Computer interface apparatus including linkage having flex
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G09G-005/08
G06F-003/033
G05G-011/00
출원번호
UP-0780852
(2004-02-19)
등록번호
US-7821496
(2010-11-15)
발명자
/ 주소
Rosenberg, Louis B.
Schena, Bruce M.
출원인 / 주소
Immersion Corporation
대리인 / 주소
Kilpatrick Stockton LLP
인용정보
피인용 횟수 :
4인용 특허 :
273
초록▼
A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of fre
A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system. Another embodiment includes a host computer system and a local microprocessor, separate from the host computer, for communicating with the host computer and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus uses voice coil actuators that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic fields. A friction drive mechanism of the present invention can be coupled between an actuator and a gimbal mechanism. Force from the actuator is transmitted to the gimbal mechanism through frictional contact of members of the friction drive mechanism.
대표청구항▼
What is claimed is: 1. An apparatus, comprising: a manipulandum oriented along a longitudinal axis; a linkage coupled to the manipulandum, the linkage configured to allow the manipulandum to move in at least two rotational degrees of freedom with respect to ground, the linkage further configured to
What is claimed is: 1. An apparatus, comprising: a manipulandum oriented along a longitudinal axis; a linkage coupled to the manipulandum, the linkage configured to allow the manipulandum to move in at least two rotational degrees of freedom with respect to ground, the linkage further configured to allow the manipulandum to move in a translational degree of freedom through an aperture of a portion of the linkage along the longitudinal axis, the linkage including a plurality of elements, at least a subset of elements from the plurality of elements being flexible and moveable to allow said manipulandum to move in at least one of said at least two degrees of freedom with respect to ground; and at least one sensor configured to detect at least one of a position and a movement of the manipulandum in the at least two degrees of freedom and output a sensor signal based on the detected at least one of the position and the movement. 2. The apparatus of claim 1, further comprising an actuator coupled to the linkage, the actuator configured to output via the subset of elements a feedback force along at least one of the at least two degrees of freedom. 3. The apparatus of claim 1, wherein the linkage includes: a ground member configured to be coupled to a ground surface; a first extension member and a second extension member, the first extension member and the second extension member being coupled to the ground member; and a first central member and a second central member, the first central member having an end coupled to the first extension member, the second central member having an end coupled to the second extension member, the first central member and the second central member being coupled to each other at ends opposite the ends coupled to the first extension member and the second extension member. 4. The apparatus of claim 1, wherein the linkage includes: a ground member configured to be coupled to a ground surface; a first extension member and a second extension member, the first extension member and the second extension member being coupled to the ground member; and a first central member and a second central member, the first central member having an end flexibly coupled to the first extension member, the second central member having an end flexibly coupled to the second extension member, the first central member and the second central member being coupled to each other at ends opposite the ends coupled to the first extension member and the second extension member. 5. The apparatus of claim 1, wherein the linkage includes: a ground member configured to be coupled to a ground surface; a first extension member and a second extension member, the first extension member and the second extension member being coupled to the ground member; and a first central member and a second central member, the first central member having a first end coupled to the first extension member, the second central member having a first end coupled to the second extension member, a second end of the first central member and a second end of the second central member being coupled to each other, the ground member being rotatably coupled to the first extension member and the second extension member by bearings, the bearings configured to permit rotation of the first extension member and the second extension member. 6. The apparatus of claim 1, wherein at least one element from the subset of elements is narrower in a dimension in which that element is configured to flex, and is wider in other dimensions in which that element is configured to be substantially inflexible. 7. The apparatus of claim 1, further comprising: a first actuator coupled to the linkage, the actuator configured to output via the subset of elements a feedback force in at least one of the at least two degrees of freedom based on the sensor signal; and a second actuator coupled to the ground member, the second actuator being configured to apply a feedback force in at least one of the at least two degrees of freedom based on the sensor signal, the feedback force associated with the second actuator being different from the feedback force associated with the first actuator. 8. The apparatus of claim 1, further comprising an actuator coupled to the linkage, the actuator configured to output via the subset of elements a feedback force along at least one of the at least two degrees of freedom, the actuator including a voice coil actuator configured to impart the feedback force on the manipulandum. 9. An apparatus, comprising: a manipulandum having a shaft oriented along a longitudinal axis and configured to be moveable in at least two rotational degrees of freedom about axes of rotation with respect to ground; a first member coupled to the shaft of the manipulandum and having an aperture configured to allow the manipulandum to move along the longitudinal axis in a translational degree of freedom with respect to ground; a second member coupled to the first member and having a flexible characteristic; and a third member coupled to the first member and having a flexible characteristic. 10. The apparatus of claim 9, wherein, the second member has a first dimension about which the second member is configured to flex, and has a second dimension about which the second member is configured to be substantially inflexible. 11. The apparatus of claim 9, further comprising: an actuator coupled to the manipulandum, the actuator configured to output a feedback force along at least one of the at least two degrees of freedom. 12. The apparatus of claim 9, further comprising: a sensor configured to detect a position of the manipulandum along at least one of the at least two degrees of freedom and output a sensor signal based on the detected position. 13. The apparatus of claim 9, wherein the manipulandum includes one of a simulated surgical tool, a stylus, or a joystick. 14. The apparatus of claim 9, wherein, the third member has a first dimension about which the third member is configured to flex, and has a second dimension about which the third member is configured to be substantially inflexible. 15. The apparatus of claim 9, wherein the second member is coupled to a first inflexible extension member and the third member is coupled to a second inflexible extension member, wherein the first and second extension members are coupled to ground.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (273)
Menahem Israel (Clearwater FL), 3 degree of freedom hand controller.
