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WO1992009996A1 - Systeme d'entree analogique situe dans la zone principale de frappe d'un clavier - Google Patents

Systeme d'entree analogique situe dans la zone principale de frappe d'un clavier Download PDF

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Publication number
WO1992009996A1
WO1992009996A1 PCT/US1990/006831 US9006831W WO9209996A1 WO 1992009996 A1 WO1992009996 A1 WO 1992009996A1 US 9006831 W US9006831 W US 9006831W WO 9209996 A1 WO9209996 A1 WO 9209996A1
Authority
WO
WIPO (PCT)
Prior art keywords
keyboard
key
joystick
keys
sensor means
Prior art date
Application number
PCT/US1990/006831
Other languages
English (en)
Inventor
Joseph D. Rutledge
Edwin J. Selker
Original Assignee
Lexmark International, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lexmark International, Inc. filed Critical Lexmark International, Inc.
Priority to PCT/US1990/006831 priority Critical patent/WO1992009996A1/fr
Priority to US07/915,704 priority patent/US5521596A/en
Publication of WO1992009996A1 publication Critical patent/WO1992009996A1/fr

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/02—Input arrangements using manually operated switches, e.g. using keyboards or dials
    • G06F3/0202—Constructional details or processes of manufacture of the input device
    • G06F3/021—Arrangements integrating additional peripherals in a keyboard, e.g. card or barcode reader, optical scanner
    • G06F3/0213—Arrangements providing an integrated pointing device in a keyboard, e.g. trackball, mini-joystick
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
    • H01H25/00—Switches with compound movement of handle or other operating part
    • H01H25/04—Operating part movable angularly in more than one plane, e.g. joystick

