[특허]Mechanical and force transmission for force feedback devices

[미국특허] Mechanical and force transmission for force feedback devices 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G09G-005/00
출원번호	US-0138304 (1998-08-21)
발명자 / 주소	Ryan D. Bruneau Kenneth M. Martin Louis B. Rosenberg David F. Moore Bruce M. Schena
출원인 / 주소	Immersion Corporation
대리인 / 주소	James R. Riegel
인용정보	피인용 횟수 : 31 인용 특허 : 63

초록 ▼

A force feedback interface device includes improvements in a mechanical linkage and drive mechanism. The force feedback device is coupled to a host computer and includes a user manipulatable object graspable by a user, at least one actuator that outputs a force on the user object, and a sensor for sensing motion of the user object. A linkage mechanism provides the user object with degrees of freedom and includes five members rotatably coupled to each other. The linkage mechanism supports the bearings of the device with protrusions rotatably coupled to central members of the linkage. The drive mechanism is preferably a belt drive that includes an idler positioned adjacent to a drive pulley and which impedes radial displacement of a belt away from the drive pulley, and thus impedes losing positive engagement of the belt, without preloading the belt. The idler can be a passive idler that does not contact the belt during operation and/or an active idler that continuously contacts the belt. Some or all portions of the linkage mechanism and the drive mechanism are preferably symmetrical, allowing low cost manufacture of the device.

대표청구항 ▼

1. A force feedback device capable of communicating with a host computer, the force feedback device comprising:a user manipulatable object graspable by a user; a linkage mechanism coupled to said user manipulatable object and providing said user manipulatable object with first and second rotary degrees of freedom, said linkage mechanism including: a grounded member coupled to a ground; a first extension member and a second extension member rotatably coupled to said grounded member; and a first central member rotatably coupled to said first extension member and a second central member rotatably coupled to said second extension member, wherein said first and second central members are rotatably coupled to each other, and wherein said first extension member and said first central member are substantially identical to and positioned symmetrically to said second extension member and said second central member; first and second actuators coupled to said linkage mechanism, said first actuator operative to output a force in said first degree of freedom and said second actuator operative to output a force in said second degree of freedom; at least one sensor operative to sense motion of said user manipulatable object in said first and second degrees of freedom; and a belt drive transmission coupled between said first actuator and said linkage mechanism, said belt drive transmission including a synchronous belt.

