proceeds to step 1810 where method 1800 loads the default settings from the default configuration file
- step 1820 presents a graphical user interface so the user can easily manipulate all of the configuration data Included in this "manipulation of configuration data" is loading both specific and default configuration files
- the user will typically select the file from a directory listing, which can be browsed with a mouse or other pointing device Loading a given configuration file, or changing any single configuration parameter, are both
- the user can efficiently discover optimal specific configuration data settings while the tactile feedback system 100 is in use This is especially useful for discovering the best audio analysis parameters
- the user can save the current configuration data in step 1840
- the method then saves the appropriate type of configuration file (default or application specific), creating new files when necessary in step 1870
- the user can terminate the user intervention version 1800 by using an exit option in step 1850 to arrive at step 1875
- audio analysis calibration instructions are provided within the application specific configuration files
- the audio signal produced by the host computer 102 must be consistent with the audio signal that was used to set the audio analysis parameters that are contained within a given specific configuration file This consistency between the audio signal from the host computer 102 and the audio signal that was used to set the audio analysis parameters is achieved with the host-independent audio analysis calibration routine 1900 of FIG 19
- the calibration method 1900 begins with step 1905 and proceeds to step 1910, wherein the user loads the desired application specific configuration file with either batch data transmission software 1700,1800
- the provided audio analysis calibration instructions are displayed for the user on screen 1740 (see FIG 17)
- the provided audio analysis calibration instructions must be selected for display by selecting them from a graphical pull-down menu
- the user takes note of the provided calibration instructions in step 1920 This can include printing the provided instructions
- the user runs the desired application in step 1930
- the calibration instructions were created, at some point in time, typically with the user intervention method 1800 of the batch data transmission software application within that method 1800, a text editor is provided so calibration instructions can be recorded
- the calibration potentiometer (component part R8 of FIG 6) within the variable gain pre-amplifier 420 of the analog audio signal pre-processing section would have been previously adjusted to the satisfaction of the person creating the configuration file
- the calibration potentiometer adjusts the signal strength of the audio signal such that the audio signal is neither too weak, nor too strong
- the person creating the calibration instructions looks to find a relatively common sound effect occurring within the simulation When the person who is creating the calibration instructions hears a common sound effect, they observe the status of the LEDs within the system analysis display Within the calibration instructions, they describe what common sound effect to listen for, and the number of LEDs on the system analysis display that are illuminated in response to the common sound effect (when the calibration potentiometer is
- the user waits until the desired application is generating the common sound effect that was specified in the calibration instructions
- the user adjusts the calibration potentiometer (via knob 2430 of FIG 24) until the LEDs within the system analysis display appear approximately as specified within the calibration instructions
- the LEDs within the system analysis display 370 appear approximately as specified in the calibration instructions, indicated by step 1950, it means the audio signal generated by the host computer 102 is occurring at the same approximate amplitude as the audio signal that was used to set the application specific audio analysis parameters
- the tactile feedback resulting from the audio analysis mode of operation will be substantially similar to the results perceived by the person who created the corresponding specific configuration file In other words, the audio signal will have been calibrated successfully
- the user can continue to fine adjust the calibration potentiometer (and all other parameters) as personally desired to tweak and otherwise change the tactile feedback produced by the system Method 1900 ends in step 1965
- FIG 20 is a flow chart that illustrates a method 2000 of activating LEDs
- the first step fills a RAM buffer for the system analysis display as determined by the currently active display mode (see box 2410 of FIG 24)
- the display mode parameter determines the configuration of the 20 LEDs, the method by which data is to be displayed, and the actual data that is to be displayed
- the system analysis display mode parameter is changed, either from a batch data transmission or from new input from the hardware switch multiplexer, a special temporary identification mode of blinking LEDs is implemented on the LED display, in order to inform the user what display mode is about to be engaged
- Each display mode has its own unique blinking LEDs indicator, which identifies the display mode that is about to take over the entire LED display 370
- the duration of the blinking LEDs system analysis display mode identifier can be set to last anywhere between 0 20 and 25 0 seconds When this variable timer expires, the requested display mode is subsequently engaged
- the display buffer is loaded with a digital representation of the physical display, which is illuminated on
- FIG 21 is a flow chart that illustrates a hardware switch multiplexing method 2100 Referring to FIG 21, these three steps read the physical state of all three hardware switches of FIG 24 on the tactile feedback controller 110, and alter internal variables as necessary to reflect the state of those switches
- the first step 2110 reads the main mode select switch (2420 of FIG 24) and sets the main mode variable as appropriate
