초록 ▼

A haptic interface for a remote manipulator uses a tunable spring to provide force reflection. The remote manipulator has an operating member coupled to the tunable spring. The operating member is also coupled to a manipulator member. A controller monitors the force with which an operator so moves t

A haptic interface for a remote manipulator uses a tunable spring to provide force reflection. The remote manipulator has an operating member coupled to the tunable spring. The operating member is also coupled to a manipulator member. A controller monitors the force with which an operator so moves the operating member and varies a spring constant of the tunable spring to keep the force exerted by the manipulator member on an object at a desired level. The haptic interface allows simultaneous control over the maximum force exerted by the manipulator member as well as the transmission ratio between the operating member and the manipulator member. The remote manipulator may be a surgical grasper, for example. A tunable spring can be smaller and lighter than the high torque actuators used in some prior remote manipulators which provide force feedback.

대표청구항 ▼

[ We claim:] [1.]1. A remote manipulator comprising:a) a manipulable operating member pivotally movable about a pivot axis;b) a manipulator member coupled to the operating member by a linkage, the linkage causing the manipulator member to move in response to movements of the operating member;c) a tu

[ We claim:] [1.]1. A remote manipulator comprising:a) a manipulable operating member pivotally movable about a pivot axis;b) a manipulator member coupled to the operating member by a linkage, the linkage causing the manipulator member to move in response to movements of the operating member;c) a tunable spring having a variable spring constant, the tunable spring coupled between a connection point spaced apart from the pivot axis on the manipulator member and a mount;d) a force sensor coupled to the operating member, the force sensor producing a signal representing a force applied to the operating member; and,e) a control circuit connected to receive the signal and to vary the spring constant of the tunable spring in response to the signal.