公开(公告)号：US6084587A

公开(公告)日：2000-07-04

申请号：US691247

申请日：1996-08-02

申请人： Christopher Tarr ,  J. Kenneth Salisbury, Jr. ,  Thomas Harold Massie ,  Walter A. Aviles

发明人： Christopher Tarr ,  J. Kenneth Salisbury, Jr. ,  Thomas Harold Massie ,  Walter A. Aviles

IPC分类号： G06T15/00

CPC分类号： G06T15/00

摘要： A method for generating a haptic interactive representation including the steps of defining a haptic interaction space and building a hierarchical construct, for use within the haptic interaction space, using a plurality of underlying constructs. In one embodiment the method includes determining the forces to be applied to a user by generating a haptic interactive, sensing a position of a user in real space, determining a haptic interface location in the haptic interaction space in response to the position of the user in real space and determining whether the virtual object collides with the haptic interface location. The invention also relates to a method for interacting with a haptic interactive representation. The method includes creating a haptic process having the haptic interactive representation, associating a callback with the haptic process, connecting to a second process which interacts with the haptic process and associating the callback which is associated with the haptic process with the second process. The method further includes requesting the callback by the second process, and returning, by the haptic process through the callback to the second process, at least one parameter associated with the haptic interactive representation.

摘要翻译： 一种用于生成触觉交互表示的方法，包括以下步骤：使用多个底层构造来定义触觉交互空间并构建使用在所述触觉交互空间内的分层结构。 在一个实施例中，该方法包括通过生成触觉交互来确定要施加给用户的力，感测用户在实际空间中的位置，响应于用户的位置来确定触觉交互空间中的触觉界面位置 确定虚拟对象是否与触觉界面位置相冲突。 本发明还涉及一种用于与触觉交互表示相互作用的方法。 该方法包括创建具有触觉交互表示的触觉过程，将回调与触觉过程相关联，连接到与触觉过程相互作用的第二进程并将与触觉进程相关联的回调与第二进程相关联。 该方法还包括请求第二进程的回调，并且通过触觉处理通过回调向第二进程返回与触觉交互表示相关联的至少一个参数。

公开(公告)号：US5587937A

公开(公告)日：1996-12-24

申请号：US429266

申请日：1995-04-25

申请人： Thomas H. Massie ,  J. Kenneth Salisbury, Jr.

发明人： Thomas H. Massie ,  J. Kenneth Salisbury, Jr.

IPC分类号： B25J9/16 ,  B25J13/02 ,  G05B11/01 ,  G05G1/52 ,  G05G9/047 ,  G06F3/00 ,  G06F3/01 ,  G06F3/033 ,  G06F3/038 ,  G06G7/48 ,  G09G5/00 ,  G06F19/00

CPC分类号： G06F3/014 ,  B25J13/02 ,  B25J9/1689 ,  G05B17/02 ,  G05G1/52 ,  G05G9/047 ,  G06F3/016 ,  G06F3/033 ,  G06F3/0346 ,  G06F3/0383 ,  G05B2219/23021 ,  G05G2009/04766 ,  G06F2203/0331

摘要： A connection element such as a thimble connects to a user's body member, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable. Signal processing equipment powers the actuators to deliver a signal at the connection element that represents a virtual situation generated by a programmed computer, or physical conditions in a remote environment. A virtual switch presents to the user the force and displacement relationship of a spring switch. A virtual bristled brush presents the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user's changes in location.

摘要翻译： 诸如套管的连接元件通过连接件连接到使用者的身体构件到地面参考。 设备在用户本地的环境中与用户物理交换力。 连接能够使连接元件相对于参考的至少三个独立的自由。 它还保持连接元件相对于无功率的参考的至少一个独立的自由度。 连接元件最多可以保持三个独立的自由度，并且可以为多达五个独立的自由提供动力。 万向节连接万向节与连杆。 零，一个或两个万向轴可以通电。 五杆连接将连接元件连接到还包括两个执行器的平衡。 第三个执行器将五个杆连杆与参考连接。 平衡的两个致动器可以通过单个电缆连接到链中的下一个链路到参考。 信号处理设备为执行器供电，以在连接元件处传递代表由编程的计算机产生的虚拟情况或远程环境中的物理条件的信号。 虚拟开关向用户呈现弹簧开关的力和位移关系。 一个虚拟的刷毛显示了这样的刷子的力和位移关系，同时也改变了虚拟环境，以反映用户的位置变化。

公开(公告)号：US5207114A

公开(公告)日：1993-05-04

申请号：US682588

申请日：1991-04-08

申请人： J. Kenneth Salisbury, Jr. ,  William T. Townsend

发明人： J. Kenneth Salisbury, Jr. ,  William T. Townsend

IPC分类号： B25J9/04 ,  B25J9/10 ,  B25J17/02 ,  F16H19/00

CPC分类号： B25J9/046 ,  B25J17/02 ,  B25J9/1045 ,  F16H19/005 ,  F16H2019/0695 ,  Y10T74/18832 ,  Y10T74/18848 ,  Y10T74/20207

摘要： A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. To form a differential, a pretensioned cable carried on paired pulleys having smooth outer surfaces parallel to the axis of rotation couples the pulleys. The pulleys have axes of rotation that can intersect and their cable carrying surfaces are closely spaced, preferably by less than half the width of the cable. The outer surfaces can be stepped to accommodate two or more cables for bi-directional operation, or to create a conventional differential with a spider. The links and pulleys of the transmission are long and narrow. This high aspect ratio provides a compact configuration that is conducive to whole arm manipulations where any exterior surface of the links can engage an object. A low inertia, low friction brushless D.C. motor operating under the control of a pulse width modulated controller responsive to the current drawn by the motor, in combination with the cable transmission of this invention, provide excellent force control.

摘要翻译： 预拉伸的电缆沿着第一支撑构件（连接）将动力从旋转致动器传递到旋转的输出接头，通常是固定到第二连杆臂但可在第一和第二连杆之间的联接中旋转的输出滑轮。 典型地，两组不同直径的联接惰轮的减速器安装在从致动器移除的点处，并且优选地尽可能靠近输出接头。 安装在致动器输出件上的轴向分开的线轴沿着相反的方向将出线和回复的电缆部分卷绕在线轴的不同的两半上，以在一点上提供电缆在整个电缆电路中的预拉伸。 为了形成差速器，承载在具有平行于旋转轴线的平滑外表面的成对皮带轮上的预拉伸电缆将皮带轮相连接。 滑轮具有可以相交的旋转轴线，并且其电缆承载表面紧密地间隔开，优选地小于电缆宽度的一半。 外表面可以是阶梯式的以容纳用于双向操作的两根或更多根电缆，或者用蜘蛛形成传统的差速器。 变速器的连杆和滑轮长而窄。 这种高纵横比提供了一种紧凑的构造，其有助于整个臂操纵，其中链节的任何外表面可以接合物体。 在脉冲宽度调制控制器的控制下运行的低惯量，低摩擦无刷直流电动机响应于电动机所产生的电流，结合本发明的电缆传动装置提供优异的力控制。