CA2167304C

CA2167304C - Multi degree of freedom human-computer interface with tracking and forcefeedback

Info

Publication number: CA2167304C
Application number: CA002167304A
Authority: CA
Inventors: Louis B. Rosenberg; Bernard G. Jackson
Original assignee: Immersion Human Interface Corp
Current assignee: Immersion Human Interface Corp
Priority date: 1993-07-16
Filing date: 1994-07-12
Publication date: 1998-04-21
Anticipated expiration: 2014-07-12
Also published as: WO1995002801A1; US6366273B1; US20020063685A1; US20060114223A1; US5701140A; US5576727A; US6046727A; CA2167304A1; US7460105B2; US5880714A; US6987504B2; US20040252100A9

Abstract

A method and apparatus for use with a computer for providing commands to a computer through tracked manual gestures and for providing feedback to the user through forces applied to the interface. A user manipulatable object is coupled to a mechanical linkage which is, in turn, supportable on a fixed surface. The mechanical linkage or the user manipulatable object is tracked by sensors for sensing the location and/or orientation of the object. A multi-processor system architecture is disclosed wherein a host computer system is interfaced with a dedicated microprocessor which is responsive to the output of the sensors and provides the host computer with information derived from the sensors. The host computer has an application program which responds to the information provided via the microprocessor and which can provide force-feedback commands back to the microprocessor, which is felt by a user via the user manipulatable object.

Description

wo 95/02801 216 7 3 û i PCT/US94/07851 _ THREE-DIMENSIONAL MECHANICAL MOUSE

FIELD OF THE INVENTION
The present invention relates to a computer-human interface device, and more particularly it relates to a stylus coupled to a supportable mechanical linkage for providing commands to a computer.

BACKGROUND OF THE INVENTION

As the use of Computer Aided Design (CAD) Systems becomes more widespread, the need for cursor and command control devices which accurately andeasily track three-dimensional position or motion is also growing. Devices which allow users to control a cursor with three-dimensional position and/or orientation commands are available for various applications. Among them are many hand-held input devices which allow users to interact with a host processor by controlling the position of a cursor or manipulating graphic objects on a computer screen. While these devicesallow three-dimensional information to be transmitted to a computer they do not allow the user to use gestures and motions which are natural to the user.

For example, a prior art device of the type which is used for three-dimensional control involves the use of accelerometers to transduce the position and orientation of a stylus in space as described in U.S. Pat. No 4.839,838. This device makes no provisions so the stylus can be grasped in a manner which makes use of finger dexterity nor does it include mechanical support to reduce fatigue or enhance user control or dexterity.

S~JBSTITUTE SHEET (RULE 26) Another prior art example is an ultrasonic position-locating device llke the one shown in U.S. Pat. No. 5,142,506.
This device transduces position and orientation by triangulating ultrasonlc signals. As with the prior art previously described, this device uses a free-floating stylus which lncludes no provisions for mechanical support to reduce fatigue or enhance user control or dexterity. Furthermore, this device is used with a stylus that is grasped in the palm of the hand. The use of such a stylus precludes fine lQ positioning wlth the fingers and greatly reduces the dexterity of the user to manipulate position and orientation. In addition, this device is used with digital buttons on the stylus to send to the computer command signals. A button of this type is commonly called a "clicker" on a "mouse."
Because such buttons are mechanically coupled to the free-floating stylus, it is difficult to push the buttons while maintaining the position and orientation of the stylus. By pushlng down on the button, the user will necessarily move the stylus from its desired position. Accordingly, these commands are difficult to control under many circumstances.

SUMMARY OF THE INVENTION

The present invention provides a method and apparatus for provlding commands to a computer through tracked manual gestures and for providing feedback to the user through forces applied to the interface. In one embodiment, a user manipulates a physlcal obiect. A support mechanism supports the physical object while allowlng a plurality of degrees of freedom in the motion of the physical object. A sensor apparatus is coupled to at least one of the user manipulatable physical object and said su.pport mechanism. The sensor apparatus produces a locative signal responsive to and corresponding with the position of the user manipulatable physical ob~ect at points in time durlng normal operation. A
device microprocessor is coupled to the sensor apparatus. The device microprocessor runs a program contained primarily in a non-volatile memory coupled to the device microprocessor. The device microprocessor provides information for use by a host computer running an application program which can provide images on a computer display. The application program provides force commands which can be communicated to the device microprocessor for parsing into force signals. A force generator is controlled by the device microprocessor for providing force feedback to said user manipulatable physical obiect in response to said force signals.

