CN101430617A - Accelerometer data processing method for controlling cursor movement and cursor control device - Google Patents
Accelerometer data processing method for controlling cursor movement and cursor control device Download PDFInfo
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Abstract
The invention relates to an accelerometer data processing method for controlling cursor movement and a cursor control device, wherein the method comprises the steps of receiving and processing signals from an accelerometer in the cursor control device, filtering a high-frequency signal part higher than a cut-off frequency by using a low-pass filter, and adjusting the cut-off frequency according to the cursor movement speed, wherein the cursor movement speed is controlled by the angular position change rate of the display cursor control device. According to the control method for displaying the cursor, the operation is flexible, the cursor can be controlled without moving on a flat surface, the index can be controlled, the cursor can be controlled to move by different moving modes, the purpose of saving space is achieved, and meanwhile, the cursor can be simply and conveniently controlled by moving the wrist.
Description
Technical field
The present invention relates to a display cursor control device, for example be applied to figure user interface (graphicuser interface, GUI) computer mouse, relate in particular to a kind of Improvement type cursor control device, use new accelerometer data processing method to control cursor and move, in different cursor Move Modes, use different sensitivity, can reduce noise, stablize cursor control, to strengthen the multidimensional angle of inclination control of display highlighting.
Background technology
Mostly most traditional display cursor control devices is to utilize the optics moving sensing or measures spin and move, so that operate, as computer mouse, this class device must be operated on smooth surface usually, to there be enough spaces to move simultaneously for control device, in addition, operating control device and be unfavorable for ergonomics and the time have the injury situation to take place, for example injure hand, the nerve at arm even other positions of health, or cause other more serious problems, multiple cursor control device in order to solve this type of problem and space constraint, to have developed, but the difficulty that these devices still have its restriction and use is described as follows.
In order to overcome the use restriction of habitual cursor control device, can use the phonosensitive mouse, or with radio frequency (RF) signal application to cursor control system, this class device need install special signal receiving device additional in addition to computing machine, can be contained on the keyboard or be contained in around the display, this type systematic costs an arm and a leg, and carries out and apparent complexity, becomes more practical cursor control device so can't replace conventional computer mouse.
With reference to other patents, the computer mouse that has is made glove form, therefore this cursor control system just can leave the desktop use, do not need reload signal receiving trap on computers yet, the cursor control device of this class also has the finger ring pattern, the user can be enclosed within it finger and go up use, move with the control cursor, when but using these cursor control devices, finger is different fully on the corresponding relation of coordinate and cursor with respect to the move mode of hand, so the market acceptance of this class cursor control device and bad.
Also have gyroscope (gyroscopic) to point to (pointing) device in addition, this cursor control system has gyroscope, utilize the sensing control cursor of mouse, but this class mouse volume is bigger and heavy, in addition, Fu Za gyroscope system also means high expense.
Patent publication No. WO 0190877 discloses and has used the image of accelerometer to point to control device, the control device different angle that tilts is controlled cursor, mouse to different angle moves with the control cursor with regard to tilting, use the computer mouse or other the image display device of conventional construction to do these operations, it is the comparison difficulty, and for the image indicator device of bottom flat, its tilt operation needs a supporting construction usually, because this type of device more bad control cursor when unsettled, so need supporting construction, therefore provide the structural support is given this type of computer mouse, can make the control cursor that preferable stability is arranged, but the inconvenient and trouble brought of supporting construction has limited the practical application of this type of computer mouse or image indicator device.
Therefore, industry still needs a kind of cursor control and pointing system at present, and the novel and simple using system that is provided can be compatible with present control and indicator device, and is simultaneously with low cost, and can solve problems such as above-mentioned use difficulty and performance constraint.
Summary of the invention
For overcoming the prior art defective, the invention provides a kind of cursor control device, operation has elasticity, need on flat surfaces, not move, also may command index when control device is unsettled particularly, and can utilize different move mode control cursors to move, in one embodiment, do not need to move horizontally control device, this control device that only is tilted to the right or is tilted to the left just can directly make cursor or be moved to the left to the right, similarly, control device also can tilt forward and back with the control cursor up down and move, do not need to move horizontally control device,, just can realize saving the purpose in space because tilt operation does not need mouse is positioned on the flat surfaces, only need mobile wrist simultaneously, just can carry out cursor control simply again easily.
