公开(公告)号：US06580417B2

公开(公告)日：2003-06-17

申请号：US09815872

申请日：2001-03-22

申请人： Louis B. Rosenberg ,  Adam C. Braun ,  Mike D. Levin

发明人： Louis B. Rosenberg ,  Adam C. Braun ,  Mike D. Levin

IPC分类号： G06F3033

CPC分类号： G06F3/016 ,  A63F13/06 ,  A63F13/285 ,  A63F2300/1025 ,  A63F2300/1037 ,  A63F2300/1043 ,  B25J9/1692 ,  G01B5/008 ,  G01B7/004 ,  G01B21/04 ,  G05B19/4207 ,  G05G9/047 ,  G05G2009/04766 ,  G05G2009/04777 ,  G06F3/011 ,  G06F3/038 ,  G06F3/0383 ,  G06F2203/014 ,  G06F2203/015 ,  H01H2003/008

摘要： A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.

摘要翻译： 一种使用由用户操纵的接口装置来控制和提供力反馈的方法和装置。 在接口设备本地提供微处理器，并从传感器读取传感器数据，该传感器描述用户（例如操纵杆）移动的用户对象的位置和/或其他信息。 微处理器控制致动器以在用户对象上提供力并将传感器数据提供给耦合到接口设备的主计算机。 主计算机向本地微处理器发送高电平主机命令，并且微处理器基于高电平命令独立地实现局部反射过程，以使用传感器数据和其他参数向致动器提供力值。 提供的主机命令协议包括各种不同类型的主机命令和相关的命令参数。 通过提供一组相对较小的高级主机命令和参数，这些命令和参数被翻译成一个总体的力量，协议进一步将计算负担从主机转移到本地微处理器，并允许软件开发人员轻松创建力反馈应用程序。

公开(公告)号：US08077145B2

公开(公告)日：2011-12-13

申请号：US11227610

申请日：2005-09-15

申请人： Louis B. Rosenberg ,  Adam C. Braun ,  Mike D. Levin

发明人： Louis B. Rosenberg ,  Adam C. Braun ,  Mike D. Levin

IPC分类号： G06F3/033 ,  G09G5/08

CPC分类号： G06F3/016 ,  A63F13/06 ,  A63F13/285 ,  A63F2300/1025 ,  A63F2300/1037 ,  A63F2300/1043 ,  B25J9/1692 ,  G01B5/008 ,  G01B7/004 ,  G01B21/04 ,  G05B19/4207 ,  G05G9/047 ,  G05G2009/04766 ,  G05G2009/04777 ,  G06F3/011 ,  G06F3/038 ,  G06F3/0383 ,  G06F2203/014 ,  G06F2203/015 ,  H01H2003/008

摘要： A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.

摘要翻译： 一种使用由用户操纵的接口装置来控制和提供力反馈的方法和装置。 在接口设备本地提供微处理器，并从传感器读取传感器数据，该传感器描述用户（例如操纵杆）移动的用户对象的位置和/或其他信息。 微处理器控制致动器以在用户对象上提供力并将传感器数据提供给耦合到接口设备的主计算机。 主计算机向本地微处理器发送高级主机命令，并且微处理器基于高电平命令独立地实现局部反射过程，以使用传感器数据和其他参数向致动器提供力值。 提供的主机命令协议包括各种不同类型的主机命令和相关命令参数。 通过提供一组相对较小的高级主机命令和参数，这些命令和参数被翻译成一个总体的力量，协议进一步将计算负担从主机转移到本地微处理器，并允许软件开发人员轻松创建力反馈应用程序。

公开(公告)号：US06219033B1

公开(公告)日：2001-04-17

申请号：US09050665

申请日：1998-03-30

申请人： Louis B. Rosenberg ,  Adam C. Braun ,  Mike D. Levin

发明人： Louis B. Rosenberg ,  Adam C. Braun ,  Mike D. Levin

IPC分类号： G06F3033

CPC分类号： G06F3/016 ,  A63F13/06 ,  A63F13/285 ,  A63F2300/1025 ,  A63F2300/1037 ,  A63F2300/1043 ,  B25J9/1692 ,  G01B5/008 ,  G01B7/004 ,  G01B21/04 ,  G05B19/4207 ,  G05G9/047 ,  G05G2009/04766 ,  G05G2009/04777 ,  G06F3/011 ,  G06F3/038 ,  G06F3/0383 ,  G06F2203/014 ,  G06F2203/015 ,  H01H2003/008

摘要： A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.

