NL1044835B1

NL1044835B1 - Manual user input device

Info

Publication number: NL1044835B1
Application number: NL1044835A
Authority: NL
Inventors: Angermann Moritz
Original assignee: Naya B V
Priority date: 2024-03-07
Filing date: 2024-03-07
Publication date: 2025-09-19
Also published as: WO2025188184A1; WO2025188184A8

Abstract

A manual user input device for translating physical movement into control signals in an electronic device such as a computer. The device has a control element which can be manipulated by the user, a base element which is movably connected to the control element in multiple degrees of freedom. The device is provided with a sensor arrangement for detecting the motion of the control element. The device has magnets and Hall effect sensors for detecting the presence and magnitude of a magnetic field using the Hall effect resulting from motion of the multiple magnets. Preferably, the Hall effect sensors are fixed on the base element, or arranged within the control element, for interaction with the magnets. The magnets move with the motion of the control element, whereby the position of a magnet is such that the presence and magnitude of a magnetic field around the magnet is detectable by a Hall effect sensor.

Description

MANUAL USER INPUT DEVICE

TECHNICAL FIELD

The mvention relates to a manual user input device for electronic devices, such as a computer, phone or tablet,

BACKGROUND

Controlling of electronic devices such as computers is often done by a keyboard, and a separate dedicated device for manipulating for example a cursor on a computer screen. The most commoniy known dedicaled manual input interface comprises a so-called mouse. Other variations are available, such as touchpads, mice, joysticks or trackballs, each of which have their special characteristics and applications, A mouse and the aforementioned variations with two degrees of freedom (hereafter DOF). ie. movable in x and y direction, are typically very suitable for moving & cursor on a screen in a two-dimensional (20) plane.

Since computer software is also capable of simulating three-dimensional (30) environments or objects, such as in flight simulator games, devices have been developed, such as yokes, which are capable of simulating a virtual movement in a 3D environment, e.g. for contreiling of a virtual airplane in a flight simulator,

Since the emergence of 3D computer aided design and drawing (CAD) programs, objects on a 2D screen need to be manipulated, drawn and edited in a virtual 3D anvironment as well Instead of just moving the object, like in a flight simulator, now the object itself needs to be designed. which requires great precision and intuitive use, and the possibility to, for example, select parts of the object, draw the object, add and remove parts of the object, all in a 3D environment. At the same time, an additional input device such as a keyboard is usually needed to select functions, colours, shapes etc. For this purpose, 3D manipulators which comprise 6 DOF, eg by combining the motion of 3 mouse with a joystick and adding Z axis movement and yaw to it, are developed which may be operated by one hand without taking up much space and which may be used on a desklop together with, for example, a keyboard.

Hereinafter patent publications are discussed which eg. seek to provide 3D manipulators which may manipulate objects in up to six Degrees Of Freedom {abbreviated as DOF).

European patent application EP1585015 A1 by 3DConnexion GmbH is summarised as a device for manual input of control signals in a computer-related environment, the device comprises a hase for supporting the device on a surface and a first input member mounted on the base for rotary movement about a vertical axis, A sensor arrangement is housed in a central space for detecting and inlerpreting rotary movement of the first input member relative to the base. Second input members are provided with a swilch or relay to be actuated by application of finger pressure. Rotary movement of the first input member and/or actuation of the second input members is adapted to generate a corresponding control signal within the computer environment.

The sensor arrangement is undefined in above patent application, but a related product by 3DConnexion is known to have opto-electric sensors as for example disclosed in European patent application EP 1843243A1 by 3Dconnsion Holding SA, which is summarised as an optoelectronic device for determining relative movements ur relalive positions of two objects. The device has a first object fixed lo a frame and a second object mounted in spaced relation to the first object and adapted for movement relative thereto. The device has cells for determining movement or displacement of the second object relative to the first object and a stop arrangement for imiting the movement of the second object relative lo the first object. The stop arrangement has elongate members which, at one end thereof, are rigidly irterconnacted with one another and, al the other end thereof, are fixed relative to the frame of the device.

Al least two problems emerge when applying the above prior art technologies.

