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    Mechanical and force transmission for force feedback devices
    61.
    发明授权
    Mechanical and force transmission for force feedback devices 有权
    力反馈装置的机械和力传递

    公开(公告)号：US06400352B1

    公开(公告)日：2002-06-04

    申请号：US09138304

    申请日：1998-08-21

    申请人： Ryan D. Bruneau ,  Kenneth M. Martin ,  Louis B. Rosenberg ,  David F. Moore ,  Bruce M. Schena

    发明人： Ryan D. Bruneau ,  Kenneth M. Martin ,  Louis B. Rosenberg ,  David F. Moore ,  Bruce M. Schena

    IPC分类号： G09G500

    CPC分类号： G06F3/016 ,  A61B90/50 ,  A63F13/285 ,  A63F2300/1037 ,  G05G9/047 ,  G05G9/04737 ,  G05G2009/0474 ,  G05G2009/04766 ,  G06F3/03545 ,  G06F3/0383 ,  G06F2203/015 ,  G09B9/28 ,  G09B23/28

    摘要： A force feedback interface device includes improvements in a mechanical linkage and drive mechanism. The force feedback device is coupled to a host computer and includes a user manipulatable object graspable by a user, at least one actuator that outputs a force on the user object, and a sensor for sensing motion of the user object. A linkage mechanism provides the user object with degrees of freedom and includes five members rotatably coupled to each other. The linkage mechanism supports the bearings of the device with protrusions rotatably coupled to central members of the linkage. The drive mechanism is preferably a belt drive that includes an idler positioned adjacent to a drive pulley and which impedes radial displacement of a belt away from the drive pulley, and thus impedes losing positive engagement of the belt, without preloading the belt. The idler can be a passive idler that does not contact the belt during operation and/or an active idler that continuously contacts the belt. Some or all portions of the linkage mechanism and the drive mechanism are preferably symmetrical, allowing low cost manufacture of the device.

    摘要翻译： 力反馈接口装置包括机械联动和驱动机构的改进。 力反馈装置耦合到主计算机，并且包括用户可握持的用户可操纵的对象，在用户对象上输出力的至少一个致动器和用于感测用户对象的运动的传感器。 连动机构向使用者物体提供自由度，并且包括彼此可旋转地联接的五个构件。 连杆机构支撑具有可旋转地联接到连杆的中心构件的突起的装置的轴承。 驱动机构优选地是带驱动器，其包括邻近驱动皮带轮定位的惰轮，并且阻止皮带远离驱动皮带轮的径向位移，并且因此阻止皮带的正接合而不预加载皮带。 惰轮可以是在操作期间不接触皮带的被动惰轮和/或连续接触皮带的活动惰轮。 联动机构和驱动机构的一些或全部部分优选是对称的，允许低成本地制造装置。

    Enhanced cursor control using limited-workspace force feedback devices
    62.
    发明授权
    Enhanced cursor control using limited-workspace force feedback devices 有权
    使用有限工作空间力反馈装置增强光标控制

    公开(公告)号：US06292174B1

    公开(公告)日：2001-09-18

    申请号：US09565574

    申请日：2000-05-04

    申请人： Jeffrey R. Mallett ,  Dean C. Chang ,  Louis B. Rosenberg ,  Adam C. Braun ,  Kenneth M. Martin ,  Jonathan L. Beamer

    发明人： Jeffrey R. Mallett ,  Dean C. Chang ,  Louis B. Rosenberg ,  Adam C. Braun ,  Kenneth M. Martin ,  Jonathan L. Beamer

    IPC分类号： G09G508

    CPC分类号： G06F3/016 ,  G06F3/0354 ,  G06F3/03548 ,  G06F3/038 ,  G06F3/0421 ,  G06F2203/014 ,  G06F2203/015

    摘要： An interface device and method for providing enhanced cursor control with force feedback. A force feedback interface device includes a manipulandum, such as a mouse, that is moveable in a local workspace. The device is coupled to a host computer that displays a cursor in a graphical environment, such as a GUI, on a display screen. An interior region and a border region in the local workspace is defined. One mapping of device movement to cursor movement is used for the interior region, and a different mapping is used for the border region. Mapping methods include ballistics, absolute, linear, rate control, and variable absolute. Rate control embodiments can be single axis or dual axis. In one embodiment, when the mouse moves from the interior region to the border region, the mapping providing the greater cursor velocity is used to better conserve device workspace in the direction of travel and to decrease any sense of mapping mode change to the user. Other features include an autocentering function for reducing offset between local and host frames.

    摘要翻译： 一种用于通过力反馈提供增强的光标控制的接口设备和方法。 力反馈接口设备包括可在本地工作空间中移动的操纵，例如鼠标。 该设备耦合到在显示屏幕上的诸如GUI的图形环境中显示光标的主计算机。 定义本地工作空间中的内部区域和边界区域。 对于内部区域使用设备移动到光标移动的一个映射，并且边界区域使用不同的映射。 映射方法包括弹道学，绝对线性，速率控制和可变绝对。 速率控制实施例可以是单轴或双轴。 在一个实施例中，当鼠标从内部区域移动到边界区域时，提供较大光标速度的映射用于在行进方向上更好地节省设备工作空间并且减少对用户的任何映射模式改变的感觉。 其他功能包括用于减少本地和主机帧之间的偏移的自动对中功能。

    Tactile mouse device
    63.
    发明授权
    Tactile mouse device 有权
    触觉鼠标设备

    公开(公告)号：US06211861B1

    公开(公告)日：2001-04-03

    申请号：US09456887

    申请日：1999-12-07

    申请人： Louis B. Rosenberg ,  Kenneth M. Martin

    发明人： Louis B. Rosenberg ,  Kenneth M. Martin

    IPC分类号： G09G508

    CPC分类号： G06F3/016 ,  A63F13/06 ,  A63F13/24 ,  A63F13/285 ,  A63F2300/1037 ,  A63F2300/1062 ,  A63F2300/8017 ,  G06F3/0338 ,  G06F3/03543 ,  G06F3/03545 ,  G06F3/0362 ,  G06F2203/013 ,  G06F2203/014 ,  G06F2203/015 ,  H04L69/329

