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公开(公告)号：US06686911B1
公开(公告)日：2004-02-03
申请号：US09680408
申请日：2000-10-02
IPC分类号： G09G500
CPC分类号： G06F3/016 , A63F2300/1037 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10S715/974 , Y10T74/20201
摘要： The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.
摘要翻译： 本发明提供了一种设备上的控制旋钮，其允许用户控制设备的功能。 在一个实施例中，旋钮可以旋转自由度旋转，并且在大致垂直于轴线的至少一个横向方向上可移动。 致动器联接到旋钮以输出围绕轴线的旋转自由度的力，从而提供力反馈。 在不同的实施例中，旋钮以关于轴线的旋转自由度提供力反馈，并且还可以在大致平行于轴线的线性自由度中移动，从而允许使用者推动和/或拉动旋钮 。 由旋钮控制的设备可以是各种类型的设备，诸如音频设备，视频设备等。设备还可以包括提供响应于旋钮的操纵而更新的图像的显示器。 可以通过在旋钮的旋转自由度中重叠和调整紧密间隔的棘爪的范围来为旋钮提供限位力。
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42.发明授权Absolute position sensing by phase shift detection using a variable capacitor 有权通过使用可变电容器进行相移检测的绝对位置检测公开(公告)号：US06304091B1
公开(公告)日：2001-10-16
申请号：US09248177
申请日：1999-02-09
IPC分类号： G01R2726
CPC分类号： G01D5/2412
摘要： A low-cost, high-resolution capacitive position sensor is provided using a variable capacitor. A vane moves parallel to a stator, where a dielectric is interposed between vane and stator, such that the vane overlaps at least a portion of the stator, creating a capacitance that varies as the vane moves relative to the fixed stator. The capacitor circuit outputs a signal having a phase shift relative to an input driver signal based on the relative positions of the vane and stator. The phase-shifted signal is used to derive the absolute position of the vane with respect to the stator. Two or more stator can be provided to provide two phase-shifted signals and a difference signal free of common mode effects. Enhanced embodiments include interdigitated stator portions for greater sensing resolution, and/or a two or three-pole filter to double or triple the dynamic range of the sensor.
摘要翻译： 使用可变电容器提供了低成本，高分辨率的电容式位置传感器。 叶片平行于定子移动，其中电介质插入在叶片和定子之间，使得叶片与定子的至少一部分重叠，产生随着叶片相对于固定定子移动而变化的电容。 电容器电路基于叶片和定子的相对位置输出相对于输入驱动器信号的相移的信号。 相移信号用于导出叶片相对于定子的绝对位置。 可以提供两个或更多个定子以提供两个相移信号和不具有共模效应的差分信号。 增强的实施例包括用于更大的感测分辨率的交叉指定的定子部分和/或将传感器的动态范围加倍或三倍的两极或三极滤波器。
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43.发明授权公开(公告)号：US06271833B1
公开(公告)日：2001-08-07
申请号：US09035726
申请日：1998-03-05
IPC分类号： H02J700
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F1/266 , G06F3/011 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A method and apparatus for providing safe and low-cost force feedback peripherals for consumer applications. A device microprocessor local to an interface device is coupled to the host by a first interface bus. The microprocessor receives host commands from the host computer on the first interface bus, such as an RS-232 interface, and commands an actuator to apply a force to a user object, such as a joystick, in response to host commands. A sensor detects positions of the user object and outputs signals to the host on a second interface bus, such as a PC game port bus, separate from the first bus. In a “recoil” embodiment, a user initiates force feedback by pressing a button on the joystick, which sends an activation signal to the actuator. In other recoil embodiments, the host computer can transmit one or more enable signals and/or activation signals to the actuator to enable or command forces. A safety switch of the present invention disables the actuator when the interface device is not in use and enables the actuator when an amount of weight over a predetermined amount is placed on the joystick created by a user grasping the joystick. A circuit of the present invention includes a capacitor for storing power provided by an input signal and supplied to the actuator when forces are to be output.