Definitions

  • the present invention relates to the field of 5 analog input devices for inputting information into a computer.
  • Analog input devices for inputting information into a computer are used to enter discrete information io by pressing, for example, discrete, binary keys.
  • analog input devices may be used as pointing devices to enter one or more channels of analog information, such as, for example, information relating to the force applied to an analog pointing
  • the present invention relates specifically to analog input devices for performing a class of mixed
  • 25 include: 1. text editing on a computer, alternating focusing on a point on the screen with entering or deleting text at that point.
  • menu-driven computer applications in which selection from a menu alternates with selection of points on the screen remote from the menu, and data entry at those points.
  • an analog pointing device for example, a mouse, which is located on a separate surface immediately adjacent to a discrete binary keyboard input device.
  • the analog pointing device is moved around on the surface and a cursor is correspondingly moved around a computer screen.
  • the next step of development involved placing sensors, such as strain gauge sensors, adjacent to a particular standard key on the keyboard as described in U.S. Patent No. 4,680,577 to Straaver et al.
  • sensors such as strain gauge sensors
  • the key when the key is pressed in a normal direction, i.e., vertically downwards and perpendicular to the key cap surface, the key performs its normal function of inputting a specific character.
  • the strain gauge sensors sense such motion and the cursor is correspondingly moved on the screen.
  • One object of the present invention is to combine an analog pointing device and a data entry device into the same area in such a way that an existing data entry device may be easily retrofitted to produce the data entry device/analog pointing device combination.
  • a second object of the present invention is to combine an analog pointing device and a data entry device into the same area in such a way that the keys of the data entry device are not necessarily constrained, as in the conventional devices mentioned above, to be used as the analog pointing device. Instead, the analog pointing device may be located between the keys of the data entry device.
  • a third object of the present invention is to combine an analog pointing device and a data entry device into the same area in such a way that more than two degrees of freedom of pointing device movement may be sensed, thus, allowing for increased control of cursor movement.
  • a generally rectangular shaped sensor assembly including a plurality of sensors, which may be placed either directly underneath an existing key of a data entry device or in between two keys of a data entry device.
  • the key is used as the analog pointing device.
  • a separate joystick is used as the analog pointing device.
  • the sensors in the sensor assembly are arranged in such a way that they can sense up to six degrees of freedom of the analog pointing device. Specifically, these degrees of freedom are the x, y and z axial directions as well as the rotational directions around these x, y and z axial directions.
  • Figures la and lb show one embodiment of a sensor apparatus of the present invention, such an apparatus being of a direct compression type;
  • Figures 2a through 2d show another embodiment of a sensor apparatus of the present invention, such an apparatus being of a cantilever type;
  • Figure 3 shows one embodiment of a joystick according to the present invention.
  • Figure 4 shows another embodiment of a joystick according to the present invention.
  • a key in a normal keyboard is a rigid object with six degrees of freedom, which may be thought of as a force vector and a torque vector, each of three components.
  • the key responds to one component of the force vector, say the z component, perpendicular to the plane of the keyboard; it is constrained in the other five components.
  • forces and torques can be measured with displacements small compared to the tolerances and spacings ordinarily found in keyboards, making five analog quantities available in principle.
  • the z component is available to a limited extent, since when the key is at one or the other limit of its travel additional force in that direction has no effect on its normal function and may be used as an analog input; once the key is fully depressed, additional downward force may be measured and used.
  • Approach 2 add- sensors to the key and/or keyboard without interfering with the operation of the key.
  • Approach 2 has the advantage that, when applicable, it can be used to retrofit existing keyboards with minimal expense and effort.
  • the implementation of the measurement system must be adapted to the type of constraint; generally, the small movements of a 'loose bearing' key may be further constrained and measured to determine forces on it, while for a 'tight bearing' key it is necessary to measure strains in the key's own constraint system.
  • a general class of implementations takes the key as a rigid body, and applies constraints to it, with means to measure forces on the constraints resulting from forces and torques applied to the key.
  • a useful subclass applies the constraints only when the key is in its 'depressed' position.
  • a subclass of these may be characterized as implementations in which the key is a truncated rectangular pyramid, with the base downward and parallel to the plane of the keyboard, and with its 'normal' key-function movement roughly normal to that plane.
  • a sensing chip to be described below, is placed so that at the bottom of the key's travel, and just before reaching any other stop, the four corners of the base of the key come to rest on 'anvils' placed on the four corners of the chip, which constrain its further motion.
  • Any force vector now applied to the top surface of the key which passes through the base will result in force on each of the anvils with a positive downward component. If the downward component on each anvil is measured (4 quantities), a 3-vector is (over-)determined which measures the force applied to the top of the key in magnitude and direction. Any additional measurement(s) of force on the anvils in a horizontal direction will yield the torque about the vertical (z) axis.
  • the horizontal axis of rotation may be taken as passing through the point of contact of the key constraint (at the upper end of the bearing) and the vertical axis as the vertical axis of the key, with negligible error (to be demonstrated) . This justifies the neglect of the bearing as affecting the analog input for the purposes of human input with immediate feedback, though not for precise measurement purposes.
