[특허]Direct-drive manipulator for pen-based force display

[미국특허] Direct-drive manipulator for pen-based force display 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G05B-015/00
출원번호	US-0110370 (1998-06-30)
발명자 / 주소	Blake Hannaford Pietro Buttolo
출원인 / 주소	Immersion Corporation
대리인 / 주소	James R. Riegel
인용정보	피인용 횟수 : 11 인용 특허 : 66

초록 ▼

A pen-based direct-drive manipulator enables precision manipulation and force display of a control point within three degrees of freedom. The control point exhibits substantially no backlash, very low friction and very low inertia making it useful as a force display. The manipulator also has a very high force generation bandwidth allowing high frequency force components to be displayed. A parallel actuator structure controls motion over two degrees of freedom in a horizontal plane. The parallel structure is a redundant structure including three chains in parallel coupled at the control point. The redundant structure provides a uniform force capability throughout the manipulator workspace. A pair of rotational actuators rotate the parallel structure about an axis to approximate a linear motion along a third axis. The rotational actuators provide a third degree of freedom for the control point. Motion about the third axis is substantially decouple from motion about the horizontal plane.

대표청구항 ▼

1. A direct drive actuator system responsive to operator manipulation of a control point, comprising:an end effector defining a control point accessible to manipulation by an operator within an end effector workspace; first, second and third kinematic chains coupled in parallel to the end effector in common alignment to the control point to define a redundant actuator structure for allowing motion of the control point within a first plane of the workspace to not more than two degrees of freedom; the first kinematic chain comprising: a first actuator, a first inner link and a first outer link, the first actuator fixed relative to the first plane and coupled to the first inner link, the first inner link coupled to the first outer link to define a first joint, the first outer link coupled to the end effector in alignment with the control point; the second kinematic chain comprising: a second actuator, a second inner link and a second outer link, the second actuator fixed relative to the first plane and coupled to the second inner link, the second inner link coupled to the second outer link to define a second joint, the second outer link coupled to the end effector in alignment with the control point; and the third kinematic chain comprising: a third actuator, a third inner link and a third outer link, the third actuator fixed relative to the first plane and coupled to the third inner link, the third inner link coupled to the third outer link to define a third joint, the third outer link coupled to the end effector in alignment with the control point.

이 특허에 인용된 특허 (66) 인용/피인용 타임라인 분석

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Gregory William W. (St. Petersburg FL) Hegg Jeffrey W. (North Redington Beach FL) Lance Wayne E. (Largo FL), Active hand controller feedback loop.
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Burdea Grigore C. (New York NY) Zhuang Jiachen (Piscataway NJ), Actuator system for providing force feedback to a dextrous master glove.
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Clark Michael R. (Glendale CA) Kay Alan C. (Los Angeles CA) Ferrara Thomas (Canyon Country CA), Anti-rotation mechanism for direct manipulation position input controller for computer.
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Rosenberg Louis B. (Mountain View CA) Jackson Bernard G. (Mountain View CA), Electromechanical human-computer interface with force feedback.
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Green Philip S., Endoscopic surgical instrument and method for use.
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McIntosh James L. (Westminster CO), Feedback for a manipulator.
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Hilton John A. (Hudson NH), Force and torque converter.
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Hilton John A. (Toongabbie AUX), Force and torque converter.
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Kramer James F. (P.O. Box 5984 Stanford CA 94309), Force feedback and textures simulating interface device.
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Rosenberg Louis B., Force feedback interface having isotonic and isometric functionality.
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Chen Elaine Y. ; An Bin ; Osborne Timothy R. ; DiLascia Paul ; Coill Matthew, Force feedback joystick with digital signal processor controlled by host processor.
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McAffee Douglas A. (San Pedro CA) Snow Edward R. (Sandy Hook CT) Townsend William T. (Somerville MA), Force reflecting hand controller.
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Massie Thomas H. (Vanceburg KY) Salisbury ; Jr. J. Kenneth (Cambridge MA), Force reflecting haptic interface.
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Davis Clark C. (Salt Lake City UT) Iversen Edwin K. (Salt Lake City UT) Jacobsen Stephen C. (Salt Lake City UT) Biggers Klaus B. (Park City UT), Force-reflective teleoperation control system.
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Colston John R. (Annapolis MD), Hand controller.
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Jau Bruno M. (Los Angeles CA), Hand-held robot end effector controller having movement and force control.
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Bevirt JoeBen ; Moore David F. ; Norwood John Q. ; Rosenberg Louis B. ; Levin Mike D., Hemispherical, high bandwidth mechanical interface for computer systems.
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Rosenberg Louis B. ; Schena Bruce M., High bandwidth force feedback interface using voice coils and flexures.
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Marcus Beth A. (Lexington MA) Chen Elaine (Boston MA) An Bin (Arlington MA) Osborne Timothy (Arlington MA), Input device including digital force feedback apparatus.
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Duimel Johannes J. (Klimmen NLX), Joystick control unit using multiple substrates.
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Salcudean Septimiu E. (Vancouver CAX) Yan Joseph (Vancouver CAX), Motion scaling tele-operating system with force feedback suitable for microsurgery.
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Burson David C. (Garland TX), System with joystick to control velocity vector of a display cursor.
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Slotine Jean-Jacques E. (Cambridge MA) Niemeyer Gnter D. (Cambridge MA), Telerobotic system.
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Ledley Robert S. (Silver Spring MD), Three-dimensional cursor control device.
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Good Michael D. (Arlington MA) Munson James B. (Colorado Springs CO), Torque motor as a tactile feedback device in a computer system.
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Chuang Keh-Shih K. (15 San Vicente Ct. Danville CA 94526), Variable effort joystick.
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Parker Niall R. (Abbotsford CAX) Lawrence Peter D. (Vancouver CAX) Salcudean Septimiu E. (Vancouver CAX), Velocity controller with force feedback stiffness control.
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DeMaio Joseph (151 Rosemont Ave. Farmingville NY 11738) Radke Kathleen M. (4825 Valley Forge La. Plymouth MN 55442) Tauer James J. (6534 Oakley Dr. Fridley MN 55432), Virtual pivot handcontroller.
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연합인증

[미국특허] Direct-drive manipulator for pen-based force display 원문보기

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대표청구항 ▼

연구과제 타임라인

이 특허에 인용된 특허 (66) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (11) 인용/피인용 타임라인 분석

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[미국특허] Direct-drive manipulator for pen-based force display 원문보기

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대표청구항 ▼

연구과제 타임라인

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이 특허에 인용된 특허 (66) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (11) 인용/피인용 타임라인 분석

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