摘要翻译： 一种使用由用户操纵的接口装置来控制和提供力反馈的方法和装置。 在接口设备本地提供微处理器，并从传感器读取传感器数据，该传感器描述用户（例如操纵杆）移动的用户对象的位置和/或其他信息。 微处理器控制致动器以在用户对象上提供力并将传感器数据提供给耦合到接口设备的主计算机。 主计算机向本地微处理器发送高电平主机命令，并且微处理器基于高电平命令独立地实现局部反射过程，以使用传感器数据和其他参数向致动器提供力值。 提供的主机命令协议包括各种不同类型的主机命令和相关的命令参数。 通过提供一组相对较小的高级主机命令和参数，这些命令和参数被翻译成一个总体的力量，协议进一步将计算负担从主机转移到本地微处理器，并允许软件开发人员轻松创建力反馈应用程序。

公开(公告)号：US5734373A

公开(公告)日：1998-03-31

申请号：US566282

申请日：1995-12-01

申请人： Louis B. Rosenberg ,  Adam C. Braun ,  Mike D. Levin

发明人： Louis B. Rosenberg ,  Adam C. Braun ,  Mike D. Levin

IPC分类号： A63F13/06 ,  B25J9/16 ,  G01B5/008 ,  G01B7/004 ,  G01B21/04 ,  G05B19/42 ,  G05D25/02 ,  G05G9/047 ,  G06F3/00 ,  G06F3/01 ,  G06F3/038 ,  G06F3/033 ,  G09G5/08

CPC分类号： G06F3/016 ,  A63F13/06 ,  A63F13/285 ,  B25J9/1692 ,  G01B21/04 ,  G01B5/008 ,  G01B7/004 ,  G05B19/4207 ,  G05D25/02 ,  G05G9/047 ,  G06F3/011 ,  G06F3/038 ,  G06F3/0383 ,  A63F2300/1025 ,  A63F2300/1037 ,  A63F2300/1043 ,  G05G2009/04766 ,  G05G2009/04777 ,  G06F2203/014 ,  G06F2203/015 ,  H01H2003/008

摘要： A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.

公开(公告)号：US06982700B2

公开(公告)日：2006-01-03

申请号：US10413274

申请日：2003-04-14

申请人： Louis B. Rosenberg ,  Adam C. Braun ,  Mike D. Levin

发明人： Louis B. Rosenberg ,  Adam C. Braun ,  Mike D. Levin

IPC分类号： G06F3/033 ,  G09G5/08

CPC分类号： G06F3/016 ,  A63F13/06 ,  A63F13/285 ,  A63F2300/1025 ,  A63F2300/1037 ,  A63F2300/1043 ,  B25J9/1692 ,  G01B5/008 ,  G01B7/004 ,  G01B21/04 ,  G05B19/4207 ,  G05G9/047 ,  G05G2009/04766 ,  G05G2009/04777 ,  G06F3/011 ,  G06F3/038 ,  G06F3/0383 ,  G06F2203/014 ,  G06F2203/015 ,  H01H2003/008

摘要： A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and/or other information about a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.

公开(公告)号：US06946812B1

公开(公告)日：2005-09-20

申请号：US09106565

申请日：1998-06-29

申请人： Kenneth M. Martin ,  Mike D. Levin ,  Louis B. Rosenberg

发明人： Kenneth M. Martin ,  Mike D. Levin ,  Louis B. Rosenberg

IPC分类号： A61B19/00 ,  B25J9/16 ,  G06F3/033 ,  G09B23/28 ,  G05B19/10

CPC分类号： B25J9/1689 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2034/742 ,  G05B2219/35419 ,  G05B2219/40144 ,  G06F3/0346 ,  G06F19/00 ,  G09B23/28

摘要： An apparatus and method for interfacing the motion of a user-manipulable object with a computer system includes a user object physically contacted or grasped by a user. A 3-D spatial mechanism is coupled to the user object, such as a stylus or a medical instrument, and provides three degrees of freedom to the user object. Three grounded actuators provide forces in the three degrees of freedom. Two of the degrees of freedom are a planar workspace provided by a closed-loop linkage of members, and the third degree of freedom is rotation of the planar workspace provided by a rotatable carriage. Capstan drive mechanisms transmit forces between actuators and the user object and include drums coupled to the carriage, pulleys coupled to-grounded actuators, and flexible cables transmitting force between the pulleys and the drums. The flexibility of the cable allows the drums to rotate with the carriage while the pulleys and actuators remain fixed to ground. The interface also may include a floating gimbal mechanism coupling the linkage to the user object. The floating gimbal mechanism includes rotatably coupled gimbal members that provide three degrees of freedom to the user object and capstan mechanisms coupled between sensors and the gimbal members for providing enhanced sensor resolution.

