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公开(公告)号：US06400352B1
公开(公告)日：2002-06-04
申请号：US09138304
申请日：1998-08-21
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。
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公开(公告)号：US07710399B2
公开(公告)日：2010-05-04
申请号：US10799660
申请日：2004-03-15
CPC分类号： G06F3/016 , A63F13/06 , A63F13/24 , A63F13/285 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/03549 , G06F3/0362 , G06F2203/013 , G06F2203/014 , G06F2203/015 , H04L69/329
摘要： A low-cost haptic feedback trackball device for providing haptic feedback to a user for enhancing interactions in a graphical environment provided by a computer. The trackball device includes a sensor device that detects the movement of a sphere in two rotary degrees of freedom. An actuator applies a force preferably along a z-axis perpendicular to the plane of the surface supporting the device, where the force is transmitted through the housing to the user. The output force is correlated with interaction of a controlled graphical object, such as a cursor, with other graphical objects in the displayed graphical environment. Preferably, at least one compliant element is provided between a portion of the housing contacted by the user and the support surface, where the compliant element amplifies the force output from the actuator by allowing the contacted portion of the housing to move with respect to the support surface. The force can be an inertial force, contact force, or a combination of forces that provide tactile sensations to the user.
摘要翻译： 一种低成本触觉反馈轨迹球装置，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。 轨迹球装置包括传感器装置，其以两个旋转自由度检测球体的移动。 执行机构优选沿着垂直于支撑该装置的表面的平面的z轴施加力，其中力通过壳体传递给使用者。 输出力与受控图形对象（如光标）与显示的图形环境中的其他图形对象的交互相关。 优选地，至少一个顺应元件设置在与使用者接触的壳体的一部分与支撑表面之间，其中柔性元件通过允许壳体的接触部分相对于支撑件移动而放大来自致动器的力 表面。 力可以是向用户提供触觉的惯性力，接触力或力的组合。
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公开(公告)号：US08462116B2
公开(公告)日：2013-06-11
申请号：US12769478
申请日：2010-04-28
CPC分类号： G06F3/016 , A63F13/06 , A63F13/24 , A63F13/285 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/03549 , G06F3/0362 , G06F2203/013 , G06F2203/014 , G06F2203/015 , H04L69/329
摘要： In an aspect, an electronic device includes a housing; a manipulandum positioned in the housing, wherein the manipulandum is moveable in at least one rotary degree of freedom in response to a user moving the manipulandum; a sensor coupled to the manipulandum, the sensor outputs sensor signals associated with the movement of the manipulandum in the at least one rotary degree of freedom by the user's direct contact; a processor coupled to the sensor and configured to output one or more activating signals based on the sensor signals; a first actuator coupled to the manipulandum, wherein the first actuator outputs a contact force to the manipulandum upon receiving a first activating signal; and a second actuator positioned within the housing and separate from the first actuator, wherein the second actuator outputs an inertial force to the housing upon receiving a second activating signal.
摘要翻译： 一方面，电子设备包括壳体; 位于所述壳体中的操纵件，其中所述操纵件可响应于使用者移动所述操纵而以至少一个旋转自由度移动; 耦合到操纵的传感器，传感器通过用户的直接接触在至少一个旋转自由度中输出与操纵的运动相关联的传感器信号; 处理器，其耦合到所述传感器并且被配置为基于所述传感器信号输出一个或多个激活信号; 耦合到所述操纵件的第一致动器，其中所述第一致动器在接收到第一启动信号时向所述操纵器输出接触力; 以及定位在所述壳体内并与所述第一致动器分离的第二致动器，其中所述第二致动器在接收到第二激活信号时向壳体输出惯性力。
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公开(公告)号：US20100207882A1
公开(公告)日：2010-08-19
申请号：US12769478
申请日：2010-04-28
CPC分类号： G06F3/016 , A63F13/06 , A63F13/24 , A63F13/285 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/03549 , G06F3/0362 , G06F2203/013 , G06F2203/014 , G06F2203/015 , H04L69/329
摘要： In an aspect, an electronic device includes a housing; a manipulandum positioned in the housing, wherein the manipulandum is moveable in at least one rotary degree of freedom in response to a user moving the manipulandum; a sensor coupled to the manipulandum, the sensor outputs sensor signals associated with the movement of the manipulandum in the at least one rotary degree of freedom by the user's direct contact; a processor coupled to the sensor and configured to output one or more activating signals based on the sensor signals; a first actuator coupled to the manipulandum, wherein the first actuator outputs a contact force to the manipulandum upon receiving a first activating signal; and a second actuator positioned within the housing and separate from the first actuator, wherein the second actuator outputs an inertial force to the housing upon receiving a second activating signal.
