06154198 is referenced by 178 patents and cites 119 patents.

An input/output device used in conjunction with a host computer for monitoring user manipulations and for enabling simulation of feel sensations in response to the manipulations. A user manipulatable object is pivotally attached to a ground surface and is moveable in two degrees of freedom. Actuators output forces transmitted to the user manipulatable object and at least one sensor detects motion of the object. Two slotted yoke members transmit forces from the actuators to the object. A local processor executes a software process in response to host commands which derives force values to be applied to the user manipulatable object.

Title
Force feedback interface apparatus including backlash and for generating feel sensations
Application Number
374288
Publication Number
6154198
Application Date
September 17, 1997
Publication Date
November 28, 2000
Inventor
Louis B Rosenberg
Pleasanton
CA, US
Agent
James R Riegel
Assignee
Immersion Corporation
CA, US
IPC
G09G 5/08
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