Firstly, the control element acts gs an intermediary filler between the emitter and receiver, this limits is range of motion. The room for interception and receiver mechanics and electronics has to be arranged within the limited space of the control elemen

Secondly, the emitier, as well as the receiver, both require electrical power which further complicates the design,

DISCLOSURE OF INVENTION itis an object of the present invention to provide a user input device which enables a user to control objects in a three-dimensional space. It is a further object to provide the device with a user interaction providing a controlled input with an electronic device such as a computer, whereby the controlled input is accurate and reliable.

Furthermore, it is an object to provide a device which is easy to use, which is bespoke and/or may be custornised for a specific user requirement or application.

The object is realised by the following aspect and further embodiments.

In an aspect of the invenlion a manual user inpul device is disclosed, which is arranged for translating physical movement into control signals in an electronic device such as a computer, the device configured with: - a control element arranged for being manipulated by the user: - a base element which is stationary relative to the control element; - the base element comprising a connection means for movably connecling the control element to the base element, the connection means being arranged for allowing a motion of the control element in multiple degrees of freedom; - a sensor arrangement, arranged for detecting the motion, - one or more electrical circuits,

The sensor arrangement comprises: - multiple magnets; - multiple Hall effect sensors, arranged for detecting the presence and magnitude of a magnetic field using the Hall effect resulting from motion of the muitiple magnets,

The following embodiments are disclosed: - The stationary base element may comprise: se A first circuit of the one or more electrical circuits comprises a signal processing circuit coupled to the multiple Hall effect sensors, said Hall effect sensors being arranged for detecting the presence and magnitude of a magnetic field using the Hall effect, whereby the output voltage of the Hall sensor is directly proportional to the strength of the field, and whereby nereasing or decreasing of sad voltage is translated by the signal processing unit as a relative motion.

e A bottom section of the device is configured with a ferromagnetic material which is arranged for magnetically coupling the device to an external holder which is configured with a magnet arranged for magnetically coupling the external holder to the device. e A second circuit of the one or more electrical circuits comprises a calibration circuit, arranged for calibrating of signal processing by the signal processing circuit, e The device comprises a lilting sensor, which is arranged for detecting a tilting of the device, whereby the calibration circuit is arranged for recalibrating when the sensor detects the tilting of the device. # [he tilting sensor comprises a gyroscope or an accelerometer. es The device comprises a magnetic shielding material, such as a Mu-metal, which is arranged for shielding the circuits and/or the sensors from magnetic interference caused by a magnetic flux generated by the external holder, whereby the magnetic flux is led away from the circuits and/or the

SENSIS.

The device comprises a rechargeable battery which is arranged for providing electric power to the circuits and the sensors. + The device comprises a charging means arranged for charging the battery by using an inductive charging device, the charging means configured with a secondary coil which is arranged for transforming electromagnetic induction generated by the inductive charging device, the charging device being configured with a primary coil for this purpose. e [he device comprises a shielding means arranged for shielding the circuits and/or the sensors from the electromagnetic induction, the shielding means comprising a shielding means such as a Faraday cage enclosing the circuits and/or the sensors, or a solid metal layer, positioned between the secondary coil and the circuits and/or the sensors. - The control element is attached via a compliant mechanism to the centre piece, which allows a movement in 8DOF in relation to the base element. - The device comprises a centre piece fixedly connected to the base element, whereby the resilient element comprises an elastomer extending at one end from the centre piece and at the other end connected to the control element.

~ Resilient element is comprised of multiple sirips or strands positioned next to each other in a circular configuration extending at one end from the centre piece and at the other end connected to the control element, - The resilient element comprises a foam-tike or sponge-like element positioned at the inside of the control element, between the control element and the centre piece, - The resilient slement is arranged for being replaceable with a resilient element which is less or more resilient, - The centre piece js mounted in between multiple Hall effect sensors on the 1 stationary base element — or altematvely within the control slement — and the control element, and is attached to the control element which comprises 3 set of magnets, and whereby each of the magnets is configured to move with the motion of the control slement, whereby the position of a magnet of the multiple magneis is such that the presence and magnitude of a magnetic field around the magnet is detectable by a Hall effect sensor of the multiple Hall effect sensors on the stationary base elament or aiternatively within the control element - The centre piece comprises a cavity, and the baltery is positioned in the cavity. - The cavily is at least partly filled with a weight.

BRIEF DESCRIPTION OF THE DRAWINGS

The figures show views of embodiments in accordance with the present invention,

FIGURE 1 shows a perspective view of the input device.