摘要翻译： 用于将用户可操纵对象与计算机系统的运动对接的装置和方法包括用户实际接触或掌握的用户对象。 三维空间机构耦合到诸如触笔或医疗器械的用户对象，并且向用户对象提供三个自由度。 三个接地执行器提供了三个自由度的力。 自由度中的两个是由构件的闭环联动提供的平面工作空间，并且第三自由度是由可旋转托架提供的平面工作空间的旋转。 绞盘驱动机构在致动器和用户物体之间传递力，并且包括联接到滑架的滚筒，耦合到接地致动器的滑轮和在滑轮和滚筒之间传递力的柔性电缆。 电缆的灵活性允许鼓与滑架一起旋转，同时滑轮和致动器保持固定在地面上。 该接口还可以包括将该链接耦合到用户对象的浮动万向架机构。 浮动万向架机构包括可旋转地联接的万向架构件，其向用户物体提供三个自由度，并且联接在传感器和万向节构件之间的主导机构用于提供增强的传感器分辨率。

公开(公告)号：US06024576A

公开(公告)日：2000-02-15

申请号：US709012

申请日：1996-09-06

申请人： JoeBen Bevirt ,  David F. Moore ,  John Q. Norwood ,  Louis B. Rosenberg ,  Mike D. Levin

发明人： JoeBen Bevirt ,  David F. Moore ,  John Q. Norwood ,  Louis B. Rosenberg ,  Mike D. Levin

IPC分类号： A61B19/00 ,  G05G9/04 ,  G09B23/28 ,  B25J1/00 ,  G09G5/00 ,  G09G5/08

CPC分类号： G09B23/285 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  G05G9/04 ,  G06F3/016 ,  G06F3/0338 ,  G06F3/05 ,  A61B2034/742

摘要： A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located remotely from the members at about an intersection of the axes of rotation of the members. A linear axis member, coupled to the user object, is coupled to at least one of the members, extends through the remote pivot point and is movable in the two rotary degrees of freedom and a third linear degree of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a computer. Capstan band drive mechanisms transmit forces between the transducers and the object and include a capstan and flat bands, where the flat bands transmit motion and force between the capstan and interface members. Applications include simulations of medical procedures, e.g. epidural anesthesia, where the user object is a needle or other medical instrument, or other types of simulations or games.

摘要翻译： 用于为计算机系统提供高带宽和低噪声机械输入和输出的机械接口。 万向节机构包括多个构件，其可枢转地彼此联接，以向围绕位于构件旋转轴线的交叉点处远离构件的枢轴点操纵的用户提供两个旋转自由度。 耦合到用户物体的线性轴构件联接到至少一个构件，延伸穿过远程枢轴点并且可以在两个旋转自由度和第三线性自由度中移动。 与提供的自由度相关联的传感器包括传感器和致动器，并且在对象和计算机之间提供机电接口。 绞盘带驱动机构在换能器和物体之间传递力并且包括绞盘和扁平带，其中扁平带在绞盘和接口构件之间传递运动和力。 应用包括医疗程序的模拟，例如 硬膜外麻醉，其中用户对象是针或其他医疗器械，或其他类型的模拟或游戏。

公开(公告)号：US07249951B2

公开(公告)日：2007-07-31

申请号：US10797155

申请日：2004-03-11

申请人： JoeBen Bevirt ,  David F. Moore ,  John Q. Norwood ,  Louis B. Rosenberg ,  Mike D. Levin

发明人： JoeBen Bevirt ,  David F. Moore ,  John Q. Norwood ,  Louis B. Rosenberg ,  Mike D. Levin

IPC分类号： G09B23/28 ,  G09G5/00

CPC分类号： G09B23/285 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2034/742 ,  G05G9/04 ,  G06F3/016 ,  G06F3/0338 ,  G06F3/05

摘要： A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotably coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located remotely from the members at about an intersection of the axes of rotation of the members. A linear axis member, coupled to the user object, is coupled to at least one of the members, extends through the remote pivot point and is movable in the two rotary degrees of freedom and a third linear degree of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a computer. Capstan band drive mechanisms transmit forces between the transducers and the object and include a capstan and flat bands, where the flat bands transmit motion and force between the capstan and interface members. Applications include simulations of medical procedures, e.g. epidural anesthesia, where the user object is a needle or other medical instrument, or other types of simulations or games.