Another aspect of the present invention provides the indicator device of a kind of cursor control device or indicating image, has a curved bottom, as oval-shaped base, the device user only needs to start a little portion or wrist, just can be easily towards all directions this device that tilts, with moving or the control display image of controlling index, the surface-supported space of the desk-top space of this class matching requirements or other kinds is very little, as long as can support the contact area of curved bottom.Might not need surface support in fact, because the just removable cursor of this control device that tilts, be placed on control device on the body surface so or be lifted away from desktop and need not support all and be fine.
Another aspect of the present invention provides a kind of improved treatment method of acceleration sensor testing result, this disposal route consider in the lump indicator device on desktop or the reality when unsettled move, when object surface can bracing or strutting arrangement, this method utilizes different sensitivity to handle the acceleration measurement of position, different angle to (angular orientation), wrist is towards the degree of freedom difference of different directions during with the compensating for tilt device, for example, accelerometer is with the angle of inclination of higher sensitivity measuring vertical direction, the control cursor up down, and to tilt control cursor move left and right than the muting sensitivity measurement.
Another aspect of the present invention provides a kind of improved treatment method of acceleration sensor testing result, wherein this method utilizes different acceleration to adjust sensitivity when different translational speeds, for example, when low speed or unsettled operation moving cursor, reduce the sensitivity that acceleration analysis is handled, can improve the stability that cursor moves, satisfy user's demand, when the user with than low speed moving cursor or index the time, hope can have higher cursor stability usually.
Another aspect of the present invention provides a kind of improved treatment method of acceleration sensor testing result, and wherein this method is used high measurement sensitivity and responded the angle of inclination of measuring with respect to the final level degree at a high speed according to the two dimensional acceleration measurement result.In addition, cursor control method can also utilize the three-dimensional of measuring and controlling to move, and utilizes control move mode operation cursor control device or image indicator device.In addition, for the convenience that tightens control, also can provide the mouse pad with curved surface, then the user just can produce mobile effect as long as move horizontally control device towards different directions.
In brief, the present invention discloses a kind of display cursor control device, comprise low-pass filter, but the high-frequency signal that is higher than cutoff frequency that the filtering accelerometer is produced, wherein cutoff frequency depends on cursor moving speed, and cursor moving speed is controlled by the angle position rate of display cursor control device then.
In one embodiment, the present invention discloses a kind of control display light calibration method in addition, this method comprises the following steps: to receive and handle the interior signal that accelerometer produced of cursor control device, it utilizes the low pass filter filters out accelerometer to produce the high-frequency signal that is higher than cutoff frequency, and adjust cutoff frequency according to cursor moving speed, this cursor moving speed is controlled by the angle position rate of display cursor control device.
Control method according to display highlighting of the present invention, can make operation have elasticity, need on flat surfaces, not move, also may command index, and can utilize different move mode control cursors to move, thereby realize saving the purpose in space, only need mobile wrist simultaneously, just can carry out cursor control simply again easily.
Know purpose of the present invention and advantage by considering being described in detail of accompanying drawing and following related embodiment in light of actual conditions, can knowing.
Description of drawings
Figure 1A is respectively stereographic map, vertical view, front view and the side view of display cursor control device of the present invention (being mouse) to Fig. 1 D.
Fig. 2 A and Fig. 2 B are the synoptic diagram with mouse pad of curved surface, and the user moves horizontally mouse, can produce an angle of inclination, come moving cursor or display image indicator device.
Fig. 3 A and Fig. 3 B are functional-block diagram, and cursor control device of the present invention or image indicator device and interior accelerometer thereof are described.
Fig. 4 is according to synoptic diagram of the present invention, and data handling system wherein (as personal computer) comprises a display screen, and its cursor is controlled to the display cursor control device of Fig. 3 by Fig. 1.
Wherein, description of reference numerals is as follows:
100 mouses
110 curved bottom
115-R, 115-L button
118 rollers
120-1,120-2 button
140 mouse pads
150-1,150-2 accelerometer
155-1,155-2 low-pass filter
160-1,160-2 analog-digital converter
165 microprocessors
170 buttons
175 computer interfaces
180 computing machines
185 radio-frequency (RF) transmitter
190 radio frequency receivers
200 data handling systems
210 display cursor control devices
220 display screens
Embodiment
See also Figure 1A to Fig. 1 D, be respectively the present invention and show stereographic map, vertical view, front view and the side view of cursor controller, it is a mouse 100, display cursor control device has a curved bottom 110, can change the angle of inclination of mouse 100 easily, display cursor control device comprises an accelerometer, but the levelness of sensing mouse 100 changes.Display cursor control device (as computer mouse) 100 has a curved bottom 110, or cooperates the mouse pad 140 with curved surface, if mouse 100 or mouse pad 140 is positioned over desktop, then can easily mouse be tilted to different angles.In case mouse moves and is a new angle of inclination, but the change of accelerometer detection level degree, and, move the display highlighting on user's graphical interfaces device (as computer screen) according to the levelness change.In addition, the design of display cursor control device 100 also takes into account following function.