摘要翻译： 一种用于为消费者应用提供安全且低成本的力反馈外设的方法和装置。 接口设备本地的设备微处理器通过第一接口总线耦合到主机。 微处理器从第一接口总线（例如RS-232接口）上的主计算机接收主机命令，并且响应于主机命令，命令致动器向用户对象（例如操纵杆）施加力。 传感器检测用户对象的位置，并在与第一总线分开的第二接口总线（例如PC游戏端口总线）上向主机输出信号。 在“反冲”实施例中，用户通过按下操纵杆上的按钮来发起力反馈，该按钮向致动器发送激活信号。 在其他反冲实施例中，主计算机可以向致动器发送一个或多个使能信号和/或激活信号以启用或指示力。 本发明的安全开关在接口装置不使用时使致动器不起作用，并且当将握有操纵杆的使用者产生的操纵杆上放置超过预定量的重量时，能够使致动器。 本发明的电路包括用于存储由输入信号提供的电力的电容器，并且当输出力时提供给致动器。
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44.发明授权Probe apparatus and method for tracking the position and orientation of a stylus and controlling a cursor 有权用于跟踪触控笔的位置和方位并控制光标的探针装置和方法
公开(公告)号：US6125337A
公开(公告)日：2000-09-26
申请号：US212075
申请日：1998-12-15
IPC分类号： B25J9/16 , G01B5/00 , G01B5/008 , G01B5/016 , G01B5/20 , G01B21/04 , G05B19/42 , G05D25/02 , G06F3/00 , G06F3/01 , G06F3/038 , G06T15/00 , G01B7/008
CPC分类号： B25J9/1692 , G01B21/04 , G01B21/042 , G01B5/008 , G05B19/4207 , G05D25/02 , G06F3/016 , G06F3/0346 , G06F3/038 , G06F3/0383 , A63F2300/1037 , G05B2219/37021 , G05B2219/37043 , G05B2219/39015 , G05B2219/39021 , G05B2219/39024 , G05B2219/39048 , G05B2219/45055 , G05B2219/45061 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for measuring three-dimensional (3-D) coordinates. A 3-D object can be digitized into a mesh representation manipulable by a computer system by tracing a stylus of a probe apparatus over surfaces of the object. The probe apparatus includes an arm having a series of linkages and joints. The arm can be assembled by placing the joints of the arm in joint fixtures a desired distance and angle apart and bonding the joints to a linkage. The probe apparatus is calibrated by placing the tip of the stylus at an arbitrary point in a work volume and varying the stylus' orientation to find error values and determine calibration parameters. The sensors of the probe apparatus are zeroed by placing the probe apparatus in the only possible home position and assigning assumed starting angles to the sensors. A rotary table can be used to support the object being digitized, where the rotation of the rotary table and object during digitization is sensed and included in coordinate calculations. A mesh representation of the object is developed by a computer system by incrementally creating and displaying triangles from data points of contour lines of the mesh. A selection template allows commands to be selected by the stylus by defining a template having selection areas within the probe's work volume and associating the selection areas with specific commands to the host computer.
摘要翻译： 一种用于测量三维（3-D）坐标的方法和装置。 3-D物体可以被数字化为可由计算机系统操纵的网格表示，通过在对象的表面上追踪探针装置的触针。 探针装置包括具有一系列连杆和接头的臂。 手臂可以通过将臂的关节放置在关节固定装置中，将所需的距离和角度分开并将关节粘合到连杆上来组装。 通过将探针的尖端放置在工作体积中的任意点并改变触针取向以找出误差值并确定校准参数来校准探针装置。 探针装置的传感器通过将探针装置置于唯一可能的原始位置并将假设的起始角度分配给传感器来归零。 旋转工作台可用于支撑被数字化的物体，其中感测数字化期间旋转台和物体的旋转并包括在坐标计算中。 该对象的网格表示由计算机系统通过从网格的轮廓线的数据点递增地创建和显示三角形来开发。 选择模板允许通过在探针的工作量中定义具有选择区域的模板并且将选择区域与特定命令相关联的方式通过触控笔来选择命令。
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公开(公告)号：US5929607A
公开(公告)日：1999-07-27
申请号：US825726
申请日：1997-04-02
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , G05G9/047 , G06F1/266 , G06F3/011 , G06F3/0383 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G2009/04766 , G05G2009/04777 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A method and apparatus for providing low cost force feedback using efficient power sourcing. A power storage device may be included in a force feedback interface device for storing power provided by an input signal. For example, the power storage device can be a capacitor. The interface device also includes an actuator for outputting forces on a user manipulatable object, such as a joystick, and the interface device is connected to a host computer. The stored power can be used, at least in part, to drive the actuator to output desired forces. A device microprocessor may also be included in the interface device to sense when the power storage device is sufficiently charged. In a different embodiment, power for the interface device is received from two sources; for example, a power supply is used for the actuators of the device and power from the host computer is used for other components of the interface device.
