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公开(公告)号：US07113166B1
公开(公告)日：2006-09-26
申请号：US09547782
申请日：2000-04-12
IPC分类号： G09G5/00
CPC分类号： A63B21/0057 , A63B22/0605 , A63B23/14 , A63B69/00 , G06F3/016 , G09B9/00 , G09B19/00
摘要： A haptic feedback device including a fluid viscosity-controlled brake that outputs high forces to the device user at low cost while maintaining inherent safety. An interface device includes a manipulandum physically contacted by the user. A sensor senses a position of the manipulandum and outputs a sensor signal. The interface device also includes a brake including a field-controlled fluid having a viscosity that can be controlled by controlling an electric current in a coil, where a resistive force or drag on the manipulandum is controlled by controlling the fluid's viscosity. The fluid can be an electrorheological fluid controlled by an electric field or a magnetorheological fluid controlled by a magnetic field. In one preferred embodiment, the resistive force is controlled by adjusting a degree of contact of the brake with the manipulandum based on the fluid's viscosity. Disclosed embodiments include fishing devices, bicycle simulators, and control knobs.
摘要翻译： 一种触觉反馈装置，包括流体粘度控制的制动器，其以低成本向装置用户输出高力量，同时保持固有的安全性。 接口设备包括用户实际接触的操作。 传感器感测操纵的位置并输出传感器信号。 接口装置还包括制动器，其包括具有可通过控制线圈中的电流来控制的粘度的场控流体，其中通过控制流体的粘度来控制操纵力上的阻力或阻力。 流体可以是由电场控制的电流变流体或由磁场控制的磁流变流体。 在一个优选实施例中，通过基于流体的粘度调节制动器与操纵的接触程度来控制阻力。 公开的实施例包括钓鱼装置，自行车模拟器和控制旋钮。
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公开(公告)号：US07106313B2
公开(公告)日：2006-09-12
申请号：US09734953
申请日：2000-12-11
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/0477 , G06F3/0354 , G06F3/03543 , G06F2203/015 , G09B23/285 , H01H2003/008
摘要： A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage, two of the members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. At least one sensor is coupled to the ground surface that detects movement of the linkage and provides a sensor signal including information from which a position of the mouse object in the planar workspace can be determined.
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93.发明授权Actuator for providing tactile sensations and device for directional tactile sensations 有权用于提供触觉感觉的触发器和用于定向触觉的装置公开(公告)号：US07084854B1
公开(公告)日：2006-08-01
申请号：US09967494
申请日：2001-09-27
IPC分类号： G09G5/08
CPC分类号： G06F3/016 , G06F3/03543
摘要： An interface device providing haptic feedback to a user is in communication with a host computer. The device includes a housing, at least one sensor for detecting user input, and an actuator assembly. The actuator assembly includes a grounded flexure suspension coupled to an inertial mass which moves when the actuator assembly is energized to cause inertial sensations. The inertial mass includes a pole piece surrounding a magnet, and a grounded coil between magnet and pole piece causes the motion of the inertial mass when current is flowed therethrough. Another embodiment provides directional haptic feedback to a user and includes at least two actuator assemblies oriented such that the inertial masses oscillate substantially orthogonally, and can be controlled to output the inertial sensations approximately along a single axis having a desired orientation.