摘要翻译： 一方面，电子设备包括壳体; 位于所述壳体中的操纵件，其中所述操纵件可响应于使用者移动所述操纵而以至少一个旋转自由度移动; 耦合到操纵的传感器，传感器通过用户的直接接触在至少一个旋转自由度中输出与操纵的运动相关联的传感器信号; 处理器，其耦合到所述传感器并且被配置为基于所述传感器信号输出一个或多个激活信号; 耦合到所述操纵件的第一致动器，其中所述第一致动器在接收到第一启动信号时向所述操纵器输出接触力; 以及定位在所述壳体内并与所述第一致动器分离的第二致动器，其中所述第二致动器在接收到第二激活信号时向壳体输出惯性力。
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公开(公告)号：US06707443B2
公开(公告)日：2004-03-16
申请号：US09507539
申请日：2000-02-18
IPC分类号： G09G500
CPC分类号： G06F3/016 , A63F13/06 , A63F13/24 , A63F13/285 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/03547 , G06F3/03549 , G06F3/0362 , G06F2203/013 , G06F2203/014 , G06F2203/015 , H04L69/329
摘要： A low-cost haptic feedback trackball device for providing haptic feedback to a user for enhancing interactions in a graphical environment provided by a computer. The trackball device includes a sensor device that detects the movement of a sphere in two rotary degrees of freedom. An actuator applies a force preferably along a z-axis perpendicular to the plane of the surface supporting the device, where the force is transmitted through the housing to the user. The output force is correlated with interaction of a controlled graphical object, such as a cursor, with other graphical objects in the displayed graphical environment. Preferably, at least one compliant element is provided between a portion of the housing contacted by the user and the support surface, where the compliant element amplifies the force output from the actuator by allowing the contacted portion of the housing to move with respect to the support surface. The force can be an inertial force, contact force, or a combination of forces that provide tactile sensations to the user.
摘要翻译： 一种低成本触觉反馈轨迹球装置，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。 轨迹球装置包括传感器装置，其以两个旋转自由度检测球体的运动。 执行机构优选沿着垂直于支撑该装置的表面的平面的z轴施加力，其中力通过壳体传递给使用者。 输出力与受控图形对象（如光标）与显示的图形环境中的其他图形对象的交互相关。 优选地，至少一个顺应元件设置在与使用者接触的壳体的一部分与支撑表面之间，其中柔性元件通过允许壳体的接触部分相对于支撑件移动而放大来自致动器的力 表面。 力可以是向用户提供触觉的惯性力，接触力或力的组合。
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公开(公告)号：US08552982B2
公开(公告)日：2013-10-08
申请号：US10657854
申请日：2003-09-09
IPC分类号： 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。
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公开(公告)号：US06844932B2
公开(公告)日：2005-01-18
申请号：US10205833
申请日：2002-07-26
申请人： Jenkin A. Richard , Eric V. Chamness , David F. Moore , Steven J. Benerofe , Don A. Clark , Ryan D. Bruneau
发明人： Jenkin A. Richard , Eric V. Chamness , David F. Moore , Steven J. Benerofe , Don A. Clark , Ryan D. Bruneau
CPC分类号： G02B6/4215 , G01B11/27 , G02B6/29311 , G02B6/29362 , G02B6/29365 , G02B6/2938 , G02B6/4227
摘要： Improved methods and systems for routing and aligning beams and optical elements in an optical device include a multiplexing device and/or a demultiplexing device, which includes an optical alignment element (OAE). The OAE can be configured to substantially compensate for the cumulative alignment errors in the beam path. The OAE allows the optical elements in a device, other than the OAE, to be placed and fixed in place without substantially compensating for optical alignment errors. The OAE is inserted into the beam path and adjusted. This greatly increases the ease in the manufacturing of optical devices, especially for devices with numerous optical elements, and lowers the cost of manufacturing. The multiplexing and/or demultiplexing device can reside within a standard small form factor, such as a GBIC. The devices fold the paths of the traversing beams with a geometry which allows a small package.