21673~

DESCRIPTION OF THE DRAWINGS
Figure 1 is a perspective view of an embodiment of the present invention;

Figures 2A and 2B are block diagrams over-viewing two different electronic hardware configurations of the present invention;

Figure 3 is a flow chart describing the main software loops for two different electronic hardware configurations shown in FIG. 2;

Figures 4A and 4B are flow charts describing two different interrupt service routines for serial output to host computer;

Figure 5 is a perspective representation of another embodiment of the present 1 0 invention;

Figure 6 is a perspective view of still another embodiment of the present invention;

Figure 7 is a perspective representation of another embodiment;

Figure 8 is a perspective view of another embodiment;

Figure 9 shows an embodiment of the resistance mechanism of the present invention;

Figure 10 shows another embodiment of the resistance mechanism; and Figure 11 shows yet ar,other embodiment of the resistance mechanism.

DESCRIPTION OF PREFERRED EMBODIMENTS

SUBSrlTUTE SHEET (RULE 26) wo 95/02801 216 7 3 0 1 PCT/US94/07851 Referring to FIG. 1, a stylus 11 is shown attached to a support apparatus which is, in turn, supported on a fixed surface. By electrical and electronic configurations described below, the stylus 11 is adapted to provide data from which a computer or other computing means such as a microprocessor can ascertain the position and orientation of the stylus as it moves in three-dimensional space. This information is then translated to an image on a computer display apparatus. The stylus 11 may be used, for example, by an operator to change the position of a cursor on a computer controlled display screen by changing the position and/or orientation of the stylus, the computer being programmed to change the position of the cursor in proportion to the change in position and/or orientation of the stylus. In other words, the stylus 11 is moved through space by the user to designate to the computer how or where to move the cursor on a computer display apparatus.

The stylus 11 is a pen-like stick which can be manipulated between the fingers, allowing for much better control and fine dexterity as compared to full hand grips or palm-supported styluses used by some prior art inventions. While the stylus - 11 is described in terms of manual manipulation, other stylus configurations are envisioned by the present invention. In particular, this invention includes manipulation by those unable to manually manipulate a pen. A stylus of the present invention, need not be linear, but may be curved or angled so that it may be held, for example, by the foot or the mouth of a person.

Because the stylus is supported by a support apparatus which is in turn supported by a fixed surface or other stabilizing configuration, the user can manipulate the stylus with a minimum of effort. Also, if the user chooses to discontinue using the stylus, it is capable of maintaining its position in space, unattended. While FIG. 1 shows that preferred embodiment of the present invention, FIGS. 5-8 show alternative embodiments, such which are also contemplated under the present invention. It ispreferable that the stylus have enough degrees of freedom to enable it to move through the mechanical linkage to give the user the amount of flexibility needed to move the cursor as desired. In FIG. 1, six degrees of freedom are shown and are SUBSTITUTE SI~ET (~VLE 26~

W O 95/02801 ; ~ ~ PCTrJS94/07851 21673~4 labeled as Axis' 16. This, of course, provides maximum flexibility. Fewer degrees of freedom, such as a plurality of degrees of freedom, may also be sufficient depending on the application.

In one embodiment, the stylus is connected to rigid individual components which are joined together by joints. While not shown, other types of support apparatus' are included in the present invention. For example, other configurations include a semi-flexible rod or any other moveable while supportive configuration which can support the stylus in the manner described herein.