摘要翻译： 向用户提供触觉反馈的接口设备与主计算机通信。 该装置包括壳体，用于检测用户输入的至少一个传感器和致动器组件。 致动器组件包括联接到惯性质量块的接地挠曲悬架，当致动器组件被激励以引起惯性感觉时，惯性块移动。 惯性质量包括一个围绕磁体的极片，而磁体和极片之间的接地线圈导致当电流流过惯性质量时的运动。 另一个实施例向用户提供定向触觉反馈，并且包括至少两个致动器组件，其被定向成使得惯性质量基本上正交振荡，并且可以被控制以沿着具有期望取向的单个轴输出惯性感觉。
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公开(公告)号：US06937033B2
公开(公告)日：2005-08-30
申请号：US09894985
申请日：2001-06-27
CPC分类号： G01D5/1655 , G01D5/165
摘要： A position sensor includes a resistive element positionable on a first surface. A pair of leads are on the resistive element, the pair of leads adapted to supply a first voltage, such as by being grounded. An intermediate lead is positioned on the resistive element between the pair of leads, the intermediate lead being adapted to provide a second voltage. A contact element is positionable on a second surface, the contact element adapted to contact at least a portion of the resistive element to detect a voltage at a contact position, the detected voltage being related to the position or movement of the second surface relative to the first surface. In another version, a position sensor includes a resistive element comprising first and second resistive strips. A plurality of leads are positioned on each resistive strip to provide a voltage to each resistive strip.
摘要翻译： 位置传感器包括可定位在第一表面上的电阻元件。 一对引线位于电阻元件上，该对引线适于提供第一电压，例如通过接地。 中间引线位于一对引线之间的电阻元件上，中间引线适于提供第二电压。 接触元件可定位在第二表面上，接触元件适于接触电阻元件的至少一部分以检测接触位置处的电压，检测到的电压与第二表面相对于第二表面的位置或移动有关 第一表面。 在另一个版本中，位置传感器包括包括第一和第二电阻条的电阻元件。 多个引线位于每个电阻带上以向每个电阻带提供电压。
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公开(公告)号：US06191774B1
公开(公告)日：2001-02-20
申请号：US09401044
申请日：1999-09-22
IPC分类号： G09G508
CPC分类号： G05G9/047 , A61B90/50 , A63F2300/1037 , B25J9/1692 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/4207 , G05G9/04737 , G05G2009/0474 , G05G2009/04766 , G05G2009/0477 , G06F3/016 , G06F3/0346 , G06F3/0354 , G06F3/03543 , G06F3/038 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28 , G09B23/285 , H01H2003/008
摘要： A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage and including two members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. The grounded magnet portions of the actuators can be coupled together such that a common flux path between the magnet portions is shared by both magnets. At least one sensor is coupled to the ground surface that detects movement of the linkage and provides a sensor signal including information from which a position of the mouse object in the planar workspace can be determined.
摘要翻译： 连接到主计算机的力反馈鼠标接口设备，并向用户提供逼真的力反馈。 鼠标接口设备包括鼠标对象和耦合到鼠标的联动装置，其包括在平面闭环联动装置中彼此可旋转地联接的多个构件，并且包括耦合到地面并且可围绕同一轴线旋转的两个构件。 两个致动器，优选地是电磁音圈，提供了鼠标物体的平面工作空间的两个自由度的力。 每个致动器包括与联动件的一个构件一体化的可移动线圈部分和耦合到线圈部分通过其移动的地面的磁体部分。 致动器的接地磁体部分可以耦合在一起，使得磁体部分之间的公共磁通路径被两个磁体共享。 至少一个传感器耦合到地面，其检测联动装置的移动，并且提供包括信息的传感器信号，从而可以确定在平面工作空间中的鼠标对象的位置。
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公开(公告)号：US6166723A
公开(公告)日：2000-12-26
申请号：US965720
申请日：1997-11-07
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/0477 , G06F3/0354 , G06F3/03543 , G06F2203/015 , G09B23/285 , H01H2003/008
摘要： A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage, two of the members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. At least one sensor is coupled to the ground surface that detects movement of the linkage and provides a sensor signal including information from which a position of the mouse object in the planar workspace can be determined.
