[특허]Haptic user interface

Haptic user interface 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G05B-011/01 G06F-003/0346 B25J-009/16
출원번호	US-0218274 (2014-03-18)
등록번호	US-9383832 (2016-07-05)
발명자 / 주소	Lammertse, Pieter
출원인 / 주소	Moog Inc.
대리인 / 주소	Phillips Lytle LLP
인용정보	피인용 횟수 : 0 인용 특허 : 66

초록 ▼

A haptic arm comprising: a user connection element; a reference; a first linkage connecting the user connection element to the reference, where the first linkage provides at least six independent degrees of freedom, and contains an intermediate link, three force sensors, three angle sensors; a second linkage connecting the intermediate link to the reference; a third linkage connecting the intermediate link to the reference a fourth linkage connecting the intermediate link to the reference; the second, third, and fourth linkages each containing an independent actuator and position sensor.

대표청구항 ▼

1. A method of simulating a virtual procedure comprising the steps of: providing a user interface having a user connection element with at least three independent translational degrees of freedom between said user connection element and a reference;said user interface comprising three force sensors for measuring forces applied to said user interface along said three independent translational degrees of freedom and three actuators for controlling each of said three independent translational degrees of freedom;providing a video display arranged to produce a stereoscopic view co-located with said user connection element;providing a three dimensional virtual environment comprising a virtual element having a virtual position and at least one virtual object having a virtual position;adjusting said virtual position of said virtual element as a function of said user interface force sensors;said step of adjusting said virtual position of said virtual element as a function of said user interface force sensors comprising the steps of assigning a virtual mass to said virtual element, receiving output from said user interface force sensors, providing an acceleration variable of said virtual element within said virtual environment as a function of said output from said user interface force sensors and said virtual mass of said virtual element, integrating said acceleration variable to provide a velocity variable of said virtual element within said virtual environment, and integrating said velocity variable to provide a virtual position of said virtual element within said virtual environment;controlling said actuators such that said user connection element is adjusted to correlate to changes in said virtual position of said virtual element; andproviding said video display with images of said virtual environment. 2. The method set forth in claim 1, wherein said virtual object comprises a triangular mesh. 3. The method set forth in claim 1, wherein said virtual element comprises an interaction region defined by an analytic function. 4. The method set forth in claim 3, and comprising the step of detecting a collision between said virtual element interaction region and said virtual object. 5. The method set forth in claim 4, and comprising the step of calculating an interaction force as a function of said collision and accelerating said virtual element as a function of said interaction force. 6. The method set forth in claim 5, and comprising the step of modifying said virtual object as a function of said collision. 7. The method set forth in claim 1, where said user connection element has three independent orientation degrees of freedom between said user connection element and said reference, said user interface has three orientation sensors for measuring said three independent orientation degrees of freedom, said virtual element has a virtual orientation, and said virtual object has a virtual orientation.

이 특허에 인용된 특허 (66)

