Interaction between user-interface and instrument motion controller
A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.
1. An apparatus comprising: one or more sensors configured to sense motion of a hand-actuated selector; processing circuitry; and a memory system storing instructions which, when executed by the processing circuitry, cause the processing circuitry to perform operations comprising: causing motion of a cursor in a first 2D plane to follow motion of a user input device in a second 2D plane according to a first movement ratio that changes as a function of rate of movement of the hand-actuated selector, wherein the first movement ratio decreases as a function of increasing rate of movement of the hand-actuated selector relative to the user input device being less than a first threshold and wherein the first movement ratio increases as a function of decreasing rate of movement of the hand-actuated selector relative to the user input device being less than the first threshold; causing motion of the cursor in the first 2D plane to follow motion of the user input device in the second 2D plane according to a second movement ratio responsive to the hand-actuated selector moving relative to the user input device at a rate greater than the first threshold; and causing motion of the cursor in the first 2D plane to follow motion of the user input device in the second 2D plane according to a third movement ratio responsive to the hand-actuated selector moving relative to the user input device at a rate greater than a second threshold.
2. The apparatus of claim 1 , further including instructions that, when executed, cause the processor to perform operations comprising: causing motion of the cursor in the first 2D plane to stop following motion of the user input device in the second 2D plane, in response to the hand-actuated selector moving relative to the user input device at a rate greater than a third threshold.
3. The apparatus of claim 1 , wherein the third movement ratio is a constant movement ratio less than the second movement ratio.
4. The apparatus of claim 1 , wherein the second movement ratio is a constant movement ratio.
5. The apparatus of claim 1 , further including instructions that, when executed, cause the processor to perform operations comprising: using one or more filtering functions to filter controller motion.
6. The apparatus of claim 5 , wherein the one or more filtering functions filter controller motion as a function of time, wherein the function of time is one of a linear function of time, a logarithmic function of time or an exponential function of time.
7. The apparatus of claim 5 , wherein the one or more filtering function increase filtering of controller motion to decrease the movement ratio and decrease filtering of controller motion to increase the movement ratio.
8. An apparatus comprising: one or more sensors configured to sense motion of the hand-actuated selector; processing circuitry; and a memory system storing instructions which, when executed by the processing circuitry, cause the processing circuitry to perform operations comprising: causing motion of a cursor in a first 2D plane to follow motion of a user input device in a second 2D plane according to a first movement ratio that changes as a function of rate of movement of the hand-actuated selector, wherein the first movement ratio decreases as a function of increasing rate of movement of the hand-actuated selector relative to the user input device being less than a first threshold and the first movement ratio increases as a function of decreasing rate of movement of the hand-actuated selector relative to the user input device being less than the first threshold; causing motion of the cursor in the first 2D plane to stop following motion of the user input device in the second 2D plane, responsive to the hand-actuated selector moving relative to the user input device at a rate greater than a second threshold rate.
9. The apparatus of claim 8 , further including instructions that, when executed, cause the processor to perform operations comprising: causing motion of the cursor in the first 2D plane to follow motion of the user input device in the second 2D plane according to a third movement ratio that is less than the second movement ratio, in response to the hand-actuated selector moving relative to the user input device at a rate greater than a third threshold less than the second threshold.
10. The apparatus of claim 9 , wherein the third movement ratio is a constant movement ratio less than the second movement ratio.
11. The apparatus of claim 8 , wherein the second movement ratio is a constant movement ratio.
12. The apparatus of claim 2 , further including instructions that, when executed, cause the processor to perform operations comprising: using one or more filtering functions to filter controller motion.
13. The apparatus of claim 6 , wherein the one or more filtering functions filter controller motion as a function of time, wherein the function of time is one of a linear function of time, a logarithmic function of time or an exponential function of time.
14. The apparatus of claim 6 , wherein the one or more filtering function increase filtering of controller motion to decrease the movement ratio and decrease filtering of controller motion to increase the movement ratio.
15. An apparatus, comprising: one or more sensors configured to sense amount of displacement of a hand-actuated selector from a neutral position; one or more motors configured to impart haptic force to the hand-actuated selector; a stop surface to stop motion of the hand-actuated selector and a resilient member to cause the hand-actuated selector to move to the neutral position; processing circuitry; a memory system storing instructions which, when executed by the processing circuitry, cause the processing circuitry to perform operations comprising: in response to the hand-actuated sensor at a displacement distance less than a first threshold distance from the neutral position, controlling one or more motors according to a first control state to impart a maintaining force; and in response to sensing the hand-actuated sensor at a displacement distance between a first threshold distance from a neutral position neutral position and a second threshold distance from the neutral position, controlling one or more motors according to a second control state to impart a haptic force to the hand-actuated selector that increases in magnitude as a function of increasing displacement of the hand-actuated selector from the neutral displacement position.
16. The apparatus of claim 15 , wherein in response to sensing the hand-actuated sensor has met the second threshold distance from the neutral position, the processing circuitry controls the one or more motors according to a third control state to reduce magnitude of the haptic force imparted to the hand-actuated selector to a reduced magnitude that is less than a magnitude of the haptic force imparted during the second control state.
17. The apparatus of claim 15 , wherein in response to sensing the hand-actuated sensor has met the second threshold distance from the neutral position, the processing circuitry controls the one or more motors according to a third control state wherein the haptic force decreases in magnitude to the reduced magnitude as a function of increasing displacement of the hand-actuated selector from the neutral displacement position.
18. The apparatus of claim 15 , wherein the stop surface is positioned to impart a reactive force to the hand-actuated selector to stop further displacement of the hand-actuated selector when the hand-actuated selector reaches the third threshold displacement distance from the neutral position.
19. The apparatus of claim 15 , wherein in response to sensing the hand-actuated sensor has met the second threshold distance from the neutral position, the processing circuitry imparts a click event signal to cause an occurrence of the click event at a display system.
20. The apparatus of claim 15 , wherein the maintaining force is less than a haptic force imparted by the one or more motors according to the second control state.