In FIG. 1, a mechanical linkage pursuant to the present invention is depicted.
The stylus 11 is coupled to supportable mechanical linkages via joint 12 which, in the shown embodiment, houses sensors 13A and 13B. Linkage 14, is connected, via joint 15 having position sensors 16A and 16B, to linkage 17. Joint 18 in turn connects linkage 17 with the vertical base protrusion 20 which emanates from thebase 21. The sensors are used to produce a stylus locative signal which is responsive to and corresponds with the position of the stylus at any point in time during its normal operation. The stylus locative signal is used to provide information for use by a computer display apparatus of a computer. The term "joint" as used herein is intended to mean the connection mechanism between individual linkage components. In fact, two separate moveable members can be joined; such together forming a joint.

The base 21, if necessarily, can be immobilized by securing it onto the fixed surface 23 by way of bolt, screw or other attachment mechanism 22. Moreover, thepresent invention implements mechanical leverage and rubbing friction (not shown) between the supportable mechanical linkages 14 and 17 and the joints 12, 15 and 18 in order to provide resistance and support so as to allow better dexterity than can be achieved with free-floating stylus trackers. This support and leverage aids in reducing the fatigue associated with manipulating the free-floating stylus 11.

SU~STITUTE S~T (RULE 26)

2 1 G 7 3 ~ /I PCT/US94/07851 As mentioned above, attached to each joint 12, 15 and 18 are sensors 13A, 13B, 16A, 16B, 19A, and 19B, respectively. These sensors sense the angle differential before and after motion of the two segments connected by that joint. The sensors can be, for example, optical incremental encoders, optical absolute encoders and potentiometers. ~eca~lse the three-dimensional position and/or orientation tracking is achieved mechanically, this preferred embodiment avoids problems that magnetic and ultrasonic sensors, such as those shown in the prior art, encounter with metal and shadowing. However, as shown in FIG. 1, if desired, sensing means can be used totrack the position and/or orientation of the stylus by mounting a single or several orientation sensors in the stylus 11 itself, such referred to as a stylus mounted sensor 11. An ultrasound, magnetic, optical or position and orientation sensor can be used as the stylus mounted sensor 11.

FIG. 1 also shows a clicker button 24 on stylus 11. The button is connected to a switch which when in the on state, sends a signal to the computer giving it a command. In order to provide for accuracy when sending co"""ands, this inventionalso includes a remote clicker unit. Therefore, since the clicking motion occurs at a distant location from the cursor control, there is little or no opportunity to accidently move the cursor while making a command. FIG. 1 shows two configurations for implementing this aspect of the present invention. The first is identified as an alternate hand-clicker 25, the second as foot pedal 26.

Digital buttons 27 and 28 which are connected to switches (not shown) on the remote attached peripherals such as a hand-held clicker unit 25 or a foot pedal 26, respectively, can generate additional digital input such transmitted through lines 25' and 26' respectively. Either of the shown ancillary remote command units, such including the hand unit 25 and the foot pedal 26 configurations, are favorable methods of inputting digital commands by command hardware or software (not shown) because ~ pressing the button 27 or 28 does not compromise a user's ability to hold the stylus steady whereas pressing any button 24 on the stylus does compromise stylus stability.

SUBSTITUTE S~ET (~ULE 26) WO 95/02801 ~ PCT/US94/07851 2167~ 1 Referring to FIG. 2A, the sensors 13A, 13B, 16A, 16B, 19A and 19B, along with any peripherals 24, 25 or 26, can send their digital signals directly to a versatile floating-point processor or microprocessor 32A which is controlled by software stored in a digital ROM (Read-Only Memory) via transmission line 32' or another form oftransmission, i.e., radio signals. As shown in FIG. 2B, an alternative embodiment can be used to lessen the demands on the floating-point processor or microprocessor 32B.
The digital inputs of the sensors 13A, 13B, 16A, 16B, 19A and 19B can be sent indirectly to the floating-point processor or microprocessor 32B by way of dedicated chips 13C, 13D, 16C, 16D, 19C and 19D, which pre-process the angle sensors' signals before sending them via bus 31 to the floating-point processor or microprocessor 32B which would combine these signals with those from the peripherals 24, 25 or 26. An 8-bit data bus plus chip-enable lines allow any of the angle delerlni"il1g chips to communicate with the microprocessor. Moreover, reporting the status of peripherals 24, 25 or 26 includes reading the appropriate digital switch and placing its status in the output sequence array. Some examples of specific electronic hardware usable for sensor pre-processing include quadrature counters, which are common dedicated chips that continually read the output of an optical incremental encoder and determine an angle from it, Gray decoders, filters, and ROM
look-up tables.

