[특허]Method and apparatus for providing high bandwidth force feedback with improved actuator feel

[미국특허] Method and apparatus for providing high bandwidth force feedback with improved actuator feel 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06F-019/00
출원번호	US-0791020 (1997-01-27)
발명자 / 주소	Schena Bruce M. Rosenberg Louis B.
출원인 / 주소	Immersion Corporation
대리인 / 주소	Riegel
인용정보	피인용 횟수 : 131 인용 특허 : 80

초록 ▼

A method and apparatus for providing low-cost, realistic force feedback including an improved actuator. Force sensations are provided to a user and an interface device coupled to a host computer allows a user to interact with a host application program. A user object, such as a joystick, is moveable by a user in at least one rotary degree of freedom. A sensor reports a locative signal to the host computer to indicate a position of the user object. An actuator outputs forces on the user object in response to signals from the host computer and program. The actuator includes a housing, a set of grounded magnets provided on opposing surfaces of the housing and creating a magnetic field, and a rotor coupled to the user object positioned between the magnets. The rotor rotates about an axis of rotation and includes a shaft and teeth spaced around the shaft. An electric current flows through one or more coils on the teeth to cause the rotor to rotate. The teeth and the magnets are provided in a skewed, helical arrangement relative to each other so that, as the rotor rotates, a first tooth gradually exits the magnetic field as the next consecutive tooth gradually enters the magnetic field, thereby significantly reducing a cogging effect of the rotor when the user object is moved by the user and increasing the fidelity of forces experienced by the user.

대표청구항 ▼

[ What is claimed is:] [1.] A force feedback interface device for providing high-fidelity force sensations to a user of the device, said interface device being coupled to a host computer and allowing said user to interact with an application program implemented by said host computer, said force feedback interface device comprising:a user object graspable by said user and movable in at least one rotary degree of freedom;a sensor for reporting a locative signal to said host computer, said locative signal indicating a position of said user object within said rotary degree of freedom;an actuator coupled to said user object and to said host computer, said actuator outputting forces on said user object in response to signals from said host computer such that said forces are in response to said locative signal and are coordinated with events within said application program, said actuator having a reduced cogging effect such that said forces felt by said user are substantially free of force pulsations caused by said cogging effect when said user object is moved in said rotary degree of freedom, said actuator comprising:a housing;a set of magnets rigidly coupled to said housing, said magnets provided on opposing surfaces of an interior of said housing and creating a magnetic field;a rotor rotatably coupled to said housing and to said user object and positioned between said magnets, said rotor operative to rotate about an axis of rotation approximately parallel to faces of said magnets, said rotor including a shaft and a plurality of teeth spaced apart equally about a circumference of said shaft, wherein said teeth and said magnets are provided in a skewed, helical arrangement relative to each other such that as said rotor rotates about said axis, a portion of one of said teeth exits said magnetic field as a portion of a next consecutive tooth is entering said magnetic field; anda coil, wherein an electric current flows through said coil to cause said rotor to rotate about said axis of rotation; anda drive transmission coupled between said actuator and said user object, said drive transmission amplifying said forces output by said actuator on said user object.