Arrive shown in Fig. 1 D as Figure 1A, be called width along Y-axis, be called length along X-axis, the mobile more or less difference that human wrist can be done in different directions, for example, when mouse 100 is positioned on the desktop, wrist tilt mobile degree of freedom greater than on the degree of freedom that has a down dip, in order to compensate this difference degree, mouse 100 is designed to have narrower width W and long length L, L just〉W, so can allow and move more convenient along the inclination of directions X.In addition, it is highly sensitive in the Y direction at the inclination measurement of directions X that accelerometer is designed to mouse 100, can allow the user utilize inclination mouse 100 to realize preferable cursor control effect, therefore, along vertical direction, if same tilt angle theta, with respect to Y-axis compared with can produce bigger moving with respect to X-axis.
Except common control section in computer mouse such as traditional right button 115-R, left button 115-L and roller 118, mouse 100 of the present invention also comprises two side key 120-1 and 120-2, button 120-1 is used for adjusting table/unsettled operator scheme, the operator scheme that can change mouse goes up operator scheme or unsettled operator scheme for table, when unsettled operation mouse 100, just reduce cursor control sensitivity.One weight sensor (not shown) can be installed in mouse 100 bottoms in addition replace button 120-1, the weight sense operation of mouse 100 bottoms can be used to change operator scheme and goes up operator scheme or unsettled operator scheme for table.Button 120-2 can adjust use/standby mode, when button 120-2 presses the use pattern that enters, just can utilize the angle of inclination of mouse 100 to control cursor and move, if decontrol (or pulling open) button 120-2 then enter standby mode, even rolling mouse 100 also can not change the position of cursor.Mouse 100 also can provide a dual wait situation, if the mouse 100 motionless certain hour that surpass, for power saving, just close the power supply of mouse 100.Also can provide a function in addition,, then display highlighting be moved on to the central authorities of display device if push left button 115-L and right button 115-R continuously.
Except aforementioned mouse had a curved bottom, Fig. 2 A and Fig. 2 B showed another embodiment, and wherein mouse pad 140 has a curved surface, when the user uses mouse 100 on mouse pad 140, just can produce the angle of inclination cursor is moved.
The functional-block diagram of Fig. 3 A display cursor control device, cursor control device can be computer mouse 100, utilize the angle tilt action and the control cursor of two accelerometer sensing mouses 100 to move, cursor control device comprises the first accelerometer 150-1 and the second accelerometer 150-2, detect the acceleration of both direction respectively, for example along the acceleration of X-direction and Y-direction, detected acceleration signal sends the first low-pass filter 155-1 and the second low-pass filter 155-2 respectively to, some high frequency noise of filtering, send the signal that filters to first analog-digital converter (analog-to-digitalconverter then, ADC) 160-1 and the second analog-digital converter 160-2, after analog signal conversion become digital signal, input microprocessor 165, microprocessor 165 in addition can be from button 170 receiving inputted signals of mouse 100, button 170 can be button 115-R, 115-L, 120-1,120-2, the signal that the microprocessor 165 other rolling wheel encoding devices that receive roller 118 and 118 actions of processing roller are produced, microprocessor 165 carries out signal Processing, this part will be in explanation after a while, the signal of Chan Shenging is exported to computing machine 180 by computer interface 175 then, angle of inclination according to accelerometer 150-1 and mouse that 150-2 detects 100 changes, and computer interface 175 produces many stroke numerals data of representing cursor to move.
Fig. 3 B display radio mouse function block scheme, its structure is similar to the mouse of Fig. 3 A, unique difference is that wireless mouse comprises a radio-frequency (RF) transmitter 185, the cursor movable signal can be sent to the computing machine 180 with radio frequency receiver 190, radio frequency receiver 190 can receive the signal that sends from radio-frequency (RF) transmitter 185.