The single-chip configuration of FIG. 2A is most applicahle where the angle sensors 13A, 13B, 16A, 16B, 19A and 19B are absolute sensors, which have output signals directly indicating the angles without any further processing, thereby requiring less computation for the microprocessor 32A and thus little if any pre-processing. The multi-chip configuration of FIG. 2B is most applicable if the sensors 13A, 13B, 16A, 16B, 19A and 19B are relative sensors, which indicate only the change in an angle and which require further processing for complete determination of the angle.

In either configuration, if the microprocessor 32A or 32B is fast enough, it will compute stylus 11 position and/or orientation (or motion, if desired) on board the embodiment and send this final data through any standard communications interface S~BSTITUTE SHEET (RULE 26) wo 95/02801 216 7 3 0 4 PCT/US94/07851 such as an RS-232 serial interface 33 on to the host computer system 34 and to computer display apparatus 34" through transmission line 34' or another form of transl"ission. If the microprocessor 32A or 32B is not fast enough, then the angles will be sent to the host computer 34 which will perform these calculations on its own.

In addition to the single~chip and multi-chip configurations, a variation may consist of a single microprocessor which reads the peripherals, obtains the angles, possibly computes coordinates and orientation of the stylus 11, and supervises communication with the host computer 34. Another variation may consist of dedicated sub-circuits and specialized or off-the-shelf chips which reads the peripherals,monitors the angle sensors 13A, 13B, 1 6A, 16B, 1 9A and 19B, determine the joint angles, and handle communications with the host computer 34, all without software or a microprocessor 32A or 32B.

Software is only included in the two microprocessor-based configurations shown in FIGS. 2A and 2B. The more dedicated hardware a given configuration includes, the less software it requires. The software consists of a main loop (FIG. 3) and an output interrupt (FIGS. 4A and 4B).

Referring to FIG. 3, the main command loop responds to the host computer 34 and runs repeatedly in an endless cycle. With each cycle, incoming commands fromthe host computer are monitored 36 and decoded 37, and the corresponding command subroutines for reporting angles, thus stylus position and/or orientation (see FIGS. 4A and 4B), are then executed 38. Two possible subroutines are shown in FIGS. 4A and 4B. When a subroutine terminates, the main command loop resumes 39. Available command will include but are not limited to: reporting the value of any single angle, reporting the angles of all six angles at one time, reporting the values of all six angles repeatedly until a command is given to cease aforementioned repeated reporting, reporting the status of peripheral buttons, and setting communications parameters. If the angle sensors require preprocessing, these commands will alsoinclude resetting the angle value of any single angle or otherwise modifying SUBSTITUTE SI~E~T (RULE 26) 2167~04 ; ~

preprocessing parameters in other applicable ways. Resetting pre-processed anglevalues or preprocessing parameters does not require output data from the device. The microprocessor 32A or 32B simply sends appropriate control signals to the preprocessing hardware 13C,13D,16C,16D,19C, and 19D. If the microprocessor or floating-point processor is fast enough to computer stylus coordinates and orientation, these co~ "ands will also include reporting the stylus coordinates once reporting the stylus coordinates repeatedly until a command is given to cease, ceasing aforementioned repeated reporting, reporting the stylus coordinates and orientation once, reporting the stylus coordinates and orientation repeatedly until a command is given to cease, ceasing aforementioned repeated reporting. If force reflection is supported, these commands will also include reporting the forces felt by any single joint, setting the resistance of any single joint, and locking or unlocking a joint.

Any report by the subroutines of FIGS. 4A and 4B of a single angle value requires deler",i"i"g 41 the given joint angle. For the single-chip configuration shown in FIG. 2A, this subroutine directly reads the appropriate angle sensor 42 from among sensors 13A,13B,16A,16B, 19A, and 19B. For the multi-chip configuration shown inFIG. 2B, this subroutine reads the outputs 43 of pre-processing hardware 13C,13D, 16C, 16D,19C, and 19D which have already determined the joint angles from the outputs of the sensors 13A, 13B,16A,16B,19A, and 19B. Any report of multiple angles is accomplished by repeatedly executing the subroutine for reporting a single angle. The subroutine is executed once per angle, and the values of all angles are then included in the output sequence array. If the optional parts of the subroutines 45 are included, then these subroutines become the coordinate reporting subroutines.
Many other commend subroutines exist and are simpler yet in their high-level structure.