- the main mode switch is a toggle switch that has two possible positions which are mutually exclusive The position of this switch selects the mam operating mode of the tactile feedback controller 110 With switch 2420 in a first position the tactile feedback controller 110 operates in its host-independent audio analysis mode With switch 2420 in a second position the tactile feedback controller 110 operates in its host-dependent direct control mode
- the second step 2120 reads the function select switch (2440 of FIG 24) and links the third switch (2450 of FIG 24) to some specific function
- the function select switch is a spring loaded, short travel normally open push button switch Each time this switch is pressed, the rotary encoder is linked to a different function
- FIG 25 is a functional block diagram of both the multiple independent PWM control signal generation component 2504, and the PWM outputs 2540 of microcontroller 320
- Each of the eight individual PWM independent control signal output pins 2541-2548 renders a PWM signal as dictated by its corresponding value in the multiple independent PWM control signal table
- Each of these independent PWM output signals 2541-2548 controls a corresponding independent transistor switch circuit 2551-2558
- the eight transistor switch circuits 2551-2558 together comprise the transistor switch circuits 360 component of FIG 3
- Each microcontroller PWM output pin 2541 -2548 is used by one transistor switch circuit 2551-2558 to turn on and off one or more tactile sensation actuators 501 within some independent tactile sensation generator (depicted as 502, 503, 504)
- a given transistor switch circuit 2551-2558 in response to the output of its corresponding PWM output pin 2541-2548, becomes activated, e g , conducts current, such that the appropriate transistor switch circuit 2551-2558, once activated, allows current to pass through one or more actuator
- each single tactile feedback controller 110 provides eight independent outputs 2541-2548 that are driven in the previously described manner
- there is no specific limitation imposed on how many such outputs are to be provided within any single tactile feedback controller 110 The only limiting factor is the number of I/O pins available on the microcontroller 320
- many microcontrollers 320 can be working in parallel to provide as many I/O pins as are necessary to sustain any imagined implementation
- many tactile feedback controller 110 units can be daisy chained together, theoretically allowing as many tactile feedback controller 110 units to provide as many desired outputs as the electrical properties of the connections in the host computer 102 allow, until the total resistance and capacitance of the cables in such a configuration prohibitively degrade the transmission of that information
- analog and digital signal hubs can be used to boost the signals carried over the connections
- the PWM signals 2541-2548 that control the outputs from the transistor switch circuits 2551-2558 can be used to control any electromechanical device
- Each transistor switch circuit 2551-2558 can use its own power supply and transistor type that is appropriate for the actuator or actuators that it is intended to drive
- the power consumption of any given actuator based upon the PWM signal 2541-2548 that controls it
- this disclosure generally implies DC motors with offset weights for its tactile sensation actuators 501
- the DC motor receives more current and spins faster, thereby yielding more powerful tactile sensation (e g , vibration)
- the illustrated independent tactile sensation generators 502, 503, 504 can contain one or more independent tactile sensation actuators 501 , with each independent tactile sensation actuator 501 containing one or more individual actuators working in series or parallel
- independent tactile sensation generator 502 contains one set of tactile sensation actuators 501 which responds to one transistor switch circuit 2551
- Independent tactile sensation generator 503 contains three
- FIGs 27-30 have been provided Although there is a constantly growing library and wide range of game and simulation software available, most applications for which tactile feedback is of high importance can be categorized by two mam genres vehicle based simulations', and open-body combat games Vehicle based simulations include flight simulations, tank simulations, driving simulations, space flight simulations, and so on, where the game player navigates through the simulation or game via some type of simulated vehicle Generally, the main tactile sensation generator in the present invention for any vehicle based simulation is a tactile feedback seating unit 510 Open- body combat games include games that occur in the first person perspective, where the display apparatus generates a view of a simulated world, wherein the simulation attempts to represent what one would see if they were actually standing within the simulated world These games may also occur in a third person "over the shoulder" view, or an "above and to the
- FIGs 27-30 are referenced below The scenarios depicted in FIGs 27 30 are illustrative only, and by no means specifically imply any limitations regarding other possible scenarios and implementations of tactile sensation generators and/or control input devices
- FIGs 27-30 depicts one of four common control input device hardware suites
- any given implementation of the four illustrative control input device hardware suites may use only a subset of the illustrated control input devices
- the actual implementation of control input devices varies widely
- the first scenario (FIG 26A), typical of military flight simulations, consists of a left handed stand alone throttle and weapons controller, a right handed joystick, and a rudder pedal unit This first scenario is generally used for many other vehicle based games, such as modern tank simulations and futuristic mechanized robot combat games Most simulated vehicles (other than cars) are controlled with this hardware setup
- the second scenario (FIG 26B), typical of civilian flight simulations, consists of a two handed flight yolk, and a rudder pedal unit
- the third scenario (FIG 26C), typical of driving simulations, consists of a steering wheel, a gear shifter, and a pedal unit typically providing gas and brake pedals