摘要翻译： 一种使用高效电源提供低成本力反馈的方法和装置。 功率存储装置可以包括在用于存储由输入信号提供的电力的力反馈接口装置中。 例如，蓄电装置可以是电容器。 接口装置还包括用于在诸如操纵杆的用户可操纵对象上输出力的致动器，并且接口装置连接到主计算机。 存储的功率可以至少部分地用于驱动致动器以输出期望的力。 设备微处理器也可以被包括在接口设备中以感测电力存储设备何时充分充电。 在不同的实施例中，从两个源接收用于接口设备的功率; 例如，电源用于装置的致动器，并且来自主机的电力用于接口装置的其他部件。
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46.发明授权Safe and low cost computer peripherals with force feedback for consumer applications 失效安全且低成本的计算机外围设备，具有用于消费应用的强制反馈
公开(公告)号：US5691898A
公开(公告)日：1997-11-25
申请号：US623660
申请日：1996-03-28
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , G05G9/047 , G06F1/266 , G06F3/011 , G06F3/0383 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G2009/04766 , G05G2009/04777 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A method and apparatus for providing safe and low-cost force feedback peripherals for consumer applications. A device microprocessor local to an interface device is coupled to the host by a first interface bus. The microprocessor receives host commands from the host computer on the first interface bus, such as an RS-232 interface, and commands an actuator to apply a force to a user object, such as a joystick, in response to host commands. A sensor detects positions of the user object and outputs signals to the host on a second interface bus, such as a PC game port bus, separate from the first bus. In a "recoil" embodiment, a user initiates force feedback by pressing a button on the joystick, which sends an activation signal to the actuator. In other recoil embodiments, the host computer can transmit one or more enable signals and/or activation signals to the actuator to enable or command forces. A safety switch of the present invention disables the actuator when the interface device is not in use and enables the actuator when an amount of weight over a predetermined amount is placed on the joystick created by a user grasping the joystick. A circuit of the present invention includes a capacitor for storing power provided by an input signal and supplied to the actuator when forces are to be output.
摘要翻译： 一种用于为消费者应用提供安全且低成本的力反馈外设的方法和装置。 接口设备本地的设备微处理器通过第一接口总线耦合到主机。 微处理器从第一接口总线（例如RS-232接口）上的主计算机接收主机命令，并且响应于主机命令，命令致动器向用户对象（例如操纵杆）施加力。 传感器检测用户对象的位置，并在与第一总线分开的第二接口总线（例如PC游戏端口总线）上向主机输出信号。 在“反冲”实施例中，用户通过按下操纵杆上的按钮来发起力反馈，该按钮向致动器发送激活信号。 在其他反冲实施例中，主计算机可以向致动器发送一个或多个使能信号和/或激活信号以启用或指示力。 本发明的安全开关在接口装置不使用时使致动器不起作用，并且当将握有操纵杆的使用者产生的操纵杆上放置超过预定量的重量时，能够使致动器。 本发明的电路包括用于存储由输入信号提供的电力的电容器，并且当输出力时提供给致动器。
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公开(公告)号：US09850994B2
公开(公告)日：2017-12-26
申请号：US12766794
申请日：2010-04-23
申请人： Bruce M. Schena
发明人： Bruce M. Schena
CPC分类号： F16H19/06 , A61B34/30 , A61B34/71 , A61B2034/715 , B25J9/1045 , F16H19/0672
摘要： A compact cable tension tender device includes first and second pulleys rotatably coupled to a drive shaft. First and second plates are fixed to the drive shaft. Drive stops on the plates engage and rotate the pulleys when the drive shaft is rotated. A resilient coupler urges the first and second pulleys to rotate away from engagement with the drive stops. Cables are coupled to the pulleys and adjusted to be in tension such that the first and second pulleys both engage the drive stops at the same time. The engagement of both pulleys with the drive stops at the same time minimizes lost motion when reversing the rotation of the drive shaft.