Hildreth Bruce L. (Lexington Park MD) Trankle Thomas L. (Cupertino CA) Hart William A. (Lexington Park MD) Norris ; III Upton T. (Hollywood MD) Eyermann Roger E. (Waldorf MD), Aircraft simulator and method.
Hladky Walter (Chatham NJ) DeVito Ralph J. (Kendall Park NJ) Hoffman Louis S. (Morristown NJ), Aircraft simulator and simulated control system therefor.
Mangseth Glen (El Dorado Hills CA) Lovas Albert J. (Sacramento CA) Dempster Philip T. (St. Helena CA), Apparatus for controlled exercise and diagnosis of human performance.
Tomelleri Raffaele (Verona ITX), Apparatus for measure and/or check the position and orientation of characteristic spots or areas in structures, particul.
Erdman Arthur G. (New Brighton MN) Rekow Elizabeth D. (Fridley MN) Riley Donald R. (Edina MN) Klamecki Barney (Minneapolis MN) Zhu Yang (St. Paul MN) Ahn Jeong-Ho (Seoul KRX), Automated high-precision fabrication of objects of complex and unique geometry.
Chapman Mark A. V. (Wotton-Under-Edge GBX) McFadden Seamus (Bristol GBX) Eales Marcus J. (Wotton-Under-Edge GBX) Bailey Andrew M. (Bristol GBX), Calibration and measurement device.
Rosenberg Louis B. (Mountain View CA), Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects.
Marinaccio Paul J. (East Orleans MA) Nappi Bruce (Reading MA) Captain Khushroo M. (Cambridge MA) Lane Alan J. (Lexington MA), Contact digitizer, particularly for dental applications.
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.
Frosch Robert A. Administrator of the National Aeronautics and Space Administration ; with respect to an invention of ( Palo Alto CA) Salisbury ; Jr. John K. (Palo Alto CA), Controller arm for a remotely related slave arm.
Engel Frederik L.,NLX ; Haakma Reinder,NLX ; Van Itegem Jozeph P. M.,NLX, Data input device for use with a data processing apparatus and a data processing apparatus provided with such a device.
Blood Ernest B. (Burlington VT), Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utiliz.
Blood Ernest B. (Burlington VT), Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utiliz.
Chen Elaine Y. ; An Bin ; Osborne Timothy R. ; DiLascia Paul ; Coill Matthew, Force feedback joystick with digital signal processor controlled by host processor.
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.
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.
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.
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.
Aoyagi Tetsuji (Kanagawa JPX) Miura Takeshi (Aomori JPX) Suzuki Hajime (Kanagawa JPX) Sanchez Russell I. (Seattle WA) Svancarek Mark K. (Redmond WA) Suzuki Toru (Kanagawa JPX) Paull Mike M. (Seattle , Input device for providing multi-dimensional position coordinate signals to a computer.
Marcus Beth A. (Lexington MA) Chen Elaine (Boston MA) An Bin (Arlington MA) Osborne Timothy (Arlington MA), Input device including digital force feedback apparatus.
Hollis ; Jr. Ralph L. (Yorktown Heights NY) Salcudean Septimiu E. (Vancouver CAX), Input/output system for computer user interface using magnetic levitation.
Ulrich W. Thatcher (Boston MA) Koselka Harvey A. (Newton MA) Bobick Aaron F. (Newton MA) Benjamin Michael H. (Quincy MA), Interactive exercise apparatus.
Larkins David N. (Fremont CA) Yoshida Glenn T. (Cupertino CA) Helmers Thomas L. (San Jose CA), Interactive rotary controller system with tactile feedback.
Marshall Steven,GBX ; Alexander Alfred J.,GBX ; Ashraf Mufti M.,GBX, Joystick controller using magnetic position sensors and a resilient control arm with sensor used to measure its flex.
Hui Raymond Chung-Ying,CAX ; Hayward Vincent,CAX ; Ouellet Alain Gerard,CAX ; Peruzzini Walter,CAX ; Gregorio Pedro,CAX ; Wang Andrew,CAX ; Vukovich George,CAX, Mechanism for control of position and orientation in three dimensions.
Garnjost Kenneth D. (Buffalo NY) Rauch Christopher A. (Holland NY) Rey Gonzalo J. (Batavia NY), Method and apparatus for actively adjusting and controlling a resonant mass-spring system.
