公开(公告)号：US20090216374A1

公开(公告)日：2009-08-27

申请号：US12391999

申请日：2009-02-24

申请人： Thomas LOW ,  Kevin HUFFORD

发明人： Thomas LOW ,  Kevin HUFFORD

IPC分类号： B25J3/00 ,  G05B15/00 ,  G05B19/00 ,  G06F19/00

CPC分类号： B25J9/1689 ,  G05B2219/40132 ,  G05B2219/40144

摘要： Biodynamic feedthrough in a master control system can be mitigated. An accelerometer is used to measure the acceleration of an environment. In one embodiment, mitigation damping forces can then be determined based on the velocity of an effector of a haptic manipulator and the measured accelerations. The haptic manipulator applies the mitigation damping forces as force feedback. In another embodiment, biodynamic feedthrough can be filtered from the input signal. Parameters for a model can be accessed based on the position of the effector, and the model can be used to predict biodynamic feedthrough from the measured accelerations.

摘要翻译： 可以减轻主控制系统中的生物动力学馈通。 加速度计用于测量环境的加速度。 在一个实施例中，然后可以基于触觉操纵器的效应器的速度和所测量的加速度来确定减轻阻尼力。 触觉操纵器将减轻阻尼力作为力反馈应用。 在另一个实施例中，生物动力学馈通可以从输入信号滤波。 可以基于效应器的位置来访问模型的参数，并且该模型可以用于从所测量的加速度预测生物动力学馈通。

公开(公告)号：US20140067128A1

公开(公告)日：2014-03-06

申请号：US14018914

申请日：2013-09-05

申请人： Fanuc America Corporation

发明人： Gary Kowalski ,  Matthew F. Denio ,  H. Dean McGee

IPC分类号： B25J9/16

CPC分类号： B25J13/06 ,  B25J9/161 ,  G05B19/409 ,  G05B2219/36162 ,  G05B2219/40132

摘要： An apparatus for providing haptic feedback to a teach pendant including a teach pendant having a housing and a processor disposed therein. The processor is in signal communication with a robot controller and is configured to monitor and control a robot. At least one haptic device is disposed on the teach pendant. The haptic device is in signal communication with the processor and configured for providing haptic feedback through the teach pendant to a user upon the occurrence of a haptic event.

摘要翻译： 一种用于向示教器提供触觉反馈的装置，包括具有外壳的教导件和设置在其中的处理器。 处理器与机器人控制器进行信号通信，并被配置为监视和控制机器人。 至少一个触觉装置设置在示教器上。 触觉设备与处理器进行信号通信，并且被配置为在触发事件发生时通过示教器向用户提供触觉反馈。

公开(公告)号：US08508469B1

公开(公告)日：2013-08-13

申请号：US09153781

申请日：1998-09-16

申请人： Louis B. Rosenberg ,  Scott B. Brave ,  Sian W. Tan

发明人： Louis B. Rosenberg ,  Scott B. Brave ,  Sian W. Tan

IPC分类号： G09G5/00

CPC分类号： A63F13/285 ,  A63F13/23 ,  A63F13/24 ,  A63F13/335 ,  A63F2300/1025 ,  A63F2300/1037 ,  A63F2300/1043 ,  B25J9/1692 ,  G01B21/04 ,  G05B2219/40132 ,  G05G9/047 ,  G05G2009/04766 ,  G05G2009/04777 ,  G06F3/011 ,  G06F3/016 ,  G06F3/0354 ,  G06F3/038 ,  G06F3/0383 ,  G06F2203/014 ,  G06F2203/015 ,  H01H2003/008

摘要： Method and apparatus for providing peer-to-peer force feedback over a computer network. A network force feedback system includes a network, a first computer coupled to the network, and a second computer coupled to the network. The first and second computers each include a visual display and a force feedback interface device. Each computer provides a force feedback signal to its force feedback device based on information received from the other, remote computer and in some cases also based on input from the local force feedback device. Positional information of each force feedback device and/or feel sensation information can be transmitted between the computers over the network. A graphical environment can be displayed to enhance the interaction between users. The present invention therefore permits two computer users to interact using force feedback provided over a network on a peer-to-peer basis.