  • a class of implementations can be characterized as consisting of a sensing unit (chip) which fits between the base of the key and the keyboard base (with required cutout for the bearing structure of the key) , and carrying on its four corners sensing devices (load cells) capable of transducing at least vertical and perhaps horizontal forces applied to them into electrical or other signals, together with signal processing means, located either locally or remotely or both, to transform these signals into signals appropriate for input to an associated computer, or other intended application.
  • the load cells are mounted on the keyboard base (i.e. the structure with respect to which the key moves) which then replaces the structural function of the chip.
  • the load cells will be relatively rigid, with displacements of at most a few thousandths of an inch under working load.
  • Cantilever structures as shown in Fig. 2a through 2d will now be described.
  • the distinguishing feature of this class of embodiments is that the element 1 which resists the key force is distinct from the sensor proper 12.
  • strain gauge sensors will be described as an example of the cantilever structure shown in Figs. 2a- 2d.
  • the resulting strain in one or more surfaces of the beam is detected as the resulting change in the resistance of an attached strain gauge, by well-known techniques.
  • Miniature semi-conductor strain gauges are appropriate for this function.
  • Four gauges 12, one on the upper or lower surface of each beam, will provide the vertical forces; gauges similarly located on the sides of the beams will give axial torque, if required.
  • Conventional techniques would require at least two gauges, on opposite surfaces, with perhaps two more oriented across the direction of strain, for precision measurement, temperature compensation, etc.
  • the four gauges so used are in similar temperature environments, they can be made to be mutually compensating. If the vertical and torque forces are required, more gauges may be required for high accuracy and/or temperature compensation.
  • the resistances may be measured and the resulting signals completely or partially processed by integrated circuitry located on the chip, or by circuitry located at a distance, and connected by an appropriate cable, which can be small enough to fit into the free space in most current keyboards.
  • the reference numeral 2 refers to a rigid base of the cantilever assembly.
  • Reference numeral 4 refers to a rigid part of the base which does not appreciably move. The part 4 simply connects the cantilever arm 1 to the base 2.
  • the parts 1, 2 and 4 are all one piece.
  • Reference number 13 represents the gap that exists between the cantilever arm 1 and the base 2.
  • Reference numerals 6-10 show terminal points which are holes for receiving the necessary wiring used to relate information from the strain gauges 12 to the outside of the sensor chip.
  • Reference numeral 25 refers, in general, to the cantilever-type embodiment.
  • the reference number 5 refers to a section of the base 2 which is hollowed out so as to be able to accommodate the conventional lower part 15 of the key-mechanism of a keyboard base 16 as shown in Fig. 2d.
  • Figs. 2a through 2d show a plan view, an end view, a side view and a perspective view, respectively, of the cantilever-type embodiment of the present invention.
  • Fig. 2d also shows the relationship between the inventive cantilever-type sensor assembly and a conventional key assembly of a data entry keyboard. As shown in Fig. 2d, the inventive cantilever-type sensor assembly is simply placed in between the conventional key cap 14 and the conventional lower part 15 of the key mechanism of the keyboard base 16. Therefore, according to the present invention, existing keyboards may be easily retrofit to accommodate the cursor moving function.
  • cantilever-type embodiment may use other types of sensors besides strain gauge sensors.
  • the following is a list of other types of sensors which may be used as alternative to the strain gauge sensors described above.
  • Piezo-electric sensors A strip of piezo ⁇ electric material is bonded to one or more surfaces of each beam, as in the strain gauge case. Bending of the beam results in both bending and stain in the piezo-electric material, with resultant displacement of charge. This is detected either as a voltage or directly by an operational amplifier in an integrator mode, the resulting signal providing the required force measurement.
  • Magnetic reluctance sensors A magnetic flux circuit runs through the cantilever arm 1, the gap 13 between the anvil end of the arm and the base 2, the base 2, and the anchorage 4 of the arm. Flux is supplied by a permanent magnet located in any part of this circuit (except the gap) , most conveniently the base 2. All of these parts are composed of a material with high magnetic permeability, such as permalloy. Movement of the arm 1 results in a change in the gap, with resultant change in the flux in the circuit; this change results in a voltage in a coil surrounding some part of the circuit remote from the permanent magnet. This is input to an integrating operational amplifier, or circuit with similar function, the output of which gives a measure of the position of the anvil, and hence of the force on it. This is similar in principle to the familiar 'variable reluctance' phonograph pickup.
  • a coil is located in the base 2 immediately below the end of cantilever arm 1 carrying the anvil 3, and the bottom of that arm carries a high-permeability 'core' which is inserted into and withdrawn from the coil as the arm moves up and down. The resulting variation in the inductance of the coil from its value in the 'zero' position of the arm is detected by any of the well- known circuits for this purpose.
  • Variable capacitance sensors One plate of a capacitor is located on the base 2 under the end of the cantilever arm 1 carrying the anvil 3, and the other is located on the lower surface of that arm.
  • the capacitance varies with the position of the arm, and its deviation from the 'zero' condition may be measured by any of the well-known methods. Due to the small size of the capacitance in question and the magnitude of stray effects, it is desirable to locate the first stage of the required circuitry on the chip, in proximity to the sensor.
  • drift may occur, and it will be desirable to reset the detector circuitry to zero whenever it is known that the force on the anvils is zero, for example when the key is in its 'up' position. This drift correction will be described with respect to the next group of embodiments to be discussed below.
  • the next group of embodiments relate to direct compression load cells.
