초록 ▼

A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device. A moveable member included in a force feedback mechanism is moveable in a degree of freedom to transmit forces to the user manipulatable object, such as a joystick ha

A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device. A moveable member included in a force feedback mechanism is moveable in a degree of freedom to transmit forces to the user manipulatable object, such as a joystick handle. A spring member can be selectively coupled and decoupled between a grounded member and the moveable member. The spring member provides a spring force on the moveable member that biases the joystick handle to a desired position, such as the center of the degree of freedom. A dynamic calibration procedure reduces inaccuracies when sensing the position of the user manipulandum by only reading new range limits when the actuator is not outputting a force in the direction of that limit. A capstan drive mechanism is preferably coupled between the actuator and linkage mechanism, where a capstan drum includes a curved end over which the cable is routed, the curved end including flanges to substantially prevent the cable from slipping of the sides of the end. The capstan drum includes a tensioning spring member coupled to one or both ends of the cable for tensioning the cable.

대표청구항 ▼

[ What is claimed is:] [1.] A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device coupled to a host computer, the mechanism comprising:a grounded member coupled to a ground;a moveable member included in a force feedback m

[ What is claimed is:] [1.] A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device coupled to a host computer, the mechanism comprising:a grounded member coupled to a ground;a moveable member included in a force feedback mechanism, said moveable member moveable in a degree of freedom by an actuator and transmitting forces to said user manipulatable object of said force feedback interface device;a spring member operative to be selectively coupled and selectively decoupled between said grounded member and said moveable member; anda catch mechanism coupled to said spring member, said catch mechanism including a first catch member coupled to a first end of said spring member and a second catch member that is coupled between said grounded member and a second end of said spring member, wherein said first catch member may be selectively engaged and selectively disengaged with said second catch member to selectively couple and decouple said spring member.