- the fourth scenario (FIG 26D), typical of first person perspective shooters, can use just about any combination of control input devices, such as keyboards mice, joysticks, 3D controllers, and more
- the host computer 102 provides signals to the universal tactile feedback controller 110 via cable set 110
- the universal tactile feedback controller 110 sends current through power distribution cables 461-468 to activate the tactile sensation actuators 501 within the depicted tactile sensation generators
- the tactile feedback seating unit 510 is a semi-rigid foam structure, sealed with a cloth or vinyl layer, with a leg portion and a back portion, substantially shaped to easily rest upon any given seat, with a plurality of actuators embedded within the foam structure, such that the actuators in the pad produce localized vibration
- actuators are laid out in several independent zones within the foam, providing a left leg tactile sensation generator, a right leg tactile sensation generator, and a back tactile sensation generator (which may itself be divided into left back and right back tactile sensation generators), such that these independent tactile sensation generators exist within the single tactile feedback seating unit 510
- each tactile sensation generator zone within the seat may itself be made up of one or more tactile sensation actuators 501
- Illustrative examples of tactile feedback seating units are depicted later in this disclosure
- the tactile sensation actuator(s) for a chest harness 520 are one or more vibratory actuators that are embedded within or attached to apparatus that places the actuators in contact with the user s chest, such that tactile sensation can be felt on the game player's chest Illustrative examples of this are depicted later in this disclosure
- the appropriate "minimum activation value" power output parameter can be set such that this device only produces tactile sensation upon a crash event, for example In this way, the illusion of restraint by a seat belt or safety harness can be produced
- both the tactile sensation actuator(s) for the left pedal on a rudder control 550, and the tactile sensation actuator(s) for the right pedal on a rudder control 560 together comprise a pair of independent tactile sensation generators that can be affixed to or embedded within both pedals on a rudder pedal unit
- these actuators may be attached to pre-existing rudder pedal units, or may be embedded within the plastic or metal structure that comprises the rudder pedals during their manufacture
- vibratory actuators are embedded within corresponding plastic pedal overlays, such that when the plastic overlays are laid on top of the existing foot pedals, and affixed in place with hook and loop fasteners or two sided adhesive foam tape (or some other readily available attachment means), the new surfaces of the foot pedals contain the tactile sensation actuators
- tactile sensation actuators are affixed to the bottom of the existing foot pedals, with hook and loop fasteners or two sided adhesive foam tape, if there is sufficient space for the actuators beneath the
- the tactile sensation actuator(s) for a stand alone throttle and weapons controller 530 will generally be comprised of two possible forms
- a vibratory actuator can be attached to outer side of the throttle handle with hook and loop fasteners or two sided adhesive foam tape (or some other readily available attachment means), such that the actuator is substantially out of the way, and therefore will not interfere with the motion of the throttle body or the ergonomics of the throttle handle
- small vibratory actuators can be affixed to or embedded within the throttle's handle, such that the hand of the user, in holding the throttle, will come into direct or indirect contact with these small vibratory motors If these motors are attached to the outer surface of the throttle handle, they must be small enough to not substantially disrupt the ergonomics of the throttle handle
- a preferable location would be the underside (bottom) of the throttle handle They may be attached in a temporary fashion via small elastic straps, or they may be embedded within a small plastic housing that is specifically designed to fit precisely upon the surface of a specific
- the tactile sensation actuator(s) for a flight control joystick 540 are implemented in a similar fashion to the actuators for the throttle and weapons controller 530
- vibratory actuators can be affixed to or embedded within the joystick's handle, such that the hand of the user, in holding the joystick, will come into direct or indirect contact with these vibratory motors If these motors are attached to the outer surface of the joystick handle, they must be small enough to not substantially disrupt the ergonomics of the joystick handle
- a readily available solution are small 5 mm micromotors, typically used as vibrators for pocket size pagers These micro motors can be mounted to the palm side of the joystick handle
- the actuators may be attached in a temporary fashion via small elastic straps, or they may be embedded within a small plastic template/housing that is specifically designed to fit upon the relatively flat surface of the palm area of a joystick handle
- Many force-feedback joysticks have optical sensors on the joystick handle to determine when the joystick is being held In these cases, the template must accommodate the optical sensor
- a two-handed flight control yolk typical for civilian aircraft simulations, replaces the left-handed throttle and right handed flight control joystick of FIG 26A
- tactile sensation actuators can be attached to or embedded within both the left handle of the control yolk 535, and the right handle of the control yolk 545
- one or more larger actuators can be mounted on various locations on the flight control yolk's body, in lieu of the other two actuators
- FIG 26B is equivalent to FIG 26A
- the driving simulation scenario consists of a steering wheel, a gear shifter, and a pedal unit
- the same tactile feedback seating unit 510 and chest harness 520 that are used in the flight simulation scenarios (FIGs 27 and 28) are also implemented in the driving scenario
- the tactile sensation actuators for the steel ing wheel 570 are attached to one or more of the spokes that connect the steering wheel to its hub
