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.]1. An apparatus for interfacing the motion of a user with a host computer system comprising:a user manipulatable object physically contacted by said user;a gimbal mechanism coupled between said user manipulatable object and a ground, said gimbal mechanism including a close

[ What is claimed is:] [1.]1. An apparatus for interfacing the motion of a user with a host computer system comprising:a user manipulatable object physically contacted by said user;a gimbal mechanism coupled between said user manipulatable object and a ground, said gimbal mechanism including a closed loop linkage of a plurality of members and providing two revolute degrees of freedom to said user manipulatable object about a first fixed axis of rotation and a second fixed axis of rotation, said user manipulatable object being coupled to said gimbal mechanism at approximately an intersection of said two fixed axes of rotation, wherein said two fixed axes of rotation are fixed with respect to said ground, wherein said linkage includes:a) a ground member grounded to said ground;b) first and second extension members, each extension member being rotatably coupled to said ground by first and second extension couplings, respectively, said extension members being rotatable about said two fixed axes of rotation; andc) first and second central members, said first central member rotatably coupled to said first extension member by a first central coupling and to said user manipulatable object by a first object coupling, and said second central member rotatably coupled to said second extension member by a second central coupling and to said user manipulatable object or to said first central member by a second object coupling, and wherein said central members are rotatable about first and second floating axes, wherein when said user manipulatable object is in an origin position, said first extension coupling and said second central coupling intersect said first fixed axis of rotation, and said second extension coupling and said first central coupling intersect said second fixed axis of rotation, wherein said floating axes are movable with respect to said ground, and said floating axes being coincident with said fixed axes when said user manipulatable object is positioned in a neutral position; andfirst and second degree of freedom sensors that detect movement of said user manipulatable object about said two fixed axes of rotation.