After determining the given joint angle, the microprocessor 32A or 32B creates an output sequence 44A or 44B by assembling an array in a designated area of processor memory which will be output by the microprocessor's communications system at a given regular communications rate. The sequence will contain enough information for the host computer 34 to deduce which command is being responded SUBSTITU~E SH'tEl (RIJLE 26i WO 95/02801 21 6 7 3 ~ ~ PCT/US94/07851 to, as well as the actual angle value that was requested. Returning to FIG. 3, a query 36 in the main command loop asks whether the previous command requested repeatedreports. If so, the main command loop is initiated accordingly. The communications output process (not shown) may be as simple as storing the output data in a designated output buffer, or it may involve a standard set of communications interrupts that are an additional part of the software. Setting communications parameters does not require output data from the device. The microprocessor 32A or 32B simply resets some of its own internal teg;;,lers or sends control signals to its communications sub-unit.

To report the stylus' 11 coordinates, three of the five or six angle values pre-read and knowledge of link lengths and device kinematics are incorporated tocompute stylus 11 coordinates. These coordinates are then assembled in the output sequence array.

To report the stylus' 11 orientation, at least five angle values are read and knowledge of link lengths and device kinematics are incorporated to computer stylus 11 orientation. The orientation consists of three angles (not necessarilyidentical to any joint angles) which are included in the output sequence array.

Forces felt by a joint, setting a joint's resistance, and locking or unlocking ajoint are reported by using interaction of the microprocessor 32A or 32B with forced-reflecting hardware (not shown). Reporting forces felt by a joint uses a force sensor mounted on the joint and then places the resulting value in the output sequence array. To set a joint's resistance and locking or unlocking a joint control signals reading from a force sensor to force-reflection hardware but do not require any output data of the device.

Also contemplated in the present invention is computer software and hardware which will provide feedback information from the computer to the stylus (not shown).
This type of implementation is known in robotics and thus is easily incorporated into a SUBSTITUTE SHEET (RVLE 26' W O 95/02801 ~ ; PCTnJS94/07851 2167~04 system including the present in ~antion. When a surface is generated on the computer screen, the computer will send feedback signals to the mechanical linkage which has force generators for generating force in response to the cursor position on the surface depicted on the computer screen. Force is applied for example, by added tension in the joints which is in proportion to the force being applied by the user and in conjunction with the image on the screen.

The various configurations of the mechanical linkages shown in FIG. 5, FIG. 6, FIG. 7 and FIG. 8 which have different numbers of individual components and joints than shown in FIG. 1 are illustrative of the numerous possible configurations which can provide varying degrees of freedom inherent in the present invention. Referring to FIG.
5, FIG. 6 and FIG. 8, note that a rounded object such as a ball can act as a joint having motion in three degrees of freedom. In conjunction with other mechanical linkages and attachments, this permits sufficient degrees of freedom for the purposes of the present invention. In each figure, the orientation of the degrees of freedom of each joint is depicted by curved lines, numbered consecutively.

Briefly, FIG. 5 shows a rounded joint 46 at the base such that three degrees of motion are available at that joint. FIG. 6 shows a three-dimensionally rotatablerounded joint 47 at the base through which one mechanical linkage can slide linearly and where the base is attached to a fixed surface 48 such that the surface does not prohibitively impede the movement of the device. FIG. 7 shows an embodiment where the basal connection can slide about the base in a two-dimensional plane in the cross configuration 49 on base 51. FIG. 8 shows a three-dimensionally rotatable rounded joint 52 at a perpendicular projection from the base 53 through which one mechanicàl linkage 54 can slide linearly through the joint 52.