- These actuators can be attached with a two part housing, the two parts of which sandwich any given steering wheel spoke, with one of the two parts containing a vibratory motor
- the two parts can be fastened together with screws and screw receptacles, or with some commonly implemented equivalent, such as nuts and bolts or mating snap connectors
- These connectors could be made to specifically match any given specific steering wheel spoke design, or can be implemented as a general purpose attachment
- actuators could be mounted on the center hub of the steering wheel, or within the steering wheel itself Additionally, small motors may
- a tactile sensation actuator is embedded within the shift knob itself 575
- a plastic replacement shift knob which contains an internal vibratory motor
- the replacement knob can be fashioned with two halves that screw or snap together, where an internal cavity can accommodate an vibratory actuator Alternatively, it can be a one piece unit with an internal cavity within which a vibratory actuator is placed
- the shift knob may also contain a solenoid that can strike the knob internally in order to simulate the knocking and grinding of gears within the simulated transmission that would result from poorly timed shifts
- the hole for the shaft in the bottom of the knob can accommodate horizontal screws that can be tightened to solidly attach the knob to the varying shafts
- the hole for the shaft in the bottom of the knob can be lined with dense, elastic foam, such that the knob can be twisted onto a shaft, so that the knob will not readily come off the shaft without a direct intention to remove it
- the knob may also be designed to be substantially equivalent to the knob it replaces, such that it can
- Tactile sensation actuators are mounted to the pedal base unit 580, thereby simulating vibration that would normally be felt through the floor of the vehicle Essentially, a vibratory actuator within a plastic housing can be attached to the pedal base unit with hook and loop fasteners or two sided adhesive foam tape
- actuators can be used as desired Tactile sensation actuators can be implemented within the provided pedals that protrude from the base of the pedal unit, such as gas, brake, and clutch pedals 585 Alternatively, actuators can be attached to the pedals with hook and loop fasteners or adhesive foam tape
- the brake pedal actuator(s) can simulate such things as braking resistance, wheel lock up, and anti-lock brakes, with vibratory motors or solenoids, or both
- the clutch pedal actuator(s) can simulate such things as clutch slippage and poorly timed shifts in a similar manner
- FIG 26C comprised of a steering wheel, gear shift, and floor pedal base with individually functioning pedals, where tactile sensation actuators are distributed throughout these disparate control input
- the central tactile feedback device is a vest-based tactile sensation generator 595
- This vest-based tactile sensation generator can apply localized tactile sensation, typically via vibratory and solenoid based actuators, to many areas around the game player's torso
- environmental stimuli e g , bullet strikes, weapon strikes, energy fields, and so on
- FIG 39 illustrates a front and side view of a vest-based tactile sensation generator, respectively U S Patent 5,565,840 'Tactile Sensation Generator” is such a device
- the vest-based tactile sensation generator 595 has additional uses as well In vehicle simulation scenarios, such as those illustrated in FIGs 27-29, the vest based tactile sensation generator 595 can render directional G forces during vehicle maneuvering
- FIG 26D also includes a tactile feedback seating unit 510 as previously described As games and simulations get more complex, it is becoming more common to have
- the number of control input devices that can be used to control any given first person perspective shooter are as numerous as the types of controllers that exist in the marketplace Joysticks, 360 degree spin controllers, gamepads, mice, trackballs, light guns, and 3D controllers, are some of the types of controllers that are available
- the peripheral tactile sensation actuators are described by the human appendage they are intended for
- the tactile sensation actuator for the left hand 590 and right hand 591 can exist within the appropriate device or devices, within a pair of gloves worn by the user, or can be attached to the appropriate device or devices with elastic straps
- the tactile sensation actuators for the left foot 592 and right foot 593 can be worn by the user via elastic straps, or, where applicable, can be attached to or embedded within the appropriate control input device or devices
- peripheral tactile sensation actuators of FIGs 27 30 are vibratory motors enclosed in plastic housings that have some simple attachment means for attaching the vibratory motors to a given control input device
- the vibration produced by any given motor can effectively transmit through its hard plastic housing and the attachment means, ultimately causing vibration within the attached control input device
- the size and shape of the motor and its plastic housing are determined by the control input device they are meant to be attached to
- the attachment means is most often hook and loop fasteners, although many other attachment means are readily available
- a peripheral tactile sensation actuator will be comprised of a DC motor with an offset weight on its shaft, a capacitor and diode across the motor s terminals, with a four to eight foot power distribution cable, that ends in some appropriate power connector
- the electronic apparatus within each actuator is very simple, and the housing and attachment means can be readily adapted to accommodate any given device All four scenarios depicted in FIGs 27 30, and the tactile sensation apparatus within those scenarios, are illustrative The provided scenarios should not be interpreted to imply any specific limitations on possible tactile sensation actuator
- the tactile feedback seating unit 510 is a semi-rigid flexible foam structure, sealed with a cloth or vinyl layer, with a leg portion and a back portion, substantially shaped to easily rest upon any given seat, with a plurality of actuators embedded within the foam structure, such that the actuators in the pad produce localized vibration
