A force feedback interface and method providing a selective disturbance
filter for providing selective reduction or elimination of displayed
disturbances associated with output force sensations. A force feedback
interface device is connected to a host computer that displays a
graphical environment. The interface device includes a user manipulatable
object, a sensor for detecting movement of the user object, and an
actuator to apply output forces to the user object. A microprocessor
outputs controlling force signals to the actuator, receives sensor
signals from the sensors and reports locative data to the host computer
indicative of the movement of the user object. The host computer updates
a position of a displayed user-controlled graphical object in the
graphical environment based on the reported data. The microprocessor
implements a selective disturbance filter for modifying the locative data
reported to the host computer when the output force would cause a
disturbance to the user-controlled graphical object, the disturbance
occurring when an output force sensation affects the position of the user
object such that the host computer would display the user controlled
graphical object in an undesired location or with an undesired motion in
the graphical environment.