FIGURE 2 shows a back view of the input device of figure 1.

FIGURE 3 shows a perspective view of a first setup of a suspension of the input device, shown without cover.

FIGURE 4 shows a front view of the first setup of a suspension of figure 3.

FIGURE & shows a perspective view of the inpul device with a varistion of a suspension.

FIGURE 8 Shows a front cross-sectional view of figure 5.

FIGURE 7 shows a front view of a second selup of a suspension of the input device, shown without cover.

FIGURE 8 shows a perspective view of the second setup of a suspension of the input device, shown without cover of figure 5.

FIGURE S shows a perspective view of a third selup of a suspension of the input device, shown without cover,

FIGURE 10 shows a sectional front view of the inside of the input device.

FIGURE 11 shows a sectional bottom view at the location of part 120.

FIGURE 12 shows a perspective view of the input device positionad on or integrated with a keyboard.

DETAILED DESCRIPTION

The ivention is now described by the following aspects and embodiments, with reference to the figures. To facilitate ease of reading of the figures, a list of reference numbers as used in the figures is shown hereafter. 100 Preferred embodiment of the invention 101 Control element 102 Top cover of control element 101 103 Foot 104 Bottom of centre piece 108 104b Alternate boltom of centre piece 1085 105 Bottom ning 106 Middle ring 107 Top ring 108 Centre piece, optionally including a (rechargeable) battery 150 108b Alternate version of centre piece 108 110 Auxiliary rotary dial 111 Connector 112 Printed Circuit Board (PCH) 120a-e Flexible section 121a-c Flexible section 130 Ring of magnets 131 Magnet bracket 140 Bali bearing

150 Battery 160 Cavity for optional weight 200 Keyboard 3001 Rotation in roll 1002 Rotation in pitch 1003 Translation along z-axis (vertical direction) 1004 Rotation in yaw 1005 Translation along x-axis (horizontal direction) 1008 Translation along y-axis (horizontal direction)

JO 1007 Translation along x-axis (horizontal direction) 1008 Translation along y-axis (horizontal direction) 1019 Rotating direction of auxiliary rotary dial 1020 Alrgap 14 FIGURE 1 shows a perspective view of the input device 100 having a control element 101 and optionally a rotary dial 110. Control element 101 1s configured for being manipulated by a user. The inside of input device 100 comprises means to detect these manipulations as explained further hereafter, The figure shows translations in x~, Yr Z-axis and rotation in pich, yaw and rol, as indicated by thick arrows 1001,1002,1003,1004,1005,1006,1007,1008, of which arrows 10051007 represent translations along the x-axis, and arrows 1008,1008 represent translaton along y-axis. Therefore the arrows indicate 6DOF as explained in the above reference list.

Arrow 1020 indicates an air gap between control element 101 and rotary dial 110, and the botlom section may comprise rotary dial 110, Air gap 1020 allows for free movement of control element 101 and especially tilting actions (Le. rotary actions 1001 and 1002) and up and down movement (Le. translation along z-axis 1003).

Arrow 1010 indicates a rotational direction of rotary dial 110.

Although four directions 1005,1006,1007,1008 are shown, the invented input device allows the user to move the control element 101 in any direction between those four directions. The same goes for tilting directions 1001 and 1002. A combination of directions is aizo possible. For example, a lit (rol) 1001 may be combined with a rotation 1004 (yaw) and/or a movement in vertical direction 1003 As these movements are detected, the builkin printed circuit board (PCB) 112 is configured to translate the detected movements into signals which are processed and may for example be used by a CAD program to move objects in the virtual world of a computer screen. For this purpose the PCB preferably comprises the sensors for detecting the movements, A horizontal movement on the x-axis {1005) may for example be translated into a movement of a drawn object in a horizontal plane on the screen. Moving into a direction or holding control element 101 in a position after movement may be translated as having a different meaning for the exemplary CAD program instead of or together with the buit in PCB an external electronic circuit may be used for translating detected movement of control element 101.

FIGURE 2 shows a back view of input device 100 of figure 1. A foot 103 is shown which 1s configured for placing input device 100 on a table or to connect to input device 200 to eg a keyboard as shown in figure 12. For connection to other electronic equipment. connector 111 is configured.