- These actuators are laid out in several independent zones within the foam, providing a left leg tactile sensation generator, a right leg tactile sensation generator, and a back tactile sensation generator (which may itself be divided into left back and right back tactile sensation generators), such that these independent tactile sensation generators exist within the single tactile feedback seating unit 510
- each tactile sensation generator zone within the seat may itself be made up of one or more tactile sensation actuators 501
- FIGs 31-33 Illustrative examples regarding tactile feedback seating units are depicted in FIGs 31-33
- the tactile feedback seating unit 510 is composed of a semi-rigid flexible foam structure 512, within which six actuators 501 are embedded The embedded actuators are arranged into three pairs, providing a back tactile sensation
- a power distribution line 460 powers a DC motor 810 that has an offset weight 814 attached to its shaft 812 When the shaft 812 of the motor 810 rotates, the offset weight 814 induces vibration
- Each motor 810 is enclosed in a housing 800, which can be made of metal or plastic
- the housing is embedded within the foam 512, and ultimately sealed inside the tactile feedback seating unit 510 by a fabric or vinyl layer 514
- the tactile feedback seating unit 510 is composed of a semi-rigid flexible foam structure 512, within which eight actuators 501 are embedded
- the embedded actuators are arranged into four pairs, providing a left back tactile sensation generator zone containing two actuators connected to power distribution line 461, a right back tactile sensation generator zone containing two actuators connected to power distribution line 464, a left leg tactile sensation generator zone containing two actuators connected to power distribution line 462, and a right leg tactile sensation generator zone containing two actuators connected to power distribution line 463
- These four power distribution lines 460 are terminated by a DIN8 connector 491
- the tactile feedback seating unit 510 can be built into any given seating surface, obviating the need for a portable, self contained unit
- the actuators 501 can be affixed to the underside of a plastic seat, producing localized vibration
- heavy duty industrial materials could be used to fashion a foam based seating unit that would be permanently affixed to a given arcade game chassis, for example
- the seating unit would be similar to those depicted in FIGs 31 and 32, but more specifically designed for a given application and increased duty cycle
- the tactile sensation actuator(s) for a chest harness 520 are one or more vibratory actuators that are embedded within or attached to apparatus that places the actuators in contact with the user's chest, such that tactile sensation can be felt on the game player's chest Illustrative examples of this are depicted in FIGs 34, 35, and 36
- the appropriate 'minimum activation value" power output parameter can be set such that this device only produces tactile sensation upon a crash event, for example In this way, the illusion of restraint by a seat belt or safety harness can be produced
- FIG 28A is a diagram of a chest tactile sensation generator 520 in a seat belt configuration
- An actuator 501 is mounted within a pad 522 that is attached to a seat belt style strap 521, which terminates in a seat belt style connector 524A, that ultimately connects with its corresponding mate 524B
- This system generally approximates the seat belt in a typical automobile Alternatively, this system could be implemented as a five point racing harness
- FIG 28A is a diagram of a
- FIGs 37 and 38 a DC motor 810 has an offset weight 814 attached to its shaft 812 A power distribution cable 460 powers the motor 810 in order to induce vibration
- the DC motor 810 is enclosed in a housing 800 that is typically composed of plastic, although metal or other housing material can be used as well
- plastic is used for the housing 800 because it can be molded into any desirable shape to accommodate any given application
- the housing 800 has two parts 800A and 800B, that can be screwed, glued, or snapped together to solidly seal the motor within the housing 800
- a solenoid 820 uses its plunger 822 to strike the housing 800 when the
- the housing 800 has an attachment means of a two-sided adhesive strip 830
- the housing 800 has an attachment means of two corresponding halves of hook and loop fasteners
- the hook half 840 of the attachment means is attached to the housing 800
- the loop half 842 of the attachment means is attached to the desired control input device This yields a less permanent attachment means than two sided adhesive strips
- the loop fastener 842 is not attached to the desired control input device, but is instead attached to one end of a strap 841 of elastic fabric, non-elastic fabric, rubber, or some other material The other end of the strap 841 is permanently attached to the housing 800 This allows the strap 841 to hold the housing 800 tightly against the desired control input device This solution is the least permanent attachment means
- a peripheral tactile sensation generator will be comprised of a DC motor with an offset weight on its shaft, all within a plastic housing, with an eight to ten foot power distribution cable 460, that ends in some appropriate power connector for the power jacks illustrated in FIG 26
- the electronic apparatus within each peripheral tactile sensation generator is very simple, and the housing and attachment means can be readily adapted to accommodate any given device All four scenarios depicted in FIGs 27-30, and the tactile sensation apparatus within those scenarios, are illustrative The provided scenarios should not be interpreted to imply any specific limitations on possible tactile sensation actuators, tactile sensation generators, and the control input devices that they are applied to or embedded within
- the tactile sensation actuator(s) for a stand alone throttle and weapons controller 530 will generally be comprised of two possible forms
- small vibratory actuators can be affixed to or embedded within the throttle's handle, such that the hand of the user, in holding the throttle will come into direct or indirect contact with these small vibratory motors
