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    System and method including neural net for tool break detection
    1.
    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。

    System and method for outputting haptic effects in a mouse device
    2.
    发明授权
    System and method for outputting haptic effects in a mouse device 有权
    用于在鼠标装置中输出触觉效果的系统和方法

    公开(公告)号：US09465438B2

    公开(公告)日：2016-10-11

    申请号：US11499425

    申请日：2006-08-04

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

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

    IPC分类号： G09G5/08 ,  G06F3/01 ,  A63F13/211 ,  A63F13/285 ,  A63F13/24 ,  A63F13/20 ,  G06F3/0338 ,  G06F3/0354 ,  G06F3/0362 ,  H04L29/08

    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，优选地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。

    Vibrotactile haptic feedback devices
    5.
    发明授权
    Vibrotactile haptic feedback devices 有权
    振动触觉触觉反馈装置

    公开(公告)号：US07561142B2

    公开(公告)日：2009-07-14

    申请号：US10838332

    申请日：2004-05-05

    申请人： Erik J. Shahoian ,  Kenneth M. Martin ,  Bruce M. Schena ,  David F. Moore

    发明人： Erik J. Shahoian ,  Kenneth M. Martin ,  Bruce M. Schena ,  David F. Moore

    IPC分类号： G09G5/00

    CPC分类号： G06F3/016

    摘要： Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a variable compliance. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal.

    摘要翻译： 用于控制触觉反馈装置的振动触觉感觉的幅度和频率的方法和装置。 诸如游戏手柄控制器，鼠标，遥控器等的触觉反馈装置包括壳体，联接到壳体的致动器和质量块。 在一些实施例中，质量可以由致动器振荡，并且致动器和质量块之间或者质量块和壳体之间的联接具有可变的顺应性。 改变合规性允许输出给定的驱动信号具有不同幅度的振动触觉。 在其他实施例中，致动器是旋转致动器，并且质量块是由致动器围绕旋转轴线旋转的偏心质量块。 偏心质量具有在质量旋转时可相对于旋转轴线变化的偏心度。 改变偏心度使给定驱动信号具有不同幅度的振动触觉。

    Method and apparatus for compensating for position slip in interface devices
    6.
    发明授权
    Method and apparatus for compensating for position slip in interface devices 有权
    用于补偿接口装置中位置滑移的方法和装置

    公开(公告)号：US07447604B2

    公开(公告)日：2008-11-04

    申请号：US10995586

    申请日：2004-11-23

    申请人： Adam C. Braun ,  Kollin M. Tierling ,  Kenneth M. Martin ,  Bruce M. Schena

    发明人： Adam C. Braun ,  Kollin M. Tierling ,  Kenneth M. Martin ,  Bruce M. Schena

    IPC分类号： G06F19/00

    CPC分类号： G06F3/016 ,  A63F2300/1018 ,  A63F2300/1037

    摘要： Method and apparatus for compensating for position slip in interface devices that may occur between a manipulandum and a sensor of the device due to a mechanical transmission. A device position delta is determined from a sensed position of a manipulandum of an interface device. It is determined if position slip has occurred caused by a change in position of the manipulandum that was not sensed by a sensor of the interface device, typically caused by a mechanical transmission between sensor and manipulandum. If position slip has occurred, an error in the sensed position caused by the position slip is corrected by adjusting the sensed position to take into account the position slip. The adjusted position delta is used as the position of the manipulandum and the display of objects controlled by the interface device are accordingly compensated.

    摘要翻译： 用于补偿由于机械传动而可能发生在装置的操纵和传感器之间的界面装置中的位置滑移的方法和装置。 从接口设备的操作的感测位置确定设备位置增量。 通过由传感器和操纵之间的机械传动引起的接口装置的传感器没有感测到的操作位置的变化，确定是否发生位置滑移。 如果发生位置滑移，则通过调整感测位置来考虑位置滑移来校正由位置滑移引起的感测位置的误差。 调整后的位置增量被用作操纵的位置，相应地补偿由接口装置控制的物体的显示。

    Control knob with control modes and force feedback
    8.
    发明授权
    Control knob with control modes and force feedback 有权
    控制旋钮带有控制模式和力反馈

    公开(公告)号：US06686911B1

    公开(公告)日：2004-02-03

    申请号：US09680408

    申请日：2000-10-02

    申请人： Michael D. Levin ,  Kenneth M. Martin ,  Bruce M. Schena ,  Adam C. Braun ,  Louis B. Rosenberg

    发明人： Michael D. Levin ,  Kenneth M. Martin ,  Bruce M. Schena ,  Adam C. Braun ,  Louis B. Rosenberg

    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。

    Force feedback device with spring selection mechanism
    9.
    发明授权
    Force feedback device with spring selection mechanism 有权
    强力反馈装置采用弹簧选择机构