While any of the above discussed configurations or others can be used in accordance with the present invention, FIGS. 9-11 show different mechanisms for providing resistance to the manual manipulation of the stylus by the user. FIG. 9, for example, shows return or tension springs 56 on each joint of the embodiment shown SlJBSrITUT~- SHE~ UL~ 26) WO 95/02801 216 7 3 ~ 9 ~ PCT/US94/07851 in FIG. 1. In an alternative embodiment, FIG. 10, shows counter-weights 57 on each joint. Moreover, FIG. 11, shows a combination of a return or tension spring 56, a counter-wight 57 and a compression spring 58. The arrangement of the resistance mechanism used should depend upon the configuration stylus mechanical linkage combination, such arrangement preferably chosen to maximize the ease with which the user can manipulate the stylus 11 in free space in accordance with the present invention.

S~JB~lTUTE SHEET (RULE 26)

Claims

THE EMBODIMENTS OF THE INVENTION IN WHICH AN EXCLUSIVE
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:

1. A device for use in conjunction with a host computer including a computer display, said device comprising:
a user manipulatable physical object;
a support mechanism which supports said user manipulatable physical object while allowing a plurality of degrees of freedom in the motion of said user manipulatable physical object;
a sensor apparatus coupled to at least one of said user manipulatable physical object and said support mechanism and that produces a locative signal responsive to and corresponding with the position of the user manipulatable physical object at points in time during normal operation;
a device microprocessor coupled to said sensor apparatus, said device microprocessor running a program contained primarily in a non-volatile memory coupled to said device microprocessor, said device microprocessor providing information for use by a host computer running an application program which can provide images on a computer display, said application program providing force commands which can be communicated to said device microprocessor for parsing into force signals; and a force generator controlled by said device microprocessor for providing force feedback to said user manipulatable physical object in response to said force signals.

2. A device as recited in Claim 1 wherein said support mechanism is a mechanical linkage coupled between said user manipulatable physical object and a fixed surface.

3. A device as recited in Claim 2 wherein said sensor apparatus is coupled to said mechanical linkage.

4. A device as recited in Claim 1 wherein said sensor apparatus is coupled to said user manipulatable physical object.

5. A device as recited in Claim 1 further comprising:
a remote unit having a switch capable of being in an on state and an off state, said remote unit being coupled to said device microprocessor such that said device microprocessor can generate a command signal for receipt by said host computer in response to a state of said switch.

6. A device as recited in Claim 5 wherein said remote unit comprises a foot pedal unit.

7. A device as recited in Claim 2 wherein said mechanical linkage includes at least three links.

8. A device as recited in Claim 7 wherein said mechanical linkage includes at least three joints.

9. A device as recited in Claim 1 wherein said force generator includes a resistance generator for providing resistance to the motion of the user manipulatable physical object.

10. A device as recited in Claim 1 wherein said user manipulatable physical object has a pencil-like stylus configuration that can be manually manipulated by a user of said device.

11. A device as recited in Claim 1 wherein said force generator transmits a force via said support means in response to said force signals, and wherein said force signals are correlated to information displayed on said computer display apparatus.

12. A method for interfacing a user and a host computer including a computer display comprising the steps of:
providing a user manipulatable physical object supported by a support apparatus which allows at least a plurality of degrees of freedom in the motion of said user manipulatable physical object;
producing an object locative signal corresponding with the position of the user manipulatable physical object at points in time during its normal operation, said object locative signal providing information for use by a host computer including a computer display which can be used by an application program running on said host computer to control images on said computer display; and providing a force feedback command from said host computer to cause a force to be exerted on said user manipulatable physical object that is correlated to an image on said computer display.

13. A method as recited in Claim 12 wherein said support apparatus comprises a mechanical linkage.

14. A method as recited in Claim 13 wherein said locative signal is generated by a sensor apparatus that is coupled to said mechanical linkage.

15. A method as recited in Claim 12 wherein said locative signal is generated by a sensor apparatus that is coupled to said user manipulatable physical object.

16. A method as recited in Claim 12 further comprising the steps of:
providing a remote unit having a switch capable of being in an on state and an off state; and proving a command signal generator triggered by said switch when said switch is in a selected state for generating a command signal for receipt by said host computer.