- a vibratory actuator can be attached to outer side of the throttle handle with hook and loop fasteners or two sided adhesive foam tape (or some other readily available attachment means), such that the actuator is substantially out of the way, and therefore will not interfere with the motion of the throttle body or the ergonomics of the throttle handle This is illustrated in FIGs 45-52
- FIG 31 A is a rear side view of a center-mounted throttle
- FIG 31 B is a top down view of a center- mounted throttle
- FIG 31 C depicts a throttle tactile sensation generator 530 attached to the outer side of the throttle handle with the attachment means of FIG 30B, such that when the throttle is moved through its range of motion, the tactile sensation generator 530 does not interfere with the motion of the throttle or the ergonomics of the throttle handle
- FIG 31 D is a top down view of the apparatus of FIG 31 C, showing the position of the throttle tactile sensation generator 530
- FIG 31 E is a rear side view of a side-mounted throttle
- FIG 31 F is a top down view of a side-mounted throttle
- FIG 31 G depicts a throttle tactile sensation generator 530 attached to the outer side of the throttle handle with the attachment means of FIG 30B, such that when the throttle is moved through its range of motion, the tactile sensation generator 530 does not interfere with the motion of the throttle or the ergonomics of the throttle handle
- FIG 31 H is a top down view of the apparatus of FIG 31 G, showing the position of the throttle tactile sensation generator 530
- power distribution cable 465 is used to
- a small housing for the actuator can be molded directly into the structure of the throttle handle, such that the actuator can be readily affixed to the inside surface of the throttle handle
- the end user would have to open the throttle handle with a screwdriver or hex tool (or similar means as necessary), and affix an actuator to the inside of the throttle with two sided adhesive tape (see FIG 30A), epoxy resin, or some other means
- a small hole may have to be drilled in the throttle's handle such that the cable 465 can pass through
- the tactile sensation actuator(s) for a flight control joystick 540 are implemented in a similar fashion to the actuators for the throttle and weapons controller 530
- FIG 32A is a rear side view of a joystick
- FIG 32B is a top down view of a joystick
- FIG 32C is a rear side view of a joystick, with a joystick tactile sensation generator 540 attached with the attachment means of FIG 30B, in a position opposite and below the user's palm This area is generally available, and can be utilized without substantially disrupting the function of the joystick, or the ergonomics of the joystick's handle
- FIG 32D is a top down view of the apparatus of FIG.
- FIG 32E is a rear side view of a joystick, with a joystick tactile sensation generator 540 attached to the top of the joystick with the attachment means of FIG 30B
- FIG 32F is a top down view of FIG 32E
- power distribution cable 466 is used to power the illustrated tactile sensation generator
- both the tactile sensation actuator(s) for the left pedal on a rudder control 550, and the tactile sensation actuator(s) for the right pedal on a rudder control 560 together comprise a pair of independent tactile sensation generators that can be affixed to or embedded within both pedals on a rudder pedal unit
- FIG 33A a top down view of a rudder pedals control input device is depicted
- FIG 33B is a right side view of a rudder pedals control input device
- replacement pedal surfaces 550,560 contain tactile sensation actuators, such that when the new pedal surface is affixed to the existing pedals, the new pedal surface contains tactile sensation generation capability
- FIG 33D is a right side view of the apparatus of FIG 33C
- tactile sensation generators 550,560 are affixed to the underside of each rudder pedal This is the more preferable solution, as the ergonomics of the rudder pedals remain unaffected
- These tactile sensation generators may be attached to
- FIG 26B a two-handed flight control yolk typical for civilian aircraft simulations, replaces the left-handed throttle and right handed flight control joystick of FIG 26A
- FIG 34A a front view of a control yolk s handle is depicted
- FIG 34B is the apparatus of FIG 34A, wherein a left hand control yolk tactile sensation generator 535 is applied to the mam body of the control yolk near the left handle of the control yolk, and a right hand control yolk tactile sensation generator 545 is applied to the mam body of the control yolk near the right handle of the control yolk
- FIG 34C is the apparatus of FIG 34A, with left and right hand tactile sensation generators 535,545 applied in upper outside positions on the control yolk's two handles
- FIG 34D is the apparatus of FIG 34A, with a larger, single tactile sensation generator 535 replacing or augmenting the tactile sensation generators of FIGs 66 and 67
- the attachment means of FIG 30B are used
- power distribution cables 465 and 466 are used to power the control yolk tactile sensation actuators
- the tactile sensation generators of FIGs 66-68 would be implemented within the control yolk's handle at the point of manufacture Ultimately, in the flight simulation scenarios depict
- the driving simulation scenario consists of a steering wheel, a gear shifter, and a pedal unit
- the same tactile feedback seating unit 510 and chest harness 520 that are used in the flight simulation scenarios (FIGs 27 and 28) are also implemented in the driving scenario What has changed are the peripheral tactile sensation actuators and the control input devices that they are applied to
- the tactile sensation generators for the steering wheel 570 are attached to one or more of the spokes that connect the steering wheel to its hub, as depicted in FIGs 69-72
- FIG 35A is a front view of a steering wheel
- FIG 35B is a side view of a steering wheel
- FIG 35C is a front view of a steering wheel, with tactile sensation generator 570 attached to one spoke on the steering wheel with the attachment means of FIG 30C
- FIG 35D is a side view of the apparatus of FIG 35C
- the tactile sensation generator housing of the steering wheel tactile sensation generator 570 can be implemented as a two part housing, the two parts of which sandwich a given steering wheel spoke, with one of the two parts containing a vibratory motor