이 특허에 인용된 특허 (63) 인용/피인용 타임라인 분석

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Armstrong Brad A. (6630 Arabian Cir. Roseville CA 95661), 6 Degrees of freedom controller with capability of tactile feedback.
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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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Schuler Chester L. (Sudbury MA), Actuator having electronically controllable tactile responsiveness.
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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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Repperger Daniel W. (Vandalia OH), Biodynamic resistant control stick.
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Kley Victor B. (1119 Park Hill Rd. Berkeley CA 94708) Talken Daniel J. (Quincy IL), Computer control.
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Rosenberg Louis B. (Mountain View CA), Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects.
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Raab Simon (Longwood FL), Computer-aided surgery apparatus.
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Behensky Max L. (Hayward CA) Moncrief Rick L. (Santa Clara CA) Durfey Erik J. (Los Gatos CA) Loper ; III Milton H. (Mountain View CA), Control device such as a steering wheel for video vehicle simulator with realistic feedback forces.
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Rosenberg Louis B. ; Alarcon Ramon, Control input device for interfacing an elongated flexible object with a computer system.
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Jones Cecil R. (21127 Bank Mill Rd. Saratoga CA 95070), Controlled motion apparatus.
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Hayashi Junichi (Akashi JPX), Device for measuring components of force and moment in plural directions.
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Hannaford Blake (Seattle WA) Buttolo Pietro (Seattle WA), Direct-drive manipulator for pen-based force display.
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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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McIntosh James L. (Westminster CO), Feedback for a manipulator.
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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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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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Cemenska Richard A. (Edelstein IL) Schneider Marvin P. (Peoria IL) Buege Thomas J. (Peoria IL), Force feedback lever.
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Jacobus Charles J. (Ann Arbor MI) Riggs Alan J. (Ann Arbor MI) Taylor Mark J. (Ann Arbor MI), Force feedback system.
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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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Moncrief Rick L. (San Jose) Behensky Max L. (Hayward) Durfy Erik J. (Los Gatos) Aknin Jacques D. (San Carlos CA), Gearshift for a vehicle simulator having a solenoid for imposing a resistance force.
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Moncrief Rick L. (Santa Clara CA) Durfey Erik J. (Los Gatos CA) Aknin Jacques D. (San Carlos CA), Gearshift for a vehicle simulator using computer controlled realistic real world forces.
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Colston John R. (Annapolis MD), Hand controller.
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Cizewski Steven C. (Wallingford CT) Lange William F. (Woodbridge CT) Rozak James N. (Cheshire CT), Helicopter collective stick of the displacement type occupying a minimum space envelope yet whose grip generates an arc.
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Fung Patrick T. (Willowdale CAX) Norgate Graham (Oakville CAX) Dilts Timothy A. (Newmarket CAX) Jones Andrew S. (Toronto CAX) Ravindran Rangaswamy (Bolton CAX), Human-in-the-loop machine control loop.
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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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Culver Craig F. (201 Ware Rd. Woodside CA 94062), Interface control.
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Duimel Johannes J. (Klimmen NLX), Joystick control unit using multiple substrates.
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Brimhall Owen D. (South Jordan UT), Kinesthetic feedback apparatus and method.
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Kendig John R. (Peoria AZ) Hibble William R. (Phoenix AZ) Kiedrowski James A. (Phoenix AZ), Magnetic isolating and pointing gimbal apparatus.
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Slocum Alexander H. (P.O. Box 268 ; 1290 Balls Hill Rd. McLean VA 22101), Mechanisms to determine position and orientation in space.
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Katanics George T. (Burbank CA) Groves Philip A. (Glendora CA), Method and apparatus for an interactive video game with physical feedback.
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Kramer Glenn A. (Austin TX) Barrow Harry G. (Brighton MI GB2) Turner Patrick R. (Davisburg MI) Bodner Michael E. (Southfield MI) Cooper Jeffrey G. (Pinckney MI), Method and apparatus for design and optimization for simulation of motion of mechanical linkages.
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Herzog Klaus (Oberkochen DEX), Method and apparatus for making coordinate measurements.
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Eaton Homer L. (Balboa CA), Method and apparatus for measuring direction.
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Chen Elaine ; Eberman Brian ; Marcus Beth A., Method and apparatus to create a complex tactile sensation.
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Jacobus Charles J. (Ann Arbor MI) Riggs Alan J. (Ann Arbor MI) Taylor Mark J. (Ann Arbor MI), Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor.
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Jacobus Charles J. ; Griffin Jennifer Lynn, Method and system for simulating medical procedures including virtual reality and control method and system for use the.
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Lance Wayne E. (Largo FL) Hegg Jeffrey W. (North Redington Beach FL), Moment cell counterbalance for active hand controller.
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Hara Kenji (Tamano JPX), Multi-axial joy stick device.
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Siva Kumar V. (Lightwater GBX), Multi-axis hand controller.
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Joyce Stephen A. (1163 W. Eddy Chicago IL 60657), Multi-dimensional force-torque hand controller having force feedback.
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Culver Craig F. (201 Ware Rd. Woodside CA 94086), Multifunction tactile manipulatable control.
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Rosen Michael J. (Arlington MA), Multiple degree of freedom damped hand controls.
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Levin Michael (Franklin Park NJ) Salisbury ; Jr. J. Kenneth (Cambridge MA), Reaction sensing torque actuator.
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Meenen ; Jr. Raymond P. (Huntington Station NY), Sidestick flight control simulator.
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Yamaguchi Toshiya (Ohta-ku JPX), Simulated steering apparatus for use in a vehicle simulator.
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Radke Kathleen M. (Plymouth MN) DeMers Robert E. (Roseville MN) Lowry David J. (Minneapolis MN) Marshall ; Jr. William C. (Columbia Heights MN) Blomberg Jon M. (Mound MN), Six-degree virtual pivot controller.
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Kazerooni Homayoon (Minneapolis MN), Statically-balanced direct-drive robot arm.
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Taylor Russell H. (Ossining NY), System for advising a surgeon.
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Burson David C. (Garland TX), System with joystick to control velocity vector of a display cursor.
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Raab Simon (Longwood FL), Three dimensional coordinate measuring apparatus.
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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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Tsai Ming-Chang (Fl. 12th ; No. 138 ; Sec. 2 ; King San South Road Taipei TWX), Touching feedback device.
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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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Reeves David W. (Aloha OR), Video game and simulator joystick controller with geared potentiometer actuation.
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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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[미국특허] Mechanical and force transmission for force feedback devices 원문보기

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이 특허에 인용된 특허 (63) 인용/피인용 타임라인 분석

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[미국특허] Mechanical and force transmission for force feedback devices 원문보기

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이 특허에 인용된 특허 (63) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (31) 인용/피인용 타임라인 분석

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