    摘要： A low-cost tactile feedback mouse device for providing haptic feedback to a user for enhancing interactions and manipulations in a graphical environment provided by a computer. The mouse device includes a sensor device able to detect the movement of the mouse in the planar workspace. An actuator is coupled to the housing of the mouse and applies an inertial force in a particular degree of freedom, preferably along an axis perpendicular to the planar workspace, where the inertial force is transmitted through the housing to the user. The actuator outputs the inertial force preferably by linearly moving an inertial mass along the Z-axis. The output force is correlated with interaction of a controlled graphical object, such as a cursor, with other graphical objects in a graphical environment displayed by the host computer. The inertial force can be a pulse, vibration, texture force, or other type of force.

    摘要翻译： 一种低成本触觉反馈鼠标装置，用于向用户提供触觉反馈以增强由计算机提供的图形环境中的交互和操纵。 鼠标装置包括能够检测鼠标在平面工作空间中移动的传感器装置。 致动器联接到鼠标的壳体，并且以特定的自由度，优选沿垂直于平面工作空间的轴施加惯性力，其中惯性力通过壳体传递给使用者。 致动器优选地通过沿Z轴线性移动惯性质量来输出惯性力。 输出力与诸如光标的受控图形对象与主计算机显示的图形环境中的其他图形对象的交互相关。 惯性力可以是脉冲，振动，纹理力或其他类型的力。

    Mechanical interface having multiple grounded actuators
    65.
    发明授权
    Mechanical interface having multiple grounded actuators 失效
    具有多个接地执行器的机械接口

    公开(公告)号：US5828197A

    公开(公告)日：1998-10-27

    申请号：US736161

    申请日：1996-10-25

    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 ,  G06F3/0346 ,  G09B23/28 ,  A61B2034/742 ,  G05B2219/35419 ,  G05B2219/40144

    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。

    System and method including neural net for tool break detection
    66.
    发明授权
    System and method including neural net for tool break detection 失效
    系统和方法包括用于工具断裂检测的神经网络

    公开(公告)号：US5579232A

    公开(公告)日：1996-11-26

    申请号：US401333

    申请日：1995-03-09

    申请人： David W. Tong ,  Kenneth M. Martin ,  Jerry H. Carmichael ,  Edward N. Diei

    发明人： David W. Tong ,  Kenneth M. Martin ,  Jerry H. Carmichael ,  Edward N. Diei

    IPC分类号： G05B19/4065 ,  G06F19/00

    CPC分类号： G05B19/4065 ,  G05B2219/33268 ,  G05B2219/33296 ,  G05B2219/34047 ,  G05B2219/37245 ,  Y10S706/912

    摘要： A system and method for monitoring vibrations of a cutting tool uses a neural network for classifying signal features as break or non-break or, in another embodiment, as non-break or abnormal. A vibration signal is produced by an accelerometer, positioned to sense vibrations at the tool-workpiece interface. The signal is pre-processed to extract low frequency machining noise and detect the energy in a higher frequency band. The signal is then sampled and segments of the digitized signals are processed by digital logic into feature vectors for input to a trained neural net having two output nodes for classification. The use of a neural net provides performance improvement and economies over previously known heuristic methods of signal analysis.

    摘要翻译： 用于监测切割工具的振动的系统和方法使用神经网络将信号特征分类为断裂或非断裂，或者在另一个实施例中作为非断裂或异常。 振动信号由加速度计产生，其被定位成感测在工具 - 工件界面处的振动。 信号被预处理以提取低频加工噪声并检测更高频带中的能量。 然后对信号进行采样，并将数字化信号的段由数字逻辑处理成特征向量，以输入到具有两个用于分类的输出节点的训练神经网络。 神经网络的使用提供了相对于先前已知的启发式信号分析方法的性能改进和经济性。

    Increasing force transmissibility for tactile feedback interface devices
    67.
    发明授权
    Increasing force transmissibility for tactile feedback interface devices 有权
    触觉反馈接口设备增加力传递性

    公开(公告)号：US09411420B2

    公开(公告)日：2016-08-09

    申请号：US11789418

    申请日：2007-04-23

    申请人： Erik J. Shahoian ,  Kenneth M. Martin

    发明人： Erik J. Shahoian ,  Kenneth M. Martin

    IPC分类号： G09G5/00 ,  G06F3/01 ,  A63F13/20

    CPC分类号： G06F3/016 ,  A63F13/06 ,  A63F13/285 ,  A63F2300/1037 ,  A63F2300/1043

    摘要： Method and apparatus for increasing the transmissibility of forces produced by an actuator on a manipulandum. A haptic device, coupled to a host computer, outputs tactile sensations to a user based on interactions and events occurring in a displayed graphical environment. An actuator produces forces and a compliant suspension couples the actuator to the manipulandum. A compliance of the suspension is configured such that the suspension magnifies the forces for a particular frequency range of the forces. The magnified forces are transmitted to the manipulandum to be felt by the user.

    摘要翻译： 用于增加致动器在操纵上产生的力的传递性的方法和装置。 耦合到主计算机的触觉装置基于在显示的图形环境中发生的交互和事件向用户输出触觉。 致动器产生力并且顺从的悬架将致动器耦合到操纵。 悬架的顺从性被构造成使得悬架在力的特定频率范围内放大力。 放大的力量被传递到操纵者以被使用者感觉到。