- the two parts can be fastened together with screws and screw receptacles, or with some commonly implemented equivalent, such as nuts and bolts or mating snap connectors
- tactile sensation generators could be mounted on the center hub of the steering wheel, or within the steering wheel itself Additionally, small motors may be inserted into the palm area
- tactile sensation generators are mounted to the pedal base unit 580, thereby simulating vibration that would normally be felt through the floor of the vehicle
- a vibratory actuator within a plastic housing can be attached to the pedal base unit with Velcro hook and loop fasteners or two sided adhesive foam tape
- One or more actuators can be used as desired Tactile sensation actuators can be implemented upon the provided pedals that protrude from the base of the pedal unit, such as gas, brake, and clutch pedals 585
- Brake pedal actuator(s) can simulate such things as braking resistance wheel lock-up, and anti lock brakes, with vibratory motors or solenoids, or both Clutch pedal actuator(s) can simulate such things as clutch slippage and poorly timed shifts in a similar manner
- FIG 36A is a top down view of a pedal unit control input device
- FIG 36B is a right side view of a pedal unit control input device
- FIG 36C is a top down view of a pedal unit control input device, with a pedal base tactile sensation generator 580 attached to the base of the pedal unit, and a brake pedal tactile sensation generator 585 attached to the brake pedal
- FIG 36D is a side view of the apparatus of FIG 36C
- the attachment means is that of FIG 30B
- power distribution cable 468 powers the pedal unit tactile sensation generator 580
- power distribution cable 466 powers the brake pedal unit tactile sensation generator 585
- a solenoid see FIG 29E
- a vibratory motor see FIG 29C
- FIG 37A is a side view of a shift knob upon a shaft
- FIG 37B is a shift knob tactile sensation generator 575, comprised of a housing with two halves 575A and 575B such that the two halves can accommodate a vibratory motor (see FIG 29C)
- a horizontal tightening screw 576 can be tightened such that the shift knob tactile sensation generator 575 becomes firmly attached to the shaft 577
- Power distribution cable 465 powers the vibratory motor within the shift knob tactile sensation generator 575
- FIG 37C is equivalent to FIG 37B in all respects, except that a solenoid (see FIG 29E) is also contained within the shift knob tactile sensation generator 575
- the solenoid is powered by some power distribution cable 460
- a dense foam insert 578 lines the interior of the shift knob, such that the shift knob can be twisted upon shafts of varying diameters, and generally remain firmly upon the shaft 577 until twisted off
- FIG 26C the typical driving simulation scenario depicted in FIG 26C, comprised of a steering wheel, transmission shift knob, and floor pedal base with individually functioning pedals, where tactile sensation actuators are distributed throughout these disparate control input devices 570 575,580 585 and simultaneously within a seating unit 510 and a chest harness 520, or some subset thereof, the simulation user will be exposed to tactile sensations that help to convince his or her senses that the simulation is real Furthermore, due to the substantially unified manner of operation these disparate tactile feedback devices the driving simulation user will benefit from the illusion that these disparate devices are all attached to the same physical structure
- the central tactile feedback device is a vest-based tactile sensation generator 595
- FIG 38A depicts a front view of an illustrative hand-held control input device
- FIG 38B is the back of the controller of FIG 38A Vibratory motors and/or solen
- the single tactile sensation generator is effective for both hands, due to the small size of the hand-held game controller.
- tactile sensation generators for the left hand 590 and right hand 591 are contained within a single housing.
- a first vibratory motor 590 predominantly services the left hand, and a second vibratory motor 591 services the right hand.
- a solenoid 594 rattles the hand-held controller (see FIG. 29E).
- These tactile sensation generators may be embedded within the hand-held controller at its point of manufacture.
- This display is just like the first mode, but displays a scanning DOT instead of a bar graph. This mode allows you to actually see the rapid fluctuations typical of digital audio signals. This display can be used to help dial in effective RISE RATE and HECAY RATE AudioSense settings, vJien necessary.
- This mode divides the available LEDs into 3 individual segments, of fo l-ivril y creating three independent LED meters. Each segment shows a sing ? rocesse audio band, ill owing this mode to show you all three independent audi ands simul aneously. Al three segments are CALCULATED, so they show ie c n-plpt ⁇ results of AudioSense digital signal processing in real time. However, with each segment made up of only 6 LEDs, the display is rather low in resolution.
- This display shows the CALCULATED MIDRANGE results, after being ro esse by the MIDRAN ⁇ E ⁇ ioien e parameters. This display will give you the best available view of the CALCULATED MIDRANGE audio results, as this mod*- displays the MIDRANGE results over all 20 LEDs. 30/2
- This display shows the CALCULATED TREBLE results, after being processed by the TREBLE AudioSense oa ameters. This displ y will give you the best available view of the CALCULATED TREBLE audio results, as this mode displays the TREBLE results over all 20 LEDs.
- This d splay shows a direct comparison between the RAW BASS audio siqnnl ? is digitally sampled, and the CALCULATED BASS results after being ocesied by the BASS AudioSense parameters. With this display mode, you can clear y see how the BASS audio fignal is processed by AudioSense, in real timt:'.
- This display shows a direct comparison between the RAW MID audio . icjn ⁇ il as it is digitally sampled, wd the CALCULATED MID results after being processed by the MIDRANGE. AudioSense parameters. With this display mode, you can clearly see how the MIDRANGE a-jdio signal is processed by AudioSense, in re l time.
