초록 ▼

A method and apparatus for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism provides two revolute degrees of freedom to an object about two axes of rotation. A linear axis member is coupled to the gimbal mechanism at the intersection of the

A method and apparatus for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism provides two revolute degrees of freedom to an object about two axes of rotation. A linear axis member is coupled to the gimbal mechanism at the intersection of the two axes of rotation. The linear axis member is capable of being translated along a third axis to provide a third degree of freedom. The user object is coupled to the linear axis member and is thus translatable along the third axis so that the object can be moved along all three degrees of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a digital processing system. Capstan drive mechanisms transmit forces between the transducers and the object. The linear axis member can also be rotated about its lengthwise axis to provide a fourth degree of freedom, and, optionally, a floating gimbal mechanism is coupled to the linear axis member to provide fifth and sixth degrees of freedom to an object. Transducer sensors are associated with the fourth, fifth, and sixth degrees of freedom. The interface is well suited for simulations of medical procedures and simulations in which an object such as a stylus or a joystick is moved and manipulated by the user.

대표청구항 ▼

[ What is claimed is:] [1.] An apparatus for interfacing motion of a user-manipulable object with an electrical system comprising:a gimbal mechanism including a plurality of members and providing two revolute degrees of freedom to a user-manipulable object about two axes of rotation, wherein said gi

[ What is claimed is:] [1.] An apparatus for interfacing motion of a user-manipulable object with an electrical system comprising:a gimbal mechanism including a plurality of members and providing two revolute degrees of freedom to a user-manipulable object about two axes of rotation, wherein said gimbal mechanism includes a closed loop five member linkage, and wherein each of said five members is rotatably coupled to at least two other members of said linkage, and wherein said five member linkage includes:a ground member coupled to a ground surface;first and second extension members, each extension member being coupled to said ground member; andfirst and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to each other at ends not coupled to said extension members and wherein at least one of said central members is translatably coupled to said linear axis member;a linear axis member translatably coupled to said gimbal mechanism and independently translatable with respect to said gimbal mechanism along a linear third axis in a third degree of freedom, wherein said object is coupled to said linear axis member and is independently translatable along said third axis with respect to said gimbal mechanism, said third axis extending approximately through an intersection of said two axes of rotation; anda first degree of freedom transducer coupled between two of said members of said gimbal mechanism;whereby said transducer provides an electromechanical interface between said object and said electrical system.