초록 ▼

A force feedback interface device including safety features. The interface device includes a sensor that senses the position of a user manipulatable object in a degree of freedom and provides a sensor signal indicating the position of the user manipulatable object to a host computer. An actuator of

A force feedback interface device including safety features. The interface device includes a sensor that senses the position of a user manipulatable object in a degree of freedom and provides a sensor signal indicating the position of the user manipulatable object to a host computer. An actuator of the device applies a force to the user manipulatable object in the degree of freedom. A safety switch of the interface device disables the actuator when the user is not using the interface device and enables the actuator when the user is using the device. A device is included in the interface device to execute a force ramping process when the safety switch enables the actuator, the force ramping process causing the force to be produced at a reduced magnitude and slowly increased to a desired magnitude over a period of time to avoid an abrupt application of initial force.

대표청구항 ▼

1. A force feedback interface device for safe use by a user, said interface device comprising:a sensor capable of sensing the position of a user manipulatable object along a degree of freedom and capable of providing a sensor signal indicating said position of said user manipulatable object to a hos

1. A force feedback interface device for safe use by a user, said interface device comprising:a sensor capable of sensing the position of a user manipulatable object along a degree of freedom and capable of providing a sensor signal indicating said position of said user manipulatable object to a host computer coupled to said interface device; an actuator capable of applying a force to said user manipulatable object along said degree of freedom; a safety switch coupled to said user manipulatable object and capable of disabling said actuator when said user is not using said interface device and for enabling said actuator when said user is using said interface device, wherein said force cannot be output by said actuator when said actuator is disabled; and a device coupled to said safety switch capable of executing a force ramping process when said safety switch enables said actuator, said force ramping process preventing said force from being applied to said user manipulatable object at a high initial magnitude, said force ramping process causing said force to be produced at a reduced magnitude and slowly increased to a desired magnitude over a period of time.