- This mode divides the available LEDs into 3 individual segments, effectively creating three independent LED meters.
- Each segment shows a sing l e RAW audio band, allowing this mode to show you all three audio bands simul taneous y. All three segments are RAW, so they show the digitally sampled audio v lue.? BEFORE they are processed by AudioSense. However, with each segment ⁇ a ⁇ up of only 6 LEDs, the display is rather low in resolution.
- This display shows the RAW BASS audio signal as it is digitally sampled. This mode will give you the best a ila le view of the RAW BASS audio activity as it is generated by sny given game or simulation.
- This display shows the RAW MIDRANGE audio signal as it is digital ly sampled. This mode will give you the best avail ble view of the RAW MIDRAN C audio activity as it is generated by any given game or simulation.
- This display shows the RAW TREBLE audio signal as it is digitally sampled. This mode will iva you the best available view of the RAW TREBLE, audio activity as it is generated by any given game or simulation.
- This display mode will show the main intell VIBE signal on all ' /0 LUJ ; .
- the m in -; ⁇ qnal is know s.. ZONE 0, or as the device LEADER.
- Thr into I VIBE main signal -s Lmque in that it does not control any specific zoie, In v.: all other zones Cl-S will FOLLOW this signal unl&ss they have hoe direrfcly told not to do JO. If intelliVIBE zones 1-8 are all doing Hirir .>. » ⁇ '-lung, this disp y may be ⁇ ead. even though activity is happemnq cl sev icre .
- This display is just like, the first mode, but displays a scanning DOT instead of a bar graph.
- This di ⁇ olay mode shows the activity in all three zones of the TFSU.
- LEDs 1-6 snow the activity in the ZONE 1 TFSU BACK section.
- LEDs 9-14 show the ?.rt ⁇ v ⁇ ty in the ZONE 2 TFSU LEFT LEG jection. LEDs 15-20 snow the activity in the ZONE 3 TFSU RIGHT LEG section. 30/4
- This displ y mode shows the activity in the LEG section of the TFSU.
- LEDs 1-10 show the activity in the ZONE 2 TFSU LEFT LEG section.
- LEDs 11-20 show the activity in the ZONE 3 TFSU RIGHT LEG section.
- This display mode shows how EXPANSION ZONE 4 is behaving in relation to the ZONE 0 main i tell iVIBE signal .
- LEDs x-10 show tna ZONE 0 main intelliVIBE signal .
- LEDs 11-20 show the activity on EXPANSION ZONE 4.
- This displ y irode shows how EXPANSION ZONES 5 & 6 are behaving in relation to the ZONE 0 mam mttll iVIBE signal.
- LEDs 1-6 show the ZONE 0 main intelliVIBE signal .
- LEDs 8-13 show the activity on EXPANSION ZONE 5.
- LEDs 15-20 show the activity on EXPANSION ZONE 6.
- This displ y mode shows Hie activity on EXPANSION ZONES 5 -_• € .
- LEDs 1-30 show the activity on EXPANSION ZONE 5.
- LEDs 11-20 show the activity on EXPANSION ZONE 6.
- This display mode shows how EXPANSION ZONES 7 & 8 are behavinq in relation to the ZONE 0 main intelliVIBE signal .
- LEDs 1-6 show the ZONE 0 main intelliVIBE signal .
- LEDs 8-13 show the ⁇ ictivity on EXPANSION ZONE 7.
- LEDs 15-20 show the activity on EXPANSION ZONE 8.
- This display mode shows the activity on EXPANSION ZONES 7 _• 8.
- LEDs 1-10 show the activity on EXPANSION ZONE 7.
- LEDs 11-20 show the activity on EXPANSION ZONE 8.
- This display mode shows the activity on the ZONE 1 TFSU BACK section.
- This display mode shows the activity on the ZONE 2 TFSU LEFT LEG section.
- This display mode shows the activity on the ZONE 3 TFSU RIGHT LEG ⁇ ?.ctio, ⁇ .
- This displ y node shows the activity on EXPANSION ZONE 5.
- This displ y mode shows the activity on EXPANSION ZONE 6.
- This display mode shows the activity on EXPANSION ZONE 7.
- This display mode shows the activity on EXPANSION ZONE 8.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US08/935,762 US6422941B1 (en) | 1994-09-21 | 1997-09-23 | Universal tactile feedback system for computer video games and simulations |
US08/935,762 | 1997-09-23 |
Publications (2)
Publication Number | Publication Date |
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WO1999017850A2 true WO1999017850A2 (en) | 1999-04-15 |
WO1999017850A3 WO1999017850A3 (en) | 1999-06-17 |
Family
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Application Number | Title | Priority Date | Filing Date |
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PCT/US1998/019905 WO1999017850A2 (en) | 1997-09-23 | 1998-09-23 | A universal tactile feedback system for computer video games and simulations |
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US (1) | US6422941B1 (en) |
WO (1) | WO1999017850A2 (en) |
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