초록 ▼

A connection element such as a thimble connects to a user\s body member, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to

A connection element such as a thimble connects to a user\s body member, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable. Signal processing equipment powers the actuators to deliver a signal at the connection element that represents a virtual situation generated by a programmed computer, or physical conditions in a remote environment. A virtual switch presents to the user the force and displacement relationship of a spring switch. A virtual bristled brush presents the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user\s changes in location.

대표청구항 ▼

A transmission comprising: a. a first rotary element, having a first portion and a second portion, said first and second portions being rotatable relative to each other, said second portion being connected through a cable to a reference; b. a second rotary element, also having a first portion and a

A transmission comprising: a. a first rotary element, having a first portion and a second portion, said first and second portions being rotatable relative to each other, said second portion being connected through a cable to a reference; b. a second rotary element, also having a first portion and a second portion, said first and second portions of said second rotary element being rotatable relative to each other, said second portion of said second rotary element being connected through said cable to said reference; c. a kinematic connection from said first portion of said first rotary element to a specified point; and d. a kinematic connection from said first portion of said second rotary element to said specified point.