FIGURE 3 shows a perspective view of a first setup of a suspension of input device 100, shown without a cover. Control elemerd 101 is suspended by a suspension means comprised of spokes sets 120a and 1218, whereby a first set of spokes 120a is provided in a ower section of the suspension means and a second set of spokes 121a is provided in a top section of the suspension means. Middle ring 108 is not rigidly connected to the control element 101, but connects sets of spokes 120a with sels of spokes 121a. Middle ring 106 is rigidly attached to centre piece 108, of which only the bottom of centre piece 104 is visible in figure 3. The set of spokes 121a is connected at the {op to top ring 107, and at the bottom to middie ring 108. Top ring 107 1s ngidly connected to control element 101. Set of spokes 120a is connected at the lop io middie ning 106 and at the bottom to bottom ring 105, Bottom ring 105 1s also connected to magnet bracket 131 as shown in figure 11, preferably by means of a screw that also connects to the inner wall of control element 101.

The spokes may be made of a restient or flexible maternal, such gs plastic, which may comprise for example silicon, nylon, rubber, ietrapolyursthane {TPU), thermoplastic elastomer (TPE). The flexible maternal provides some resistance {o movement, which is considered to feel pleasantly and provide more control when using the input device.

Besides that, this also limits the movement to an equal amount in every direction. The

Q resilience is such that, when releasing control element 101, it automatically returns to a central default position.

This is due to the so-called compliant mechanism. The shape has in-built stop conditions. Pulling control element 101 up (positive translation along z-axis) elongates the spokes until they cannot move further, Rotating in yaw will decrease the circumference of the suspension mechanism (which is not possible due to the rigidity of the cap), so it stops the movement. ft also has external stop conditions: in the tilting directions (pitch and roll) as well as pushing it down (negative translation along the z-axis), the control element pushes against the base. In the horizontal directions (translation along x and y axis) the inside of the control element touches the battery case.

FIGURE 4 shows a front view of the first setup of a suspension of figure 3 to clarify the setup of control element 101 as shown in figure 3.

FIGURE 5 shows an isometric view of control element 101 with a variation of a resilient element,

The resilient element comprises ribs 120¢ and 121¢ in which ribs 121c are connected to the control element 101 and ribs 121c are resiliently connected to centre piece 108,

These interweaving ribs are longer and can therefore remain compliant even with thicker, wider, or different {e.g. stiffer) material. This may improve the durability of the resilient element. To reduce complexity in manufacturing, this design also combines multiple parts into one, thereby rendering it much easier {0 assemble.

FIGURE 6 shows a front, cross-sectional view of control element 101 as shown in figure 5 highlighting an alternative design of centre piece 108b and its bottom portion 104b.

FIGURE 7 shows a front view of a second setup of a suspension of input device 100, shown without a cover. Instead of sets of spokes 120b and 121b, a resilient solid material is used as an embodiment, with upper resilient element 121c and lower resilient element 120c, The working of this material is comparable with the working of the resilient elements of embodiments 120a-b and 121a-b as shown in figures 3, 4, 5 and 6 The material may for example comprise a silicone rubber, or sponge-like substance,

FIGURE 8 shows a perspective view of the second setup of a suspension of the input device, shown without cover of figure 5 to clarify the setup of input device 100 as shown in figure 5.

FIGURE 8 shows a perspective view of a third setup of a suspension of input device

S 100, shown without a cover, whereby, instead of an upper and lower section of the suspension, one-piece 120d of material is used as suspension, In this case a piace of material is used which consists of designed holes and gaps which are positioned and dimensioned such that an optimised fees! and contra! is achieved The resilient piece of material may for example be 3D printed for this purpose.

Providing input device 100 with these kinds of suspension allows a user to also interchange various types of suspension accommodated to hisfher wishes and requirements. One may choose a stiffer material for example if more resistance is needed. A person with less hand strength or a desire for a more compliant suspension. may choose a more compliant suspension. The one-piece suspension of figure S, as well as other variants depicted, for example may be designed to be more or less compliant, for a specific use or user. By leaving more gaps and holes, for example, there may be more flexibility achieved then with a denser setup.