  • the sensor elements themselves support the key forces. Most of these only measure force in the -z direction, and do not easily provide the torque component.
  • the cantilever-type embodiments provide for much more versatility, in terms of degrees of freedom.
  • the first embodiment uses piezo-electric sensors.
  • a layer 30 of piezo-electric material as shown in Fig. lb e.g. a barium titanate formulation such as PZT8 or PZT15
  • a very-high-impedance input amplifier such as an FET operational amplifier as is well known in the art.
  • the amplifier By operating the amplifier in its integrator mode, with the input (and the voltage across the piezo-electric material) held at zero, problems of drift and leakage are minimized.
  • the resulting sensing structure is simple, very thin, and has a stable, robust output giving an accurate measurement of downward force on the four anvils. Problems of temperature sensitivity are minimized if only the horizontal components of the key force are required, due to mutual compensation among the four sensors.
  • Fig. lb This feature has as its goal to correct drift problems that occur with respect to the voltage developed across the piezo- electric material. More specifically, in the past it was difficult to get the voltage back to zero when an operator takes her hand off of a key.
  • a shorting switch 35 moves away from the piezo-electric material and an open circuit is created between the piezo-electric material and ground.
  • a short circuit is created by the shorting switch 35 between the piezo-electric material and ground.
  • the sensor elements were described as being piezo- electric sensors. Other types of sensors may also be used; the following are examples of other types of direct compression load cell sensor types.
  • Piezo-resistive sensors A layer of material located directly under the anvil responds to applied force and the resulting compression with a change in resistance, which is measured by well-known means to provide the required force measurement.
  • Candidate materials are 1. properly doped and oriented silicon crystal, as in the available semi-conductor stain gauges, and 2. any of a number of variations on the venerable scheme of the carbon microphone, including stacked and random graphite fibers, plastic foams coated with graphite, and various 'conductive rubber' formulations which provide a fine-grained array of conductors, more or fewer of which are contacted depending on the force applied.
  • Resistive fluid sensors Movement of the anvil displaces fluid from a thin layer beneath it. The displaced fluid moves into a pressurized reservoir - an elastic bladder and a gas-filled enclosed space are two possibilities; the pressure of the fluid carries the load of the key forces, and the thickness of the layer under an anvil is a measure of the force on that anvil. The thickness can be measured, for example by:
  • the electrical resistance through the layer using a fluid with an appropriate conductivity (e.g. a weak electrolyte) .
  • the signal processing requirement are identical to those of other sensors using piezo-resistance.
  • the optical thickness of the layer using a fluid of appropriate opacity. Measurement can be by a light source and detector in the base, with the upper surface of the fluid cavity (the bottom of the anvil) made reflective, or alternatively with either light source or detector placed in the anvil structure.
  • the fluid may be a gas of appropriate opacity, in a bellows, piston, or bladder structure. Bromine comes to mind, though something less chemically active would be preferable.
  • a fixed joystick to be operated by the fingertip, located in a suitable position on the keyboard, for example in the space between the G and H keys of a standard QWERTY keyboard, and extending up approximately to, or slightly above, the level of the key caps in their normal, or up, position. Some minor modification of the adjoining keycaps may be required. In this position it will not interfere with normal typing, nor is it likely to be hit accidentally, and may function as a normal joystick, in much the same way as the key joysticks disclosed above, but without the need for mode switching.
  • the joystick may also be located between two thumb-activated keys on a keyboard commonly used in airplanes.
  • the simplest implementation of the fixed joystick is probably as a simple shaft, anchored in the keyboard base, with piezo-resistive miniature strain gauges on its four sides.
  • Other implementations could involve placing one of the sensor apparatuses of Figs. 1 and 2 or any other variation discussed above in between two keys of a keyboard and using a joystick to apply forces to the sensor apparatus. It can be implemented as an add-on, inserted into an existing keyboard with at most modification of the adjacent key caps.
  • a conventional miniature joystick can be located adjacent to the primary typing area, for example just above and to the right, permitting simultaneous use of the joystick and (one-handed) typing.
  • any of the above implementation technologies may be used, with additional freedom from space restrictions.
  • An extension piece could be attached to the keyboard to place the joystick below the space bar, for example, thus allowing an existing keyboard to be easily retrofitted.
  • the joysticks mentioned may be of two different types.
  • One type of joystick has, at the top, a small sphere that can be grabbed on to.
  • the small sphere 41 as shown in Fig. 3 is mounted on a stalk 42.
  • the sphere may be easily manipulated with the fingertips to provide for all six degrees of freedom with an appropriate array of sensors located either inside the sphere or in the base, such services measuring forces between the sphere and its mounting.
  • a sensor assembly 43 may be provided, such a sensor assembly being of the same type of the assembly 25 of Figure 2d or any other of the sensor assemblies described above.
  • FIG. 4 Another embodiment of the joystick may be used by users who prefer not to grab onto the joystick with more than one finger (or a finger and a thumb) , as in the embodiment of Fig. 3, but instead to guide the joystick by placing a single finger on the top of the joystick.
  • Fig. 4 the top 51 of the joystick is shaped with a cup-like shape so as to conform to a finger tip. Thus, a finger tip will fit comfortably in the joystick top 51.
  • a sensor assembly 53 may be either the same type as the assembly as of Fig. 2d or any other of the sensor assemblies described above.
  • the sensor assembly 25 of Figure 2d would sense the six degrees of freedom of movement of the joystick (41, 42) instead of that of the key cover 14.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Input By Displaying (AREA)

