Force feedback mouse with differential mechanism for omni-traveling

The goal of this research is to develop a new haptic interface device, which can improve operability and expressiveness of personal computer (PC). A new mouse type device named Active Mouse is developed. It consists of one omni-traveling mechanism, force sensor, position sensor and communication and control system. The omni-traveling mechanism consists of one sphere ball, two differential mechanisms, and two motors. This mechanism realizes rotation of one motor that will not affect the other motor. Therefore, output of the two motors can be composed as output to the ball. As a result, this omni-traveling mechanism can achieve 4.8[N] force at 5[V] and 500[mA] in compact size. The two motors of omni-traveling mechanism, force sensor and position sensor are controlled with communication and control modules developed in this research. The communication system for Active Mouse equips with USB interface. The USB interface supplies DC voltage and support communication with PC. Therefore this device can be used for general PC just connecting USB interface. To confirm function ability of the Active Mouse, a graphical program is developed. Using this program, Active Mouse can input user's force and position data to PC, and output force to user. From here, Active Mouse realizes functions of general mouse and also works as haptic device.