17. A method as recited in Claim 16 wherein said remote unit comprises a foot pedal unit.

18. A method as recited in Claim 13 wherein said mechanical linkage includes at least three links.

19. A method as recited in Claim 18 wherein said mechanical linkage includes at least three joints.

20. A method as recited in Claim 12 wherein said force exerted on said user manipulatable physical object comprises a resistance to the motion of said user manipulatable physical object.

21. A method as recited in Claim 12 wherein said user manipulatable physical object has a pencil-like stylus configuration that can be manually manipulated.

22. A device as recited in Claim 12 further comprising the step of:
providing an active force generator for generating said force exerted on said user manipulatable physical object.

23. A multi-degree of freedom human-computer interface device with tracking and force feedback comprising:
a user manipulatable physical object that is capable of moving in a plurality of degrees of freedom;
a plurality of sensors coupled to said physical object to provide a plurality of sensor signals indicative of a position of said physical object such that said sensor signals can be used to track said position of said physical object;
at least one force generator coupled to said physical object to selectively exert a force on said physical object;
a device interface for the exchange of digital information with a host computer;
non-volatile memory containing a device program for interfacing said device with said host computer through said device interface; and a device microprocessor coupled to said sensors, said force generator, said device interface, and said memory, said device microprocessor operating under the control of said device program and being operative to derive tracking information from said sensor signals and to provide said tracking information at said device interface, said device microprocessor being further operative to derive force signals from force commands at said device interface that were developed by said host computer and to provide said force signals to said force generator.

24. A multi-degree of freedom human-computer interface device with tracking and force feedback as recited in claim 23 wherein said device program includes a routine for communicating with a given host computer via said device interface.

25. A multi-degree of freedom human-computer interface device with tracking and force feedback as recited in claim 23 wherein said device program is selected by host commands provided via said device interface to said device microprocessor.

26. A multi-degree of freedom human-computer interface device with tracking and force feedback as recited in claim 23 wherein said device program includes a routine that parses and interprets said force commands generated by said host computer to produce said force signals.

27. A multi-degree of freedom human-computer interface device with tracking and force feedback as recited in claim 23 wherein said device program includes a routine that reads said sensors and produces said tracking information.

28. A device as recited in claim 1 wherein said device microprocessor reads said locative signal directly from said sensor apparatus.

29. A device as recited in claim 28 wherein said device microprocessor computes the position or orientation of said user manipulatable object from said locative signal produced by said sensor apparatus, said microprocessor reporting said position or orientation to said host computer.

30. A device as recited in claim 2 wherein said device microprocessor has access to information describing physical dimensions of said support mechanism and information of device kinematics such that said locative signal produced by said sensor apparatus can be converted into coordinate data describing a position of said physical object.

31. A device as recited in claim 28 wherein said device microprocessor computes a motion of said user manipulatable object and reports said motion to said host computer.

32. A device as recited in claim 1 wherein said device microprocessor supervises communication with said host computer.

33. A device as recited in claim 1 wherein said device microprocessor implements a command loop that monitors and decodes host commands received by said microprocessor from said application program on said host computer.

34. A device as recited in claim 33 wherein said device microprocessor executes a subroutine stored in said non-volatile memory based on said host command.

35. A device as recited in claim 34 wherein said subroutine processes said locative signal into angle data, and wherein said subroutine sends a single set of said angle data to said host computer.

36. A device as recited in claim 34 wherein said subroutine processes said locative signal into angle data, and wherein said subroutine continually reports said angle data from said device microprocessor to said host computer until commanded by said host computer to cease said reporting.

37. A device as recited in claim 34 wherein said locative signal is included in raw data provided by said sensor apparatus, wherein said device microprocessor reports a single set of said raw data or a single set of angle data, processed from said raw data, to said host computer.

38. A device as recited in claim 34 wherein said locative signal is included in raw data provided by said sensor apparatus, wherein said device microprocessor continually reports said raw data or continually reports angle data that is processed from said raw data to said host computer.

39. A device as recited in claim 32 wherein said host computer sends a command to said device microprocessor that sets communication parameters on said microprocessor for communicating with said host computer.