The software program that mouse beacon moves mainly is divided into five parts, and first carries out the function of setup parameter initial value; The second portion of program calculates present position, angle; The third part of program is carried out the function of calculating the cursor displacement, tries to achieve displacement according to the differential seat angle between the position, angle before present position, angle and 10 milliseconds; Moving at a slow speed of the 4th section processes mouse of program; At last, the 5th part of program is responsible for cursor moving data is exported to computing machine.
In theory, as long as acceleration measuring gets data, just can utilize measurement data to calculate and obtain correct position, mouse angle, in fact and can't correct calculation go out the position, angle of mouse but because the user may shake mouse when holding mouse, or have very little but irregular moving,, the measuring-signal that filters through low-pass filter still has residual noise, can form and disturb, make the value of position, angle continue change, move so the angle positional value that calculates can not be applied directly to the control cursor.Noise or hand slight moved and makes moving that cursor do not stop, position on display screen is irregular and uncontrollable change, when the control cursor by on the display screen a bit move on to fast outside the suitable distance more in addition, this situation uncontrollable or the flip-flop cursor position is not too obvious usually, but when low speed control cursor moves, this uncontrollable " cursor drift " phenomenon is just quite obvious, even if it is not mobile that mouse remains on the fixed position sometimes, this irritating cursor drift phenomenon also can appear.Overcome this problem and can revise the several parameters of wave filter, the higher-frequency part of filtering accelerometer measures signal, revise some parameter and just can reach effect, for the purpose of simplifying the description, the low-pass filter of following example will use lower by (cut-off) frequency, reduce cutoff frequency and can overcome this problem really, but reduce cutoff frequency and can cause other effect, for example reduce the sensitivity that the sensing mouse moves, make cursor variable get comparatively blunt and can't catch up with mouse moving, the present invention adds some control laws and avoids this problem, if in the slowly mobile situation of control cursor, just need advantages of higher stability and controllability, on the contrary, if controlling cursor fast moving or mobile phase situation when distance, cursor is important to the reaction capacity that mouse moves, it is more inessential that stability and controllability become on the contrary, therefore low-pass filter of the present invention will be adjusted cutoff frequency according to the speed that cursor moves, for example, if the pace of change of position, angle is very little, just reduce cutoff frequency, lower cutoff frequency can reduce high-frequency signal, and increases the stability and the controllability of cursor; On the contrary, if the very big cursor fast moving that makes of the pace of change of position, angle, just improve cutoff frequency, so can increase the high-frequency signal part, cursor moves the reaction capacity that also has faster to mouse, heighten cutoff frequency and can bring more high frequency noise, make cursor that unsettled little moving be arranged, but if under the situation of control cursor fast moving, just do not need too to worry this cursor phenomenon of " drift " slightly, because the user be not at this moment control cursor be used to refer to and remain in the fixed position, mainly be to make cursor move to other positions from a position on the display screen.
In one embodiment of the invention; after accelerometer, select to place a 100Hz low-pass filter; with the signal more than the hardware mode rejection frequency 100Hz; in the present invention; more utilize a special software low-pass filter; wherein cutoff frequency depends on the speed that mouse moves; cutoff frequency is adjusted to rate of change in position, angle according to the accelerometer measures result; the software low-pass filter is carried out a secondary program for per 10 milliseconds; utilize the measurement result of accelerometer; at first try to achieve the angle position change of mouse in these 10 milliseconds; calculate the mouse translational speed; it is when mouse moves very slowly that a kind of special situation is arranged; the operation of mouse may have several times to be interrupted, and judgement mouse moving speed can not only also must be calculated the average velocity in several 10 milliseconds of time intervals according to beginning to 2 differential seat angle between finishing these 10 milliseconds; the angle shift in position that these are continuous is included consideration in, calculates average mouse translational speed.
For convenience's sake, the operation of handling the accelerometer measures result is divided into four kinds of states, is respectively (1) stationary state, mouse is treated not move a position; (2) mouse low speed moves; (3) the mouse middling speed moves; And (4) mouse high-speed mobile.Can use different low-pass filter parameters at these four kinds of states.