Menahem Israel (Clearwater FL), 3 degree of freedom hand controller.
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Goodwin,William Alexander; Handley,Joshua Eric; Winston,Philip Brown, 3-D selection and manipulation with a multiple dimension haptic interface.
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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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Burdea Grigore C. (Highland Park NJ) Gomez Daniel (Piscataway NJ), Actuator system for providing force feedback to portable master support.
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Marshall Lawrence E. (Ferguson MO), Aircraft flight controller.
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Vykukal Hubert C. (Los Altos CA) King Reginald F. (San Francisco CA) Vallotton Wilbur C. (Los Gatos CA), Anthropomorphic master/slave manipulator system.
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Wierda Gerhard Johan,NLX, Control system for telemanipulation.
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Jones,Jake S., Coordinating haptics with visual images in a human-computer interface.
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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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Wyllie Charles E. (Largo FL), Five and six degree of freedom hand controllers.
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Lam Wilhelmus J. (Haarlem NLX) de Vries Luitzen (Amstelveen NLX), Flight simulator.
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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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Kraft Brett W. (11667 W. 90th St. Overland Park KS 66214), Force feedback control for backhoe.
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Rosenberg Louis B. ; Schena Bruce M., Force feedback interface device including grounded sensor 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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Thomas H Massie ; Kenneth Salisbury, Jr., Force reflecting haptic inteface.
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Massie Thomas H ; Salisbury ; Jr. J. Kenneth, Force reflecting haptic interface.
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Massie Thomas H. (Vanceburg KY) Salisbury ; Jr. J. Kenneth (Cambridge MA), Force reflecting haptic interface.
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Massie, Thomas H; Salisbury, Jr., J. Kenneth, Force reflecting haptic interface.
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Massie,Thomas H; Salisbury, Jr.,Kenneth, Force reflecting haptic interface.
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Colston John R. (Annapolis MD), Hand controller.
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Hegg Jeffrey W. (Clearwater FL), Hand controller having pivot axis for minimizing forearm movement.
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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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Mor Andrew B., Haptic device.
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Hayka Alon (Ora ILX) Eytan Liat (Ora ILX), Image sound and feeling simulation system for dentistry.
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Hollis ; Jr. Ralph L. (Yorktown Heights NY) Salcudean Septimiu E. (Vancouver CAX), Input/output system for computer user interface using magnetic levitation.
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Alexander, David; Brown, J. Michael; Cabahug, Eric; Churchill, Philip J.; Cohen, Robert F.; Cunningham, Richard L.; Feldman, Ben; Fontayne, Diego; Merril, Gregory L.; Turchi, Mario, Interface device and method for interfacing instruments to medical procedure simulation systems.
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Rosenberg,Louis B., Laparoscopic simulation interface.
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Hollis Jr Ralph L. (Yorktown Heights NY), Magnetically levitated fine motion robot wrist with programmable compliance.
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Nishida Shinichiro (Funabashi JPX), Manipulator controlling apparatus.
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Haaker Lester W. (Red Wing MN) Jelatis Demetrius G. (Red Wing MN), Master-slave manipulator.
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Tsuchihashi Akira (Nagareyama JPX) Takarada Shinichi (Yokohama JPX) Iwamoto Taro (Mito JPX) Nakajima Kichio (Ibaraki JPX) Aoki Tatsu (Ibaraki JPX) Yamamoto Hiroshi (Tsuchiura JPX), Master-slave manipulator control.
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Yoshinada Hiroshi (Machida JPX) Takeda Shu (Hiratsuka JPX), Master/slave type manipulator.
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Tarr Christopher, Method and apparatus for generating and interfacing with rigid and deformable surfaces in a haptic virtual reality environment.
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Rosenberg Louis B., Method and apparatus for interfacing an elongated object with a computer system.
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Rosenberg Louis B., Method and apparatus for providing force feedback to the user of an interactive computer simulation.
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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. (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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Redmond Scott (Fresno CA), Methods and apparatus for generating and processing synthetic and absolute real time environments.
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Ranta,John F.; Aviles,Walter A.; Donoff,R. Bruce; Nelson,Linda P., Methods and apparatus for simulating dental procedures and for training dental students.
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Kraft Brett W. (11667 W. 90th St. Overland Park KS 66214), Modular rotary actuator.
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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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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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Wang, Yulun; Jordan, Charles S.; Uecker, Darrin R., Multi-functional surgical control system switching interface.
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Rosenberg, Louis B., Physically realistic computer simulation of medical procedures.
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Rosenberg, Louis B., Physically realistic computer simulation of medical procedures.
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Rosenberg,Louis B., Physically realistic computer simulation of medical procedures.
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Riener, Robert; Burgkart, Rainer, Programmable joint simulator with force and motion feedback.
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Leistner, David W.; Antos, John M.; Butler, James C.; Wissinger, John W., Refrigerator shelving system.
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Flatau Carl R. (30 Dartmouth Road Shoreham NY 11786), Remote manipulator.
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Sharon Andre (Stamford CT), Robotic apparatus with improved positioning accuracy.
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Kraft Brett W. (11667 W. 90th St. Overland Park KS 66214), Robotic inspection vehicle.
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King, Michael, Six degree of freedom hand controller.
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Shelef Gad (Palo Alto CA), Six degrees of freedom micromanipulator.
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Szakaly Zoltan F. (Tujunga CA), Synchronized computational architecture for generalized bilateral control of robot arms.
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Slotine Jean-Jacques E. (Cambridge MA) Niemeyer Gnter D. (Cambridge MA), Telerobotic system.
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Wyllie Charles E. (Largo FL), Three and four degree of freedom hand controllers.
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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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Kraft Brett W. (7300 Springfield Prairie Village KS 66208), Underwater manipulator system.
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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

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메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
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연합인증

Haptic user interface 원문보기

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Haptic user interface 원문보기

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