摘要翻译： 连接到主计算机的力反馈鼠标接口设备，并向用户提供逼真的力反馈。 鼠标接口设备包括鼠标对象和耦合到鼠标的联动装置，其包括在平面闭环联动装置中彼此可旋转地联接的多个构件，其中两个构件联接到地面并且可围绕同一轴线旋转。 两个致动器，优选地是电磁音圈，提供了鼠标物体的平面工作空间的两个自由度的力。 每个致动器包括与联动件的一个构件一体化的可移动线圈部分和耦合到线圈部分通过其移动的地面的磁体部分。 至少一个传感器耦合到地面，其检测联动装置的移动，并且提供包括信息的传感器信号，从而可以确定在平面工作空间中的鼠标对象的位置。
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公开(公告)号：US6100874A
公开(公告)日：2000-08-08
申请号：US881691
申请日：1997-06-24
CPC分类号： G05G9/047 , B25J9/1692 , G01B21/04 , G01B5/008 , G01B7/004 , G05B19/4207 , G05D25/02 , G06F3/016 , G06F3/0346 , G06F3/0354 , G06F3/03543 , G06F3/038 , G06F3/0383 , G09B23/28 , G09B23/285 , G09B9/28 , A61B90/50 , A63F2300/1037 , G05G2009/0474 , G05G2009/04766 , G05G2009/0477 , G05G9/04737 , G06F2203/015 , H01H2003/008
摘要： A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to each other in a planar closed-loop linkage and including two members coupled to ground and rotatable about the same axis. Two actuators, preferably electromagnetic voice coils, provide forces in the two degrees of freedom of the planar workspace of the mouse object. Each of the actuators includes a moveable coil portion integrated with one of the members of the linkage and a magnet portion coupled to the ground surface through which the coil portion moves. The grounded magnet portions of the actuators can be coupled together such that a common flux path between the magnet portions is shared by both magnets. At least one sensor is coupled to the ground surface that detects movement of the linkage and provides a sensor signal including information from which a position of the mouse object in the planar workspace can be determined.
摘要翻译： 连接到主计算机的力反馈鼠标接口设备，并向用户提供逼真的力反馈。 鼠标接口设备包括鼠标对象和耦合到鼠标的联动装置，该连接器包括在平面闭环联动装置中彼此可旋转地联接的多个构件，并且包括联接到地面并可绕同一轴线旋转的两个构件。 两个致动器，优选地是电磁音圈，提供了鼠标物体的平面工作空间的两个自由度的力。 每个致动器包括与联动件的一个构件一体化的可移动线圈部分和耦合到线圈部分通过其移动的地面的磁体部分。 致动器的接地磁体部分可以耦合在一起，使得磁体部分之间的公共磁通路径被两个磁体共享。 至少一个传感器耦合到地面，其检测联动装置的移动，并且提供包括信息的传感器信号，从而可以确定在平面工作空间中的鼠标对象的位置。
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公开(公告)号：US5929846A
公开(公告)日：1999-07-27
申请号：US869584
申请日：1997-06-05
IPC分类号： A61B19/00 , B25J9/16 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/42 , G05D25/02 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/038 , G09B9/28 , G09B23/28 , G09G5/08 , G06F3/033
CPC分类号： G06F3/016 , B25J9/1692 , G01B21/04 , G01B5/008 , G01B7/004 , G05B19/4207 , G05D25/02 , G05G9/047 , G06F3/0346 , G06F3/038 , G06F3/0383 , G09B23/28 , G09B23/285 , G09B9/28 , A61B90/50 , A63F2300/1037 , G05G2009/0474 , G05G2009/04759 , G05G2009/04766 , G05G9/04737 , G06F2203/015 , H01H2003/008
摘要： A force feedback interface device and method for use with a host computer includes a user object, such as a joystick handle, physically contacted by a user. A support mechanism allows at least two degrees of freedom to the user object. Two actuators, preferably grounded, provide a force resistance to motion of the user object along the two degrees of freedom in response to commands from the host computer. A grounded sensor system includes an optical detector and a beam source, such as a photo diode sensor, where either the optical detector or the beam source is fixed with respect to the actuator, and the other moves with the user object. The sensor system is configured to detect motion of the user object with respect to a grounding surface in the two rotary degrees of freedom. A local microprocessor, separate from said host computer, can be included to control the actuators and read the sensor and execute a local process in parallel with host execution of a graphical environment.