FIGURE 10 shows g sectional front view of the inside of input device 100, The space marked 120e is an emply space where 120a-d and/or 1213-d could be accommodated. As for the control element 101, a sponge-like structure may be provided for example, but any proposed or other suspension may be provided. In this configuration POB 112 is configured within the base element. In other configurations, ons or more additional PCBs 112 may be placed within the control element as needed. In the example the bottom section comprises a rotary dial 110. A ball bearing 140 may be provided to allow smooth rotation of rotary dial 110

A centre piece 108 is shown, which may be used to hold a battery 150 (see figure 11).

Battery 150 1s configured for providing power to for example a keyboard io which the input device is electrically connected. Battery 150 may also be used to provide power to PCB 112, and to the Hall effect sensor configuration which is disclosed in the present invention. Battery 150 is preferably a rechargeable lithium-ion battery, which may for example be charged through connector 111, or by means of wirslass (inductive) charging, in which case a wireless charging power receiver unit, Le 3 secondary coil may be incorporated in input device 100. A primary coil may then be provided in an exiemal device being powered with external power to provide the inductive charging. The primary coll may for example be incorporated in a desk mat configured for providing a stable underground for a keyboard to which input device 100 may be connected, such combination being shown in figure 10. The primary coil may also be incorporated in the keyboard itself. The charging of the modules may be done through a wired connection of the keyboard to an external power source. At the place of foot 103 the primary coil of the keyboard may be positioned, whereas the secondary coil may be built in fool 103 ta receive the inductive charging and transfer the power to battery 150 for charging battery 150, Centre piece 108 may also comprise a cavity for optional weight 180, in which a weighted substance may be added or removed to alter the performance of the input device 100.

The Hall effect sensor setup 1s configured to detect motion of control-element 101 by measuring the so-called Hall effect which is generated by movement of a ring of magnets 130 (as shown in figure 11) in comparison with Hail effect sensors below the magnets whereby the magnets may be moved and the Hall effect sensors are stationary. Le. connected to or part of a PCB 112 in the base element or alternatively connected to or part of a PCB 112 within the control element.

Ring of magnets 130 may comprise neodymium magnets {e.g. grade N42), which are permanent magnets known for having a strong magnetic field with a relatively small size and weight Additional magnet materials, shapes or sizes may be used as needed for the ring of magnets 130.

FIGURE 11 shows a sectional bottom view of the inside of control element 101, which is provided with the ring of magnets 130 which are held in place by magnet bracket 131. Ring of magnets 130 are preferably placed with equal distance between them,

An equal distance 1s not strictly necessary, just a design choice and computationally easier to handle. The magnets of the ring of magnets 130 could however, be arranged in any manner, as long as there is a stable ‘position OF, where the control element 101 is not manipulated. From position 0, relative movement of the magnetic field from that position may be calculated. This allows translation of movement of the corral element into a digital landscape. The characteristics of the magnetic feld in position 0 is therefore less important. Various orientations and positions of the magnets of the ring of magnets 130 are therefore possible to creates a detectable magnetic feld.

FIGURE 12 shows input device 100 positioned on or integrated with a keyboard 200.

This integration with keyboard 200 provides a complete set of input devices for a user.

Input device 100 is secured by keyboard 200 and cannot slip away, eg. By a magnetic connection. A specially shaped indent in the dock form fitting a similar & protruding shape at the bottom of the module also prevents unwanted rotation of the device when placed in the dock. Such a special shape may for example comprise a teardrop shape.

The distance between input device 100 and the keyboard keys is minimised, which allows for an ergonomic use of keyboard 200 together with input device 100, which also Increases productivity, ft should be noted that the above-mentioned embodiments illustrate rather than limi the invention. and that a person skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In 15 the claims, any reference signs placed between parentheses shall not be construed as hmiting the claim. Use of the verh "to comprise” and its corjugations does not sxciude the presence of elements or steps other than those stated in a clam. The term "and/or! includes any and all combinations of one or more of the associated listed items. The article "a" or ‘an’ preceding an element does not exclude the presence of a plurality of such elements. The article “the” preceding an element does not exclude the presence of a plurality of such elements. In the device ciaim enumerating several means, several of these means may be embodied by one and the same item of hardware. The mere fact that certam measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