摘要翻译： 用于为计算机系统提供高带宽和低噪声机械输入和输出的机械接口。 万向节机构包括多个构件，其可枢转地彼此联接，以向围绕位于构件旋转轴线的交叉点处远离构件的枢轴点操纵的用户提供两个旋转自由度。 耦合到用户物体的线性轴构件联接到至少一个构件，延伸穿过远程枢轴点并且可以在两个旋转自由度和第三线性自由度中移动。 与提供的自由度相关联的传感器包括传感器和致动器，并且在对象和计算机之间提供机电接口。 绞盘带驱动机构在换能器和物体之间传递力并且包括绞盘和扁平带，其中扁平带在绞盘和接口构件之间传递运动和力。 应用包括医疗程序的模拟，例如 硬膜外麻醉，其中用户对象是针或其他医疗器械，或其他类型的模拟或游戏。

公开(公告)号：US06342880B2

公开(公告)日：2002-01-29

申请号：US09414294

申请日：1999-10-06

申请人： Louis B. Rosenberg ,  Christopher J. Hasser ,  Bruce M. Schena ,  Mike D. Levin

发明人： Louis B. Rosenberg ,  Christopher J. Hasser ,  Bruce M. Schena ,  Mike D. Levin

IPC分类号： G09G508

CPC分类号： G06F3/016 ,  A63F13/06 ,  A63F13/211 ,  A63F13/285 ,  A63F2300/1025 ,  A63F2300/1037 ,  G05G9/047 ,  G05G2009/04766 ,  G05G2009/04777 ,  G06F3/0383 ,  G06F19/00 ,  G06F2203/015 ,  H01H2003/008

摘要： A force feedback interface including a haptic accelerator that relieves the computational burden associated with force feedback generation from a force feedback processor. The force feedback processor is preferably a device microprocessor included in the interface device and separate from a controlling host computer for determining forces to be output. The haptic accelerator quickly determines velocity and/or acceleration information describing motion of a user manipulatable object from raw position data received from sensors of the interface device and representing the position of the user object. The velocity and/or acceleration data is used by the force feedback processor in the determination of forces to be output on the user object. The haptic accelerator can in some embodiments also quickly and reliably determine condition forces which depend on the motion of the user object, thus relieving additional computation burden from the force feedback processor and permitting the force feedback processor to focus on determining other types of forces and overseeing the operation of the force feedback interface device.

摘要翻译： 一种力反馈界面，包括一个抵消力反馈处理器产生力反馈相关的计算负担的触觉加速器。 力反馈处理器优选地是包括在接口设备中的设备微处理器，并且与控制主计算机分离以确定要输出的力。 触觉加速器快速地确定速度和/或加速度信息，其描述从接口装置的传感器接收的并且表示用户对象的位置的原始位置数据中的用户可操纵对象的运动。 力反馈处理器使用速度和/或加速度数据来确定在用户物体上输出的力。 在一些实施例中，触觉加速器还可以快速且可靠地确定取决于用户对象的运动的状态力，从而减轻来自力反馈处理器的额外计算负担，并允许力反馈处理器专注于确定其他类型的力并监督 力反馈接口设备的操作。

公开(公告)号：US07500853B2

公开(公告)日：2009-03-10

申请号：US11412290

申请日：2006-04-26

申请人： JoeBen Bevirt ,  David F. Moore ,  John Q. Norwood ,  Louis B. Rosenberg ,  Mike D. Levin

发明人： JoeBen Bevirt ,  David F. Moore ,  John Q. Norwood ,  Louis B. Rosenberg ,  Mike D. Levin

IPC分类号： G09B23/28

CPC分类号： G09B23/285 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2034/742 ,  G05G9/04 ,  G06F3/016 ,  G06F3/0338 ,  G06F3/05

摘要： A mechanical interface for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism includes multiple members that are pivotally coupled to each other to provide two revolute degrees of freedom to a user manipulatable about a pivot point located remotely from the members at about an intersection of the axes of rotation of the members. A linear axis member, coupled to the user object, is coupled to at least one of the members, extends through the remote pivot point and is movable in the two rotary degrees of freedom and a third linear degree of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a computer. Capstan band drive mechanisms transmit forces between the transducers and the object and include a capstan and flat bands, where the flat bands transmit motion and force between the capstan and interface members. Applications include simulations of medical procedures, e.g. epidural anesthesia, where the user object is a needle or other medical instrument, or other types of simulations or games.

摘要翻译： 用于为计算机系统提供高带宽和低噪声机械输入和输出的机械接口。 万向架机构包括多个构件，所述多个构件彼此枢转地联接，以向围绕位于构件旋转轴线的交叉点处远离构件的枢轴点操纵的用户提供两个旋转自由度。 耦合到用户物体的线性轴构件联接到至少一个构件，延伸穿过远程枢轴点并且可以在两个旋转自由度和第三线性自由度中移动。 与提供的自由度相关联的传感器包括传感器和致动器，并且在对象和计算机之间提供机电接口。 绞盘带驱动机构在换能器和物体之间传递力并且包括绞盘和扁平带，其中扁平带在绞盘和接口构件之间传递运动和力。 应用包括医疗程序的模拟，例如 硬膜外麻醉，其中用户对象是针或其他医疗器械，或其他类型的模拟或游戏。