公开(公告)号：US06281651B1

公开(公告)日：2001-08-28

申请号：US09185152

申请日：1998-11-03

申请人： Douglas Haanpaa ,  Gary Siebert ,  Terry Cussen ,  Kirk Fifer ,  Mike Dinsmore ,  Charles J. Jacobus

发明人： Douglas Haanpaa ,  Gary Siebert ,  Terry Cussen ,  Kirk Fifer ,  Mike Dinsmore ,  Charles J. Jacobus

IPC分类号： B25J918

CPC分类号： G06F3/016 ,  B25J9/0057 ,  B25J9/0066 ,  B25J9/1689 ,  B25J13/02 ,  B25J17/0266 ,  G05B2219/40122 ,  Y10T74/20201

摘要： A haptic pointing device includes a plurality of rigid, elongated proximal members, each connected to a separate rigid, elongated distal member through an articulating joint. The other end of each proximal member is coupled to an actuator such as a motor, causing that member to swing within a separate plane perpendicular to the shaft of the motor in response to a control signal. An end-effector is interconnected to the second end of each distal member through an articulating joint, such that as the actuators move the proximal members, the end-effector moves in space. In a preferred embodiment, the device includes at least three proximal members and three distal members, and the end-effector is coupled to a user-graspable element such as a stylus which retains a preferred orientation in space as the members are driven by the actuators. In a force-feedback application, the haptic pointing device further includes a position sensor associated with each degree of freedom, and haptic processing means interfaced to a virtual reality system or teleoperations environment. Additional components may be provided to increase flexibility, degrees of freedom, or both.

公开(公告)号：US06396232B2

公开(公告)日：2002-05-28

申请号：US09761463

申请日：2001-01-16

申请人： Douglas Haanpaa ,  Gary Siebert ,  Terry Cussen ,  Kirk Fifer ,  Mike Dinsmore ,  Charles J. Jacobus

发明人： Douglas Haanpaa ,  Gary Siebert ,  Terry Cussen ,  Kirk Fifer ,  Mike Dinsmore ,  Charles J. Jacobus

IPC分类号： G05B1919

CPC分类号： G06F3/016 ,  B25J9/0057 ,  B25J9/0066 ,  B25J9/1689 ,  B25J13/02 ,  B25J17/0266 ,  G05B2219/40122 ,  Y10T74/20201

摘要： A haptic pointing device includes a plurality of rigid, elongated proximal members, each connected to a separate rigid, elongated distal member through an articulating joint. The other end of each proximal member is coupled to an actuator such as a motor, causing that member to swing within a separate plane perpendicular to the shaft of the motor in response to a control signal. An end-effector is interconnected to the second end of each distal member through an articulating joint, such that as the actuators move the proximal members, the end-effector moves in space. In a preferred embodiment, the device includes at least three proximal members and three distal members, and the end-effector is coupled to a user-graspable element such as a stylus which retains a preferred orientation in space as the members are driven by the actuators. In a force-feedback application, the haptic pointing device further includes a position sensor associated with each degree of freedom, and haptic processing means interfaced to a virtual reality system or teleoperations environment. Additional components may be provided to increase flexibility, degrees of freedom, or both.

摘要翻译： 触觉指向装置包括多个刚性的细长近端构件，每个通过铰接接头连接到单独的刚性的细长远端构件。 每个近端构件的另一端联接到诸如马达的致动器，使得该构件响应于控制信号而在垂直于马达的轴的独立平面内摆动。 端部执行器通过铰接接头与每个远端构件的第二端互连，使得当致动器移动近端构件时，端部执行器在空间中移动。 在优选实施例中，该装置包括至少三个近端构件和三个远端构件，并且端部执行器联接到诸如触针之类的用户可抓取元件，当触发器 。 在力反馈应用中，触觉指向装置还包括与每个自由度相关联的位置传感器，以及接触虚拟现实系统或远程操作环境的触觉处理装置。 可以提供附加组件以增加灵活性，自由度或两者。