Claims

INCLUSIONS

1. A manual input device adapted to translate physical movement into control signals in an electronic device such as a computer, the device being configured with: - an operating element adapted to be manipulated by the user, - a base element stationary relative to the operating element; - the base element comprising connecting means for movably connecting the operating element to the base element, the connecting means being adapted to allow movement of the operating element in multiple degrees of freedom; - a sensor arrangement adapted to detect the movement of the operating element; - one or more electronic circuits, characterized in that the sensor arrangement comprises: - a plurality of magnets; - a plurality of Hall sensors adapted to detect the presence and magnitude of a magnetic field using the Hall effect resulting from the movement of the plurality of magnets,

2. The apparatus of claim 1, wherein the base element comprises an actuating element, wherein the plurality of Hall sensors are mounted on the base element or within the actuating element and are configured to interact with the magnets, and wherein each of the magnets is configured to move with the movement of the actuating element, wherein the position of a magnet of the plurality of magnets is such that the presence and magnitude of a magnetic field beneath the magnet is detectable by a Hall sensor of the plurality of Hall sensors.

3. The apparatus of claim 1, characterized in that a first circuit of the one or more electrical circuits comprises a signal processing circuit coupled to the plurality of Hall sensors, the Hall sensors being adapted to detect the presence and magnitude of a magnetic field using the Hall effect, the output voltage of the Hall sensor being directly proportional to the strength of the field, and the increasing or decreasing of said voltage being translated by the signal processing unit as a relative movement.

4. The device of claim 1, wherein a lower portion of the device is configured with a ferromagnetic material adapted to magnetically couple the device to an external holder configured with a magnet adapted to magnetically couple the external holder to the device.

5. The apparatus of any preceding claim, characterized in that a second circuit of the one or more electrical circuits comprises a calibration circuit adapted to calibrate the signal processing by the signal processing circuit.

8. The device of claim 5, characterized in that the device comprises a sensor capable of measuring any type of movement, adapted to detect any type of movement of the device's operating element, the calibration circuit being arranged to recalibrate when the sensor detects the device tilting,

7. The device according to claim 8, characterized in that the control element comprises a gyroscope or an accelerometer. 38 The device according to any of the preceding claims, characterized in that the device comprises a magnetic shielding material, such as a mu-metal, adapted to shield the circuits and/or the sensors from magnetic interference caused by a magnetic flux generated by the external holder, whereby the magnetic flux is conducted away from the circuits and/or the sensors.

3. The device of any preceding claim, characterized in that the device comprises a rechargeable battery adapted to supply electrical current to the circuits and sensors.

10. The apparatus of claim 8, characterized in that the apparatus comprises charging means adapted to charge the counter row using an inductive charging device, the charging means being configured with a secondary coil adapted to transform electromagnetic fields generated by the inductive charging into inductive charging energy, the charging device being configured for this purpose with a primary coil.

The apparatus according to any one of the preceding claims, characterized in that the apparatus includes shielding means adapted to shield the circuits therein and/or the sensors by electromagnetic induction, the shielding means comprising a shielding means such as a Faraday carbon enclosing the circuits and/or the sensors, or a solid metal layer positioned between the secondary coil and the circuits and/or the sensors.

12. The apparatus according to any one of the preceding claims, characterized in that the operating element is resiliently connected: to the base element with a resilient element allowing translational and rolling movement along the x, y and z axes relative to the base element.

The toss according to claim 12, characterized in that the device includes a center piece fixedly connected to the base element, the resilient element comprising an elastomer extending from the center piece at one end and connected to the operating element at the other end. The device according to claim 12, characterized in that the resilient element comprises a plurality of adjacent plastic strips or strands in a circular configuration, extending from the center piece at one end and connected to the operating element at the other end. The device according to claim 12, characterized in that the resilient element comprises a foam or sponge-like element positioned on the inside of the operating element.

16. The device according to claim 15, characterized in that the resilient element is adapted to be replaceable by a resilient element that is less or more resilient,

The device of claim 12, characterized in that the resilient element comprises extending and interwoven ribs. The device of claim 13, characterized in that the center piece encloses a cavity and the battery is placed in the cavity.

19. The device of claim 18, characterized in that the cavity is at least partially filled with a weight.

20. The device according to claim 3, characterized in that the one or more electrical circuits and/or Hall sensors are arranged on or distributed over one or more PCBs located within the base element and/or within the control element,