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公开(公告)号：US06856435B2
公开(公告)日：2005-02-15
申请号：US10205837
申请日：2002-07-26
申请人： Jenkin A. Richard , Eric V. Chamness , David F. Moore , Steven J. Benerofe , Don A. Clark , Ryan D. Bruneau
发明人： Jenkin A. Richard , Eric V. Chamness , David F. Moore , Steven J. Benerofe , Don A. Clark , Ryan D. Bruneau
CPC分类号： G02B6/4215 , G01B11/27 , G02B6/29311 , G02B6/29362 , G02B6/29365 , G02B6/2938 , G02B6/4227
摘要： Improved methods and systems for routing and aligning beams and optical elements in an optical device include a multiplexing device and/or a demultiplexing device, which includes an optical alignment element (OAE). The OAE can be configured to substantially compensate for the cumulative alignment errors in the beam path. The OAE allows the optical elements in a device, other than the OAE, to be placed and fixed in place without substantially compensating for optical alignment errors. The OAE is inserted into the beam path and adjusted. This greatly increases the ease in the manufacturing of optical devices, especially for devices with numerous optical elements, and lowers the cost of manufacturing. The multiplexing and/or demultiplexing device can reside within a standard small form factor, such as a GBIC. The devices fold the paths of the traversing beams with a geometry which allows a small package.
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公开(公告)号：US06750969B2
公开(公告)日：2004-06-15
申请号：US10206625
申请日：2002-07-26
申请人： Jenkin A. Richard , Eric V. Chamness , David F. Moore , Steven J. Benerofe , Don A. Clark , Ryan D. Bruneau
发明人： Jenkin A. Richard , Eric V. Chamness , David F. Moore , Steven J. Benerofe , Don A. Clark , Ryan D. Bruneau
IPC分类号： G01B1100
CPC分类号： G02B6/4215 , G01B11/27 , G02B6/29311 , G02B6/29362 , G02B6/29365 , G02B6/2938 , G02B6/4227
摘要： Improved methods and systems for routing and aligning beams and optical elements in an optical device include a multiplexing device and/or a demultiplexing device, which includes an optical alignment element (OAE). The OAE can be configured to substantially compensate for the cumulative alignment errors in the beam path. The OAE allows the optical elements in a device, other than the OAE, to be placed and fixed in place without substantially compensating for optical alignment errors. The OAE is inserted into the beam path and adjusted. This greatly increases the ease in the manufacturing of optical devices, especially for devices with numerous optical elements, and lowers the cost of manufacturing. The multiplexing and/or demultiplexing device can reside within a standard small form factor, such as a GBIC. The devices fold the paths of the traversing beams with a geometry which allows a small package.
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公开(公告)号：US06781693B2
公开(公告)日：2004-08-24
申请号：US10205835
申请日：2002-07-26
申请人： Jenkin A. Richard , Eric V. Chamness , David F. Moore , Steven J. Benerofe , Don A. Clark , Ryan D. Bruneau
发明人： Jenkin A. Richard , Eric V. Chamness , David F. Moore , Steven J. Benerofe , Don A. Clark , Ryan D. Bruneau
IPC分类号： G01B1100
CPC分类号： G02B6/4215 , G01B11/27 , G02B6/29311 , G02B6/29362 , G02B6/29365 , G02B6/2938 , G02B6/4227
摘要： Improved methods and systems for routing and aligning beams and optical elements in an optical device include a multiplexing device and/or a demultiplexing device, which includes an optical alignment element (OAE). The OAE can be configured to substantially compensate for the cumulative alignment errors in the beam path. The OAE allows the optical elements in a device, other than the OAE, to be placed and fixed in place without substantially compensating for optical alignment errors. The OAE is inserted into the beam path and adjusted. This greatly increases the ease in the manufacturing of optical devices, especially for devices with numerous optical elements, and lowers the cost of manufacturing. The multiplexing and/or demultiplexing device can reside within a standard small form factor, such as a GBIC. The devices fold the paths of the traversing beams with a geometry which allows a small package.
摘要翻译： 用于在光学装置中路由和对准光束和光学元件的改进的方法和系统包括多路复用装置和/或解复用装置，其包括光学对准元件（OAE）。 OAE可以被配置为基本上补偿光束路径中的累积对准误差。 OAE允许将除了OAE之外的装置中的光学元件放置并固定就位，而基本上不补偿光学对准误差。 将OAE插入光束路径并进行调整。 这大大增加了光学器件的制造的容易性，特别是对于具有许多光学元件的器件，并且降低了制造成本。 复用和/或解复用设备可以驻留在诸如GBIC的标准小外形之内。 这些装置以允许小包装的几何形状折叠横梁的路径。
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