    公开(公告)号：US06380925B1

    公开(公告)日：2002-04-30

    申请号：US09498536

    申请日：2000-02-04

    申请人： Kenneth M. Martin ,  Michael D. Levin ,  Adam C. Braun

    发明人： Kenneth M. Martin ,  Michael D. Levin ,  Adam C. Braun

    IPC分类号： G06F3033

    CPC分类号： A63F13/24 ,  A63F13/02 ,  A63F13/06 ,  A63F13/285 ,  A63F2300/1018 ,  A63F2300/1037 ,  A63F2300/1043 ,  A63F2300/1062 ,  A63F2300/8017 ,  G05G2009/04766 ,  G06F3/016

    摘要： A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device. A moveable member included in a force feedback mechanism is moveable in a degree of freedom to transmit forces to the user manipulatable object, such as a joystick handle. A spring member can be selectively coupled and decoupled between a grounded member and the moveable member. The spring member provides a spring force on the moveable member that biases the joystick handle to a desired position, such as the center of the degree of freedom. A dynamic calibration procedure reduces inaccuracies when sensing the position of the user manipulandum by only reading new range limits when the actuator is not outputting a force in the direction of that limit. A capstan drive mechanism is preferably coupled between the actuator and linkage mechanism, where a capstan drum includes a curved end over which the cable is routed, the curved end including flanges to substantially prevent the cable from slipping of the sides of the end. The capstan drum includes a tensioning spring member coupled to one or both ends of the cable for tensioning the cable.

    摘要翻译： 一种用于在力反馈接口装置中提供弹性构件到用户可操纵物体的选择性接合的机构。 包括在力反馈机构中的可移动构件可在自由度上移动以将力传递到用户可操纵的对象，诸如操纵杆手柄。 可以在接地构件和可移动构件之间选择性地联接和分离弹簧构件。 弹簧构件在可移动构件上提供弹簧力，其将操纵杆手柄偏压到期望的位置，例如自由度的中心。 当致动器不在该极限方向上输出力时，动态校准程序通过仅读取新的范围限制来感测用户操纵的位置来减少不准确度。 绞盘驱动机构优选地联接在致动器和联动机构之间，其中主导轮鼓包括弯曲端，电缆在该弯曲端上被路由，弯曲端包括凸缘，以基本上防止电缆滑动端部的侧面。 绞盘鼓包括联接到电缆的一端或两端的张紧弹簧构件，用于张紧电缆。

    Position sensing for force feedback devices
    10.
    发明授权
    Position sensing for force feedback devices 有权
    力反馈装置的位置检测

    公开(公告)号：US6067077A

    公开(公告)日：2000-05-23

    申请号：US138309

    申请日：1998-08-21

    申请人： Kenneth M. Martin ,  Adam C. Braun ,  Ryan D. Bruneau

    发明人： Kenneth M. Martin ,  Adam C. Braun ,  Ryan D. Bruneau

    IPC分类号： A63F9/24 ,  B25J13/00 ,  F16D31/02 ,  G06F3/033 ,  G06F19/00 ,  G09G5/00 ,  G09G5/08

    CPC分类号： A63F13/22 ,  A63F13/06 ,  A63F13/21 ,  A63F13/285 ,  A63F2300/1037 ,  A63F2300/1043

    摘要： Improvements in accurately sensing a user manipulandum of a force feedback device. A force feedback device, coupled to a host computer, includes an actuator for outputting forces on a manipulandum and a sensor for detecting a position of the manipulandum. In one feature, a raw sensor value representing manipulandum position is adjusted based on compliance between sensor and manipulandum, where the adjustment can be based on a compliance constant and an output force. In another feature, a range of motion of the manipulandum is dynamically calibrated from startup. One boundary value of an assigned initial range is set equal to a received sensor value if the sensor value is outside the initial range, and the other boundary value is adjusted to maintain the size of the initial range unless the other boundary value has already been sensed outside the initial range. In another feature, manipulandum position is accurately sensed by filtering raw sensor values for overshoot values occurring at limits to manipulandum motion and using the filtered value in the dynamic calibration. In another feature, sensing inaccuracies caused by compliance in the device are decreased by normalizing a raw sensor value to a normalized range of motion that includes a saturation zone at each end of the range that adjusts sensor values over a saturation level to the saturation level.

    摘要翻译： 精确感测用户操纵力反馈装置的改进。 耦合到主计算机的力反馈装置包括用于在操纵上输出力的致动器和用于检测操纵的位置的传感器。 在一个特征中，基于传感器和操纵之间的顺应度来调整表示操纵位置的原始传感器值，其中调整可以基于顺从性常数和输出力。 在另一个特征中，操作的运动范围从启动动态校准。 如果传感器值在初始范围之外，则分配的初始范围的一个边界值被设置为等于接收到的传感器值，并且另一边界值被调整以维持初始范围的大小，除非已经感测到另一个边界值 在初始范围之外。 在另一个特征中，通过过滤原始传感器值以便在操纵力运动的限制下发生的过冲值并且使用动态校准中的滤波值来精确地感测到操纵性位置。 在另一个特征中，通过将原始传感器值归一化为归一化的运动范围来降低感测由装置中的顺应性引起的不准确度，该归一化运动范围包括在将饱和电平上的传感器值调整到饱和度的范围的每个端点处的饱和区域。