摘要翻译： 与主计算机一起使用的力反馈接口装置和方法包括用户物理接触的用户对象，诸如操纵杆手柄。 支持机构允许至少两个自由度的用户对象。 响应于来自主计算机的命令，优选地接地的两个致动器沿着两个自由度提供对用户物体的运动的阻力。 接地的传感器系统包括光学检测器和诸如光电二极管传感器的光束源，其中光学检测器或光束源相对于致动器固定，另一个与用户物体一起移动。 传感器系统被配置为以两个旋转自由度相对于接地表面检测用户物体的运动。 可以包括与所述主计算机分开的本地微处理器来控制致动器并读取传感器并与主机执行图形环境并行地执行本地进程。
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公开(公告)号：US09586327B2
公开(公告)日：2017-03-07
申请号：US11609905
申请日：2006-12-12
申请人： Bruce M. Schena
发明人： Bruce M. Schena
CPC分类号： A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2017/00526 , B25J19/0029
摘要： A robotic medical system that includes a quick-connect/disconnect feature to facilitate the connecting and disconnecting of a robotic medical arm to and from a set-up arm is disclosed. The robotic medical system includes a robotic medical arm including an interface having a downward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. The system further includes a set-up arm including an interface having an upward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. To connect the robotic medical arm to the set-up arm, a user links the downward-oriented hook to the upward-oriented hook, and pivots the robotic medical arm until the respective electrical connectors mate with each other. To disconnect the robotic medical arm from the set-up arm, a user pivots the robotic medical arm to disconnect the electrical connectors, and then de-links the hooks.
摘要翻译： 公开了一种机器人医疗系统，其包括快速连接/断开连接特征，以便于将机器人医疗臂与设置臂连接和断开。 机器人医疗系统包括机器人医疗臂，其包括具有位于其上部的向下定向钩的接口和位于其下部的电连接器。 该系统还包括设置臂，该安装臂包括具有位于其上部的向上定向的钩的接口和位于其下部的电连接器。 为了将机器人医疗臂连接到安装臂，用户将向下定向的钩子连接到向上定向的钩子，并且使机器人医疗臂枢转直到相应的电连接器彼此配合。 为了将机器人医疗臂与装置臂断开连接，使用者使机器人医疗臂枢转以断开电连接器，然后将钩脱开。
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公开(公告)号：USRE44277E1
公开(公告)日：2013-06-11
申请号：US13423012
申请日：2012-03-16
申请人： Bruce M. Schena
发明人： Bruce M. Schena
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G01D7/007 , G05G9/047 , G05G2009/04766 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/0362 , G06F2203/013 , G06F2203/015
摘要： Haptic feedback interface devices using electroactive polymer (EAP) actuators to provide haptic sensations. A haptic feedback interface device is in communication with a host computer and includes a sensor device that detects the manipulation of the interface device by the user and an electroactive polymer actuator responsive to input signals and operative to output a force to the user caused by motion of the actuator. The output force provides a haptic sensation to the user. In an embodiment, a stylus including a body having a first end and a second end opposite from the first end, a moveable member coupled to the body and capable of being in contact with a user's hand; and an electro active polymer actuator coupled to the moveable member, wherein the electroactive polymer moves the moveable member from a first position to a second position with respect to the body upon being activated.
摘要翻译： 触觉反馈界面设备使用电活性聚合物（EAP）致动器来提供触觉感觉。 触觉反馈接口设备与主计算机通信，并且包括传感器设备，其检测用户对接口设备的操纵和响应于输入信号的电活性聚合物致动器，并且可操作地向用户输出由运动引起的运动的力 执行器。 输出力为用户提供触觉感觉。 在一个实施例中，一种触针，包括具有第一端和与第一端相对的第二端的本体，可移动构件，其联接到主体并且能够与使用者的手接触; 以及耦合到所述可移动构件的电活性聚合物致动器，其中所述电活性聚合物在被激活时相对于所述主体将所述可移动构件从第一位置移动到第二位置。
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