40. A device as recited in claim 28 wherein said device includes a memory device accessible to said microprocessor and wherein said microprocessor stores sensor data representative of said locative signal in said memory device.

41. A device as recited in claim 40 wherein said sensor data includes an output array of angle values assembled in said memory device while said microprocessor waits to send said angle values to said host computer.

42. A device as recited in claim 41 wherein said output array includes information such that said host computer can determine which of said host commands said output array is in response to.

43. A device as recited in claim 39 wherein said host command from said host computer causes an internal register on said microprocessor to be set.

44. A device as recited in claim 39 wherein said host command from said host computer causes said device microprocessor to send control signals to a communications sub-unit of the microprocessor to provide data to said host computer.

45. A device as recited in claim 39 wherein said host command is decoded by said microprocessor, said host command calling a subroutine stored on said microprocessor to change the resistance at a joint of said support mechanism.

46. A device as recited in claim 1 wherein said host computer interacts with said force generator by sending a command to said microprocessor, said microprocessor decoding said command and running a subroutine to control said force feedback.

47. A device as recited in claim 1 wherein forces commanded by said host computer to said device microprocessor and felt by said user correspond to images displayed on said computer display.

48. A device as recited in claim 47 wherein said images include a cursor interacting with another object displayed on said display screen.

49. A device as recited in claim 48 wherein said cursor interacts with a surface image displayed on said display screen.

50. A device as recited in claim 1 wherein said device microprocessor is included in a housing which encompasses said device.

51. A device as recited in claim 2 wherein said mechanical linkage includes at least five links.

52. A device as recited in claim 2 wherein said mechanical linkage includes counterweights to reduce an adverse influence of gravity when said user moves said user manipulatable object.

53. A device as recited in claim 1 wherein only one of said degrees of freedom is provided with force feedback.

54. A device as recited in claim 2 wherein said force generator includes a physical spring resistance coupled to said mechanical linkage.

55. A device as recited in claim 2 wherein said support mechanism provides only two degrees of freedom to said user manipulatable object.

56. A device as recited in claim 2 wherein said support mechanism provides only three degrees of freedom.

57. A device as recited in claim 10 wherein a button is provided on said stylus, and wherein when said button is activated, the current position of said stylus is reported to said microprocessor and reported from said microprocessor to said host computer.

58. A method as recited in claim 15 wherein said force feedback command from said host computer is received by a microprocessor which causes said force to be exerted on said physical object, said microprocessor receiving said object locative signal and providing said object locative signal to said host computer.

59. A method as recited in claim 58 wherein said microprocessor is controlled by software stored in a memory device coupled to said microprocessor.

60. A method as recited in claim 15 wherein said host computer issues a command to said microprocessor, and said microprocessor takes an action in response to said command.

61. A method as recited in claim 60 wherein said action includes reporting data back to said host.

62. A multi-degree of freedom human-computer interface device as recited in claim 23 wherein said physical object is capable of moving in only two degrees of freedom.

63. A multi-degree of freedom human-computer interface device as recited in claim 62 wherein said two degrees of freedom are rotary degrees of freedom.

64. A multi-degree of freedom human-computer interface device as recited in claim 62 wherein said two degrees of freedom are linear degrees of freedom.

65. A multi-degree of freedom human-computer interface device as recited in claim 23 wherein said physical object is capable of moving in only three degrees of freedom.

66. A multi-degree of freedom human-computer interface device as recited in claim 65 wherein said three degrees of freedom are rotary degrees of freedom.

67. A multi-degree of freedom human-computer interface device as recited in claim 66 wherein said physical object is capable of moving in six degrees of freedom, wherein three of said degrees of freedom are rotary and three of said degrees of freedom are linear.

68. A multi-degree of freedom human-computer interface device as recited in claim 66 wherein said physical object is capable of moving in six rotary degrees of freedom.

69. A multi-degree of freedom human-computer interface device as recited in claim 23 wherein said interface device includes springs operative to provide resistance to movement of said physical object in addition to said force provided by said force generator.

70. A multi-degree of freedom human-computer interface device as recited in claim 23 wherein said interface device includes counterweights to reduce an adverse influence of gravity when said user moves said physical object.