Abstract

On place un dispositif de capteur (25) sous le dessus d'une touche d'un clavier ou bien entre deux touches, de sorte que le déplacement du curseur peut être effectué depuis ce même clavier. Si le dispositif de capteur est placé sous le dessus de la touche (14), celui-ci (14) devient alors une commande manuelle de curseur. Alternativement, si le dispositif de capteur (25) est placé entre deux touches, une manette (42) sert de commande manuelle du curseur.
PCT/US1990/006831 1990-11-29 1990-11-29 Systeme d'entree analogique situe dans la zone principale de frappe d'un clavier WO1992009996A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/US1990/006831 WO1992009996A1 (fr) 1990-11-29 1990-11-29 Systeme d'entree analogique situe dans la zone principale de frappe d'un clavier
US07/915,704 US5521596A (en) 1990-11-29 1990-11-29 Analog input device located in the primary typing area of a keyboard

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US1990/006831 WO1992009996A1 (fr) 1990-11-29 1990-11-29 Systeme d'entree analogique situe dans la zone principale de frappe d'un clavier

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WO1992009996A1 true WO1992009996A1 (fr) 1992-06-11

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1994024685A1 (fr) * 1993-04-09 1994-10-27 Kinesis Corporation Clavier ergonomique et dispositif et appareil pointeurs
EP0663648A2 (fr) * 1994-01-14 1995-07-19 International Business Machines Corporation Transducteur de force
EP0681261A1 (fr) * 1994-04-29 1995-11-08 International Business Machines Corporation Transducteur pour dispositif de pointage utilisant des résistances à film épais comme jauges de contrainte
EP0685817A1 (fr) * 1994-06-03 1995-12-06 International Business Machines Corporation Transducteur de force utilisé dans un clavier d'ordinateur
US5568987A (en) * 1990-07-24 1996-10-29 Incontrol Solutions, Inc. Pointing stick in a computer keyboard for cursor control
EP0702288A3 (fr) * 1994-09-15 1997-02-05 Ibm Dispositif d'entrée pour ordinateur
US5659334A (en) * 1993-12-15 1997-08-19 Interlink Electronics, Inc. Force-sensing pointing device
US6184865B1 (en) 1996-10-23 2001-02-06 International Business Machines Corporation Capacitive pointing stick apparatus for symbol manipulation in a graphical user interface
USD585063S1 (en) 2007-11-27 2009-01-20 Kinesis Corporation Keyboard
TWI803704B (zh) * 2018-12-13 2023-06-01 新加坡商雷蛇（亞太）私人有限公司 類比輸入裝置、計算系統及用於接收和處理類比輸入的方法

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US4949080A (en) * 1988-12-12 1990-08-14 Mikan Peter J Computer keyboard control accessory
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US4680577A (en) * 1983-11-28 1987-07-14 Tektronix, Inc. Multipurpose cursor control keyswitch
US5021771A (en) * 1988-08-09 1991-06-04 Lachman Ronald D Computer input device with two cursor positioning spheres
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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5568987A (en) * 1990-07-24 1996-10-29 Incontrol Solutions, Inc. Pointing stick in a computer keyboard for cursor control
US5689253A (en) * 1991-04-10 1997-11-18 Kinesis Corporation Ergonomic keyboard apparatus
WO1994024685A1 (fr) * 1993-04-09 1994-10-27 Kinesis Corporation Clavier ergonomique et dispositif et appareil pointeurs
US5828363A (en) * 1993-12-15 1998-10-27 Interlink Electronics, Inc. Force-sensing pointing device
US5659334A (en) * 1993-12-15 1997-08-19 Interlink Electronics, Inc. Force-sensing pointing device
EP0663648A2 (fr) * 1994-01-14 1995-07-19 International Business Machines Corporation Transducteur de force
EP0663648A3 (fr) * 1994-01-14 1995-10-18 Ibm Transducteur de force.
US5867808A (en) * 1994-01-14 1999-02-02 International Business Machines Corporation Force transducer with screen printed strain gauges
EP0681261A1 (fr) * 1994-04-29 1995-11-08 International Business Machines Corporation Transducteur pour dispositif de pointage utilisant des résistances à film épais comme jauges de contrainte
EP0685817A1 (fr) * 1994-06-03 1995-12-06 International Business Machines Corporation Transducteur de force utilisé dans un clavier d'ordinateur
US5694123A (en) * 1994-09-15 1997-12-02 International Business Machines Corporation Keyboard with integrated pointing device and click buttons with lock down for drag operation in a computer system with a graphical user interface
EP0702288A3 (fr) * 1994-09-15 1997-02-05 Ibm Dispositif d'entrée pour ordinateur
US6184865B1 (en) 1996-10-23 2001-02-06 International Business Machines Corporation Capacitive pointing stick apparatus for symbol manipulation in a graphical user interface
USD585063S1 (en) 2007-11-27 2009-01-20 Kinesis Corporation Keyboard
USRE43485E1 (en) 2007-11-27 2012-06-26 Kinesis Corporation Keyboard
TWI803704B (zh) * 2018-12-13 2023-06-01 新加坡商雷蛇（亞太）私人有限公司 類比輸入裝置、計算系統及用於接收和處理類比輸入的方法

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