이 특허에 인용된 특허 (80) 인용/피인용 타임라인 분석

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Rothenberg, Peter M., Method of locating the tip of a central venous catheter.
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Shahoian,Erik J., Moving magnet actuator for providing haptic feedback.
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Litscher, Eric; Heller, Gerald; Macari, Daniel; McCall, Charles; Rioux, Eric; Searle, Gary; Stephen, Arthur, Multi-fluid delivery system.
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Boulais, Dennis R.; Banik, Michael S.; Turturro, Vincent; Rowland, Christopher; Hoffman, David; O'Connor, John P., Multi-functional endoscopic system for use in electrosurgical applications.
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Nonaka, Kaiji, Multifunctional input device for centralized control of plurality of actuator drive characteristics have function feel library.
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Boulais, Dennis R, Multiple lumen assembly for use in endoscopes or other medical devices.
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Boulais, Dennis R., Multiple lumen assembly for use in endoscopes or other medical devices.
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Bowling, David Gene; Stuart, John Michael; Culp, Jerry A.; Malackowski, Donald W.; Moctezuma de la Barrera, Jose Luis; Roessler, Patrick; Beer, Joel N., Navigation system and method for removing a volume of tissue from a patient.
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Wilkes, Bryson G.; Newman, Jon B., Needle length determination and calibration for insertion guidance system.
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Nishiumi,Satoshi; Koshima,Kazuo; Yamada,Mitsunori, Operating device and image processing system using same.
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Genyo Takeda JP; Kenichiro Ashida JP; Shigeru Miyamoto JP; Yasunari Nishida JP, Operating device for an image processing apparatus.
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Genyo Takeda JP; Kenichiro Ashida JP; Shigeru Miyamoto JP; Yasunari Nishida JP, Operating device with analog joystick.
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Silverstein, Fred E., Percutaneous magnetic gastrostomy.
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Silverstein, Fred E., Percutaneous magnetic gastrostomy.
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Boronkay,Allen R.; Schena,Bruce M.; Hasser,Christopher J., Position sensor with resistive element.
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Tierling, Kollin M.; Braun, Adam C.; Goldenberg, Alex S., Providing enhanced haptic feedback effects.
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Powers, Kelly B.; Beasley, Jim C., Reconfirmation of ECG-assisted catheter tip placement.
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Bowling, David Gene; Stuart, John Michael; Culp, Jerry A.; Malackowski, Donald W.; Moctezuma de la Barrera, José Luis; Roessler, Patrick; Beer, Joel N.; Ketchel, John S., Robotic system and method for reorienting a surgical instrument moving along a tool path.
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Bowling, David Gene; Stuart, John Michael; Beer, Joel N.; Ketchel, John S., Robotic system and method for transitioning between operating modes.
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Cox, Jeremy B.; Southard, Glen E.; Messerly, Shayne, Ruggedized ultrasound hydrogel insert.
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Boulais,Dennis R., Selectively rotatable shaft coupler.
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Boutillette, Michael P.; Dayton, Peter L.; Boulais, Dennis R., Selectively rotatable shaft coupler.
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Bown, Matthew W.; Christensen, Mark A.; Rome, Guy; Hamatake, Bret, Stylet apparatuses and methods of manufacture.
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Bown, Matthew W.; Christensen, Mark A.; Rome, Guy; Hamatake, Bret, Stylet apparatuses and methods of manufacture.
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Cox, Jeremy B., Stylets for use with apparatus for intravascular placement of a catheter.
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Bowling, David Gene; Stuart, John Michael; Culp, Jerry A.; Malackowski, Donald W.; Moctezuma de la Barrera, Jose Luis; Roessler, Patrick; Beer, Joel N.; Ketchel, John, Surgical manipulator capable of controlling a surgical instrument in multiple modes.
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Bowling, David Gene; Stuart, John Michael; Culp, Jerry A.; Malackowski, Donald W.; Moctezuma de la Barrera, José Luis; Roessler, Patrick; Beer, Joel N., Surgical manipulator having a feed rate calculator.
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Ruiz Larios, Carlos Iván; Hernandez Diaz, Manuel; Sánchez López, José Arturo, Switch with user feedback.
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Bowling, David Gene, System and method for controlling a manipulator in response to backdrive forces.
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Malackowski, Donald W.; Stuart, John Michael; Culp, Jerry A.; Bowling, David Gene; Moctezuma de la Barrera, José Luis; Roessler, Patrick; Beer, Joel N., System and method for controlling a surgical manipulator based on implant parameters.
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Grant, Danny A.; Tierling, Kollin M.; Cruz-Hernandez, Juan Manuel; Goldenberg, Alex S., System and method for controlling haptic devices having multiple operational modes.
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Moore, David F.; Shahoian, Erik J.; Schena, Bruce M., System and method for providing directional tactile sensations.
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Lightcap, Christopher Alan; Kang, Hyosig; Bowling, David Gene; Stuart, John Michael; Culp, Jerry A.; Malackowski, Donald W.; Moctezuma de la Barrera, Jose Luis; Roessler, Patrick; Beer, Joel N., System and method for providing substantially stable control of a surgical tool.
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Burnside, Eddie K.; Messerly, Shayne, System for placement of a catheter including a signal-generating stylet.
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Burnside, Eddie K.; Messerly, Shayne, System for placement of a catheter including a signal-generating stylet.
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Burnside, Eddie K.; Messerly, Shayne, System for placement of a catheter including a signal-generating stylet.
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Cox, Jeremy B.; Misener, Anthony K.; Breiter, Catherine C.; Burnside, Eddie K.; Stats, Jason R., Systems and methods for breaching a sterile field for intravascular placement of a catheter.
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Bukhman, Vladislav; Misener, Anthony K.; Vassylyev, Valeriy; Urry, Robin S.; Tanner, Brian S., Systems and methods for guidance and placement of an intravascular device.
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Silverstein, Fred E.; Golden, Robert N., Systems and methods for guiding a medical instrument.
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Burnside, Eddie K.; Messerly, Shayne; Golden, Robert N.; Lee, Rand W., Systems and methods for positioning a catheter.
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Burnside, Eddie K.; Messerly, Shayne; Golden, Robert N.; Lee, Rand W., Systems and methods for positioning a catheter.
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Nishiumi, Satoshi; Koshima, Kazuo; Kawagoe, Takumi, Three-dimensional image processing apparatus.
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Nishiumi, Satoshi; Koshima, Kazuo; Kawagoe, Takumi, Three-dimensional image processing apparatus.
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Lindekugel, Eric W.; Orome, Amir, Ultrasound probe head.
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Nishiumi,Satoshi; Koshima,Kazuo; Miyamoto,Shigeru; Nishida,Yasunari, User controlled graphics object movement based on a amount of joystick angular rotation and point of view angle.
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Nishiumi, Satoshi; Koshima, Kazuo; Miyamoto, Shigeru; Nishida, Yasunari, User controlled graphics object movement based on amount of joystick angular rotation and point of view angle.
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Boulais, Dennis R.; Macnamara, Francis T.; Kirouac, Andrew Peter, Video endoscope.
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Nishiumi,Satoshi; Koshima,Kazuo; Ohta,Keizo, Video game system.
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Miyamoto Shigeru,JPX ; Nishida Yasunari,JPX ; Kawagoe Takumi,JPX ; Nishiumi Satoshi,JPX, Video game system and method with enhanced three-dimensional character and background control.
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Nishiumi, Satoshi; Koshima, Kazuo; Nonaka, Nobuyuki, Video game system providing physical sensation.
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Nishiumi, Satoshi; Koshima, Kazuo, Video game system with data transmitting/receiving controller.
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Satoshi Nishiumi JP; Kazuo Koshima JP, Video game system with data transmitting/receiving controller.
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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

연합인증

[미국특허] Method and apparatus for providing high bandwidth force feedback with improved actuator feel 원문보기

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연합인증

[미국특허] Method and apparatus for providing high bandwidth force feedback with improved actuator feel 원문보기

초록 ▼

대표청구항 ▼

연구과제 타임라인

전체(0) 논문(0) 특허(0) 보고서(0)

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이 특허에 인용된 특허 (80) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (131) 인용/피인용 타임라인 분석

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