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公开(公告)号：US09173547B2
公开(公告)日：2015-11-03
申请号：US13282785
申请日：2011-10-27
IPC分类号： A61B1/00 , A61B1/06 , A61B17/00 , A61B19/00 , A61B1/002 , A61B1/04 , A61B5/00 , A61B8/12 , A61B1/05 , A61B1/005 , A61B1/018 , A61B17/34
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.
摘要翻译： 微创手术器械包括绕U形转弯传递致动力的U形转动机构。 U形转动机构联接在仪器的部分之间，并且具有小于具有相似截面直径的柔性臂的弯曲半径。 由U形转动机构传递的致动力用于移动仪器的远端部件，例如端部执行器和手腕机构。
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公开(公告)号：US08554408B2
公开(公告)日：2013-10-08
申请号：US13647184
申请日：2012-10-08
申请人： Gregory A. Springer , Alexander Jasso , Steven P. Vassallo , Kenneth M. Martin , Bruce M. Schena
发明人： Gregory A. Springer , Alexander Jasso , Steven P. Vassallo , Kenneth M. Martin , Bruce M. Schena
IPC分类号： G06F7/00
CPC分类号： B62D1/04 , G06F3/016 , G06F3/0362 , Y10T74/20834
摘要： A control wheel for controlling at least one function of a system by a user includes a moveable engagement wheel for engagement by the user and an actuator coupled to the engagement wheel for providing force or haptic feedback to the engagement wheel in response to movement of the engagement wheel. A sensor for sensing movement of the engagement wheel is provided and a control system is coupled to the sensor for receiving information about positioning and movement of the engagement wheel, and is also coupled to the actuator for controlling force to the engagement wheel. The control system also provides control of the at least one function of the system.
摘要翻译： 用于由用户控制系统的至少一个功能的控制轮包括用于由用户接合的可移动接合轮和联接到接合轮的致动器，用于响应于接合的移动而向接合轮提供力或触觉反馈 轮。 提供了用于感测啮合轮运动的传感器，并且控制系统耦合到传感器，用于接收关于啮合轮的定位和运动的信息，并且还联接到致动器以控制对接合轮的力。 控制系统还提供对系统的至少一个功能的控制。
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公开(公告)号：US08364342B2
公开(公告)日：2013-01-29
申请号：US10208605
申请日：2002-07-29
申请人： Gregory A. Springer , Alexander Jasso , Steven P. Vassallo , Kenneth M. Martin , Bruce M. Schena
发明人： Gregory A. Springer , Alexander Jasso , Steven P. Vassallo , Kenneth M. Martin , Bruce M. Schena
IPC分类号： G06F7/00
CPC分类号： B62D1/04 , G06F3/016 , G06F3/0362 , Y10T74/20834
摘要： A control wheel for controlling at least one function of a system by a user includes a moveable engagement wheel for engagement by the user and an actuator coupled to the engagement wheel for providing force or haptic feedback to the engagement wheel in response to movement of the engagement wheel. A sensor for sensing movement of the engagement wheel is provided and a control system is coupled to the sensor for receiving information about positioning and movement of the engagement wheel, and is also coupled to the actuator for controlling force to the engagement wheel. The control system also provides control of the at least one function of the system.
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