Software filter is carried out calculation procedure, at first calculates position, present angle, and compares with the position, angle before 10 milliseconds, estimates angular displacement according to following rule: if angular displacement is considered as noise less than a predetermined value A with difference, do not need moving cursor; If angular displacement less than another predetermined value B, is multiply by α value with angular displacement greater than predetermined value A, generate the cursor movement value; If angular displacement less than another predetermined value C, be multiply by the β value with angular displacement greater than the part of predetermined value B greater than predetermined value B, another part then multiply by the α value, and both additions generate the cursor movement value.So, when the mouse translational speed increases gradually, multiplication factor can increase gradually, to increase the weight of its weight, can strengthen the reaction capacity that cursor moves mouse.The program that adds up of velocity dependent low-pass filter and calculating cursor movement value all is for identical purpose, be exactly irregular slight the moving of handling user's hand with lower sensitivity, cursor is less to the reaction that mouse moves a little, just can increase the stability of cursor when mobile at a slow speed, help the user to point to and control cursor, just advantages of higher stability and controllability can be arranged when cursor is mobile at a slow speed in a fixed position.On the contrary,, will improve the reaction capacity that cursor moves mouse, and when the calculating cursor moves, add bigger weight factor and can reach this effect if the fast moving mouse surpasses predetermined speed.
Above-mentioned accumulation method has one to use restriction, if the user uses very slow speed rolling mouse, even if the angle of inclination of mouse is very big, but the change of the angular displacement within per 10 milliseconds is lower than minimum predetermined value A, cursor can be maintained fixed motionless, handle this " fine motion work " situation so use a mobile at a slow speed calculation rule, when the execution fine motion deals with program, calculate present angular displacement, judgement along the angular displacement of X-direction whether less than minimum predetermined value A, if along the angular displacement of directions X less than minimum predetermined value A, the notice cursor does not move, the position, present angle and the reference angular position that compare X-direction simultaneously, if difference between the two is greater than mobile threshold value at a slow speed, control cursor so and move a pel point along X-direction, redefining reference angular position is position, present angle, above-mentioned calculation rule also may be used on moving of Y direction, the benefit of this method is to make things convenient for the user can make cursor once move the distance of a pel point, and the mouse that so slowly tilts also can correctly be controlled cursor and move at a slow speed.
See also Fig. 4, Fig. 4 is synoptic diagram according to a particular embodiment of the invention, the control operation that microprocessor 165 is performed is described, signal that processing accelerometer 150-1 and 150-2 send and process communication module (radio frequency receiver) 190 are exported to computing machine, the all operating parameters of control program elder generation's initialization, comprising the cutoff frequency of aforesaid software low-pass filter, after the initiation parameter, the position, present angle of computing mouse.
According to embodiment and the explanation of Fig. 1 to Fig. 3, the invention discloses data handling system 200 as Fig. 4, data handling system 200 comprises the display cursor control device 210 of the cursor on the may command display screen 220, just Fig. 1 is to the illustrated control device of Fig. 3, display cursor control device 210 also comprises low-pass filter, but the part signal that is higher than cutoff frequency in the filtering accelerometer institute output signal, wherein cutoff frequency depends on cursor moving speed, cursor moving speed is then controlled by the angle position rate of display cursor control device, in one embodiment, data handling system 200 can be personal computer (Fig. 4), personal computer 200 is connected with display cursor control device 210, can receive its signal and controls cursor and move.In another embodiment, display cursor control device also comprises the housing with curved bottom, the display cursor control device that therefore can tilt easily, the levelness of accelerometer in the change housing.In another embodiment, the display highlighting device also comprises device in the little place, can realize this low-pass filter.In another embodiment, display cursor control device also comprises a radio signal senders, exports the display highlighting control signal to data handling system.In another embodiment, the low-pass filter of display cursor control device is adjusted cutoff frequency according to the angle position rate of display cursor control device, if the angle position rate reduces, then reduce cutoff frequency, to increase the stability and the controllability of display highlighting when low speed moves.In another embodiment, the low-pass filter of display cursor control device is adjusted cutoff frequency according to the angle position rate of display cursor control device, if the angle position rate increases, then increase cutoff frequency, to increase the reaction capacity of display highlighting when the fast moving.In another embodiment, display cursor control device also comprises a microprocessor, can repeat angle position calculation program every a schedule time, tries to achieve the angle position change in this schedule time, in the hope of the angle position rate