System and method for force feedback interface devices

Abstract

This application is directed to systems, methods, and program code directed to providing accurate interactions with simulations. The present invention provides various embodiments of executing a simulation, including detecting user inputs via an interface device, converting inputs to torque and/or position information for control, adapting this information to specific object or vehicle parameters, combining with vehicle parameters and in simulation information, and outputting new interface device setpoints to the interface device via a continuous control loop. Further, providing stiff position control with variable compliance of this interface device.

We claim: 
     
         1 . A system comprising:
 a force feedback interface device for engagement by a user;   wherein said force feedback interface device cooperates with a simulation to form a continuous closed loop control system for controlling an object within said simulation, wherein communication within said closed loop control system is bi-directional between said object and said force feedback interface device; and   wherein displacement of the force feedback interface device causes displacement of said object, and wherein forces on and/or interactions with said object in the simulation cause displacement of the object and displacement of the force feedback interface device.   
     
     
         2 . The system of  claim 1 , wherein said displacement of force feedback device is achieved by position control. 
     
     
         3 . The system of  claim 2 , wherein said position control comprises stiff position control with variable compliance. 
     
     
         4 . The system of  claim 1 , wherein said displacement of the object in the simulation is mapped to a position for displacement of said force feedback interface device. 
     
     
         5 . The system of  claim 1 , wherein said displacement of the object in the simulation is mapped to a torque for displacement of said force feedback interface device. 
     
     
         6 . The system of  claim 1 , wherein said object in said simulation is at least a portion of a simulated vehicle. 
     
     
         7 . The system of  claim 1 , wherein said force feedback interface device is at least a steering wheel. 
     
     
         8 . The system of  claim 1 , wherein a setpoint for said force feedback interface device is set by said system, such that said setpoint is dependent on said force feedback device configuration and capabilities. 
     
     
         9 . The system of  claim 1 , wherein interactions of said object are customized by object parameters. 
     
     
         10 . The system of  claim 1 , further comprising a virtual steering rack to control the interactions between said object and said force feedback interface device, wherein said virtual steering rack calculates and outputs said force feedback interface device setpoint and compliance or stiffness. 
     
     
         11 . The system of  claim 1 , further comprising a virtual torque sensor, wherein said virtual torque sensor uses said force feedback interface device position displacement to calculate corresponding force feedback device torque values. 
     
     
         12 . A method of providing real-time force feedback comprising:
 receiving sensor information from a force feedback interface device;   providing at least one of position and torque information to said force feedback interface device;   receiving data from a simulation related to an object and object position;   providing at least one of position and force data related to an object;   forming a continuous closed loop control system for controlling an object within said simulation, wherein communication within said closed loop control system is bi-directional between said object and said force feedback interface device; and   providing position control of said force feedback interface device, wherein displacement of the force feedback interface device causes displacement of said object, and wherein forces on said object in the simulation cause displacement of the object and displacement of the force feedback interface device.   
     
     
         13 . The method of  claim 12 , wherein providing said position control comprises providing stiff position control with variable compliance. 
     
     
         14 . The method of  claim 12 , further comprising mapping said displacement of the object in the simulation to a position and torque for displacement of said force feedback interface device. 
     
     
         15 . The method of  claim 12 , wherein said object in said simulation is at least a portion of a simulated vehicle. 
     
     
         16 . The method of  claim 12 , wherein said force feedback interface device is at least a steering wheel. 
     
     
         17 . The method of  claim 12 , further comprising configuring said force feedback interface device, wherein said configuring step comprises detecting said force feedback interface device parameters and setting a setpoint of said force feedback interface device based on said detecting step. 
     
     
         18 . The method of  claim 12 , further comprising configuring said object parameters. 
     
     
         19 . The method of  claim 12 , further comprising configuring a virtual steering rack in order to determine interactions between said object and said force feedback interface device, wherein said virtual steering rack calculates and outputs said force feedback interface device setpoint and compliance or stiffness. 
     
     
         20 . A non-transient computer readable medium comprising program code which, when executed by a processor, is configured to cause the processor to:
 receive sensor information from a force feedback interface device;   provide at least one of position and torque information to said force feedback interface device;   receive data from a simulation related to an object and object position;   provide at least one of position and force data related to an object;   form a continuous closed loop control system for controlling an object within said simulation, wherein communication within said closed loop control system is bi-directional between said object and said force feedback interface device; and   provide position control of said force feedback interface device, wherein displacement of the force feedback interface device causes displacement of said object, and wherein forces on said object in the simulation cause displacement of the object and displacement of the force feedback interface device.