Davidson Andrew M. (both Glasgow GB2) Stewart John A. (both Glasgow GB2) Crosbie David (Erskine GB2) Crinion Patrick (Erskine GB2), Method and apparatus for automatically configuring a computer peripheral.
Zilles Craig B. ; Salisbury ; Jr. J. Kenneth ; Massie Thomas H. ; Brock David Lawrence ; Srinivasan Mandayam A. ; Morgenbesser Hugh B., Method and apparatus for determining forces to be applied to a user through a haptic interface.
Rosenberg Louis B. (Pleasanton CA) Jackson Bernard G. (Atherton CA), Method and apparatus for providing a cursor control interface with force feedback.
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.
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.
Jacobus Charles J. ; Griffin Jennifer Lynn, Method and system for simulating medical procedures including virtual reality and control method and system for use the.
Bell Frederick K. (Centerville OH) Brazier Gary E. (Brookville OH) Brown Stephen N. (Dayton OH), Method for calibrating a coordinate measuring machine and the like and system therefor.
Bell Frederick K. (Centerville OH) Brown Stephen N. (Dayton OH) Gale Michael T. (Dayton OH), Method for determining position within the measuring volume of a coordinate measuring machine and the like and system th.
Sderberg Bo (Kping SEX) Pettersson Bo (Torshlla SEX) Hcke Ulf (Eskilstuna SEX) Naeve Ambjrn (Stockholm SEX), Method for determining positional errors and for compensating for such errors, and apparatus for carrying out the method.
Bond Malcolm L. (Winters CA) Dempster Philip T. (Davis CA), Method for diagnosis and/or training of proprioceptor feedback capabilities in a muscle and joint system of a human pati.
Sampson Richard K. (3350 Eastbrook Dr. Fort Collins CO 80525), Method for solvent bonding non-porous materials to automatically create variable bond characteristics.
Cadoz Claude (Saint Joseph de Riviere FRX) Lisowski Leszek (Echirolles FRX) Florens Jean-Loup (Grenoble FRX), Modular retroactive keyboard and a flat modular actuator.
Grahn Allen R. (3735 Emigration Canyon Salt Lake City UT 84108) Astle Lynn (4291 Holloway Dr. Salt Lake City UT 84124), Multicomponent force-torque sensor.
Oudet Claude (Besancon FRX) Prudham Daniel (Thise FRX), Position sensor incorporating a permanent magnet and a magnetism-sensitive probe and including primary and secondary air.
Ferranti Michael J. (Naugatuck CT) Novis Ari M. (Rocky Hill CT) Durno Ronald A. (Trumbull CT), Programmable, linear collective control system for a helicopter.
Taylor Russell H. (Yorktown NY) Funda Janez (Valhalla NY) Grossman David D. (Chappaqua NY) Karidis John P. (Ossining NY) LaRose David A. (Croton on Hudson NY), Remote center-of-motion robot for surgery.
Rosenberg Louis B. (Pleasanton CA) Braun Adam C. (Sunnyvale CA) Schena Bruce M. (Menlo Park CA), Safe and low cost computer peripherals with force feedback for consumer applications.
Jensen Christopher (Hillsboro OR) Carter Robert L. (Vancouver WA), Side-mounted throttle and weapons controller for computer video games and flight simulation.
Fuller John J. (Binghamton NY) Bratt Charles J. (Johnson City NY) Blackwell Wayne (Chenango Forks NY) Mueller Paul E. (Greene NY), Simulating horizontal stabilizer trimming in an aircraft.
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.
Repperger Daniel W. (Vandalia OH) McCollor Donald G. (Springboro OH) Gruesbeck William G. (Gettysburg OH), Stabilizing force feedback in bio-actuated control systems.
Shelden C. Hunter (1345 Bedford Rd. San Marino CA 91108) McCann Gilbert D. (2247 No Villa Hts. Rd. Pasadena CA 91107), Stereotactic method and apparatus for locating and treating or removing lesions.
McMahon Michael J. (5 Foxhill Crescent Leeds ; West Yorkshire GB2 LS16 5PD) Moran Peter (31 Spring Valley Drive Leeds ; West Yorkshire GB2 LS13 4RN), Surgical instruments.
Smithson Bonnie J. (Sunnyvale CA) Aknin Jacques D. (San Carlos CA) Lichac Gerald J. (Santa Cruz CA) Moncrief Rick L. (San Jose CA) Winblad Wade O. (Hayward CA), System and method for bicycle riding simulation.
Pierce Mark S. (Palo Alto CA) Loper ; III Milton H. (Mountain View CA) Harper Dennis D. (Campbell CA) Akers David S. (Fremont CA) Lee Samuel (San Jose CA), Vehicle simulator including cross-network feedback.
Parker Niall R. (Abbotsford CAX) Lawrence Peter D. (Vancouver CAX) Salcudean Septimiu E. (Vancouver CAX), Velocity controller with force feedback stiffness control.
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.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.