of this display cursor control device.In another embodiment, this microprocessor can be tried to achieve the angle position change of this display cursor control device in repeating angle position calculation program in schedule time of 10 milliseconds nearly.In another embodiment, the angle position rate in the nearest time interval is lower than a predetermined value, predicts that this display cursor control device has intermittent interruption, this microprocessor just to try to achieve average angle position rate in several time intervals when mobile at a slow speed.In another embodiment, if microprocessor judges should be lower than noise threshold by the angle position change in the schedule time, then this microprocessor more produces the signal of control display highlighting, makes display highlighting motionless in anchored in place.In another embodiment, this microprocessor more produces the signal of control display highlighting, and making cursor moving speed is that the angular velocity varies speed of display cursor control device multiply by a weight factor, and this weight factor is corresponding to the angle position rate.In another embodiment, this processor calculates the proportion factor of corresponding angles position rate, earlier the angle position rate is distinguished into several velocity ranges, the higher bigger weight factor of velocity range correspondence, angle position rate in each velocity range be multiply by corresponding weight factor, therefore display highlighting has reaction capacity preferably when high-speed range, and advantages of higher stability is arranged when low-speed range.In another embodiment, if microprocessor judges should be lower than noise threshold by the angle position change in the schedule time, microprocessor can be carried out one and move calculation at a slow speed, try to achieve in position, present angle on the specific direction and the difference between reference angular position, if difference moves threshold value greater than cursor, even the angle position change in the schedule time at present is lower than noise threshold, microprocessor also can produce signal makes display highlighting move the distance of a pel point along this specific direction.In another embodiment, microprocessor is carried out this and is moved calculation at a slow speed on X-direction.In another embodiment, microprocessor is carried out this and is moved calculation at a slow speed on Y direction.In another embodiment, this display cursor control device also comprises a housing, constitutes a shell that seals fully, is essentially waterproof and dustproof housing.In another embodiment, the cursor that this display cursor control device is controlled this data handling system by the position, angle that tilts different moves, and can use on stayed surface or unsettled use.In another embodiment, this display cursor control device also comprises a housing, has an elliptical profile, can conveniently tilt to position, different angle.In another embodiment, this display cursor control device also comprises first accelerometer and second accelerometer, measure respectively along the angle of inclination of mutually perpendicular first direction and second direction, utilize two different cursors to respond parameter control cursor moving on this first direction and second direction.
Though the present invention describes by above-mentioned preferred embodiment; do not limit the invention to this embodiment but do not represent; those of ordinary skills can change and modify according to this by above-mentioned explanation, do not take off the category and the spirit of the determined protection domain of claim of enclosing.
Claims (13)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US11/981,330 US20090146953A1 (en) | 2006-10-30 | 2007-10-30 | Methods for processing data from accelerometer in anticipating real-time cursor control movements |
| US11/981,330 | 2007-10-30 |
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| CN101430617A true CN101430617A (en) | 2009-05-13 |
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| CN103518172A (en) * | 2011-04-21 | 2014-01-15 | 索尼计算机娱乐公司 | Gaze-assisted computer interface |
| CN110489027A (en) * | 2019-07-05 | 2019-11-22 | 深圳市格上格创新科技有限公司 | Handheld input device and its display position control method and device for indicating icon |
| CN110645959A (en) * | 2018-06-26 | 2020-01-03 | 晶翔机电股份有限公司 | Surface slope identification device and identification method thereof |
| CN111189447A (en) * | 2018-11-15 | 2020-05-22 | 北京自动化控制设备研究所 | Low-pass filtering method of position measurement inertial navigation system |
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| CN103518172A (en) * | 2011-04-21 | 2014-01-15 | 索尼计算机娱乐公司 | Gaze-assisted computer interface |
| CN103518172B (en) * | 2011-04-21 | 2016-04-20 | 索尼计算机娱乐公司 | Stare auxiliary computer interface |
| US9971401B2 (en) | 2011-04-21 | 2018-05-15 | Sony Interactive Entertainment Inc. | Gaze-assisted computer interface |
| CN103389806A (en) * | 2012-05-11 | 2013-11-13 | 深圳大学 | Wireless free mouse system based on micro-accelerometer |
| CN110645959A (en) * | 2018-06-26 | 2020-01-03 | 晶翔机电股份有限公司 | Surface slope identification device and identification method thereof |
| CN110645959B (en) * | 2018-06-26 | 2022-02-01 | 晶翔机电股份有限公司 | Surface slope discriminating device and discriminating method thereof |
| CN111189447A (en) * | 2018-11-15 | 2020-05-22 | 北京自动化控制设备研究所 | Low-pass filtering method of position measurement inertial navigation system |
| CN110489027A (en) * | 2019-07-05 | 2019-11-22 | 深圳市格上格创新科技有限公司 | Handheld input device and its display position control method and device for indicating icon |
Also Published As
| Publication number | Publication date |
|---|---|
| TW200928888A (en) | 2009-07-01 |
| CN101430617B (en) | 2011-11-30 |
| TWI396117B (en) | 2013-05-11 |
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