公开(公告)号：US10081109B2

公开(公告)日：2018-09-25

申请号：US14018914

申请日：2013-09-05

申请人： Fanuc America Corporation

发明人： Gary Kowalski ,  Matthew F. Denio ,  H. Dean McGee

IPC分类号： B25J13/06 ,  B25J9/16 ,  G05B19/409

CPC分类号： B25J13/06 ,  B25J9/161 ,  G05B19/409 ,  G05B2219/36162 ,  G05B2219/40132

摘要： An apparatus for providing haptic feedback to a teach pendant including a teach pendant having a housing and a processor disposed therein. The processor is in signal communication with a robot controller and is configured to monitor and control a robot. At least one haptic device is disposed on the teach pendant. The haptic device is in signal communication with the processor and configured for providing haptic feedback through the teach pendant to a user upon the occurrence of a haptic event.

公开(公告)号：US08606403B2

公开(公告)日：2013-12-10

申请号：US12967267

申请日：2010-12-14

申请人： John B. Rust ,  Matthew D. Summer ,  Paul M. Bosscher ,  William S. Bowman ,  Loran J. Wilkinson

发明人： John B. Rust ,  Matthew D. Summer ,  Paul M. Bosscher ,  William S. Bowman ,  Loran J. Wilkinson

IPC分类号： G05B19/04 ,  G05B19/18 ,  G05B15/00 ,  G05B19/00

CPC分类号： B25J13/02 ,  B25J9/1689 ,  G05B2219/40132

摘要： Method and system for telematic control of a slave device (402) includes a hand control (101) type control interface which includes a hand grip (102) having an elongated body (202). One or more sensors (208) are provided for sensing a physical displacement of a trigger (212) disposed on the hand grip. An actuator or motor (206) is disposed in the hand grip that is responsive to a control signal from a control system (401) for dynamically controlling a force applied by the trigger to a user of the hand control interface.

摘要翻译： 用于从属设备（402）的远程信息处理的方法和系统包括手动控制（101）型控制接口，其包括具有细长主体（202）的手柄（102）。 提供一个或多个传感器（208），用于感测设置在手柄上的触发器（212）的物理位移。 致动器或电动机（206）设置在手柄中，其响应于来自控制系统（401）的控制信号，用于动态地控制由触发器施加到手控制接口的使用者的力。

公开(公告)号：US09737987B1

公开(公告)日：2017-08-22

申请号：US14948112

申请日：2015-11-20

申请人： X Development LLC

发明人： Jeff Linnell ,  Anthony Sean Jules ,  Matthew Bitterman ,  Eli Reekmans ,  Kendra Byrne

IPC分类号： G06K7/14 ,  B25J9/16

CPC分类号： B25J9/161 ,  B25J9/1656 ,  B25J13/02 ,  G05B2219/35459 ,  G05B2219/40132 ,  G05G9/02 ,  Y10S901/03

摘要： Disclosed are systems and methods for detecting a graphic card that visually describes an operational mode of a rotatable interface component via a plurality of curves for rotationally-varying parameters, determining the operational mode that is visually described on the graphic card, and loading the operational mode to the rotatable interface component, where the operational mode specifies operations for a motor such that the motor generates torque on the interface component based on the curves for the rotationally-varying parameters that are shown on the graphic card.

公开(公告)号：US20120150349A1

公开(公告)日：2012-06-14

申请号：US12967267

申请日：2010-12-14

申请人： John B. Rust ,  Matthew D. Summer ,  Paul M. Bosscher ,  William S. Bowman ,  Loran J. Wilkinson

发明人： John B. Rust ,  Matthew D. Summer ,  Paul M. Bosscher ,  William S. Bowman ,  Loran J. Wilkinson

IPC分类号： G05B19/00

CPC分类号： B25J13/02 ,  B25J9/1689 ,  G05B2219/40132

摘要： Method and system for telematic control of a slave device (402) includes a hand control (101) type control interface which includes a hand grip (102) having an elongated body (202). One or more sensors (208) are provided for sensing a physical displacement of a trigger (212) disposed on the hand grip. An actuator or motor (206) is disposed in the hand grip that is responsive to a control signal from a control system (401) for dynamically controlling a force applied by the trigger to a user of the hand control interface.

摘要翻译： 用于从属设备（402）的远程信息处理的方法和系统包括手动控制（101）型控制接口，其包括具有细长主体（202）的手柄（102）。 提供一个或多个传感器（208），用于感测设置在手柄上的触发器（212）的物理位移。 致动器或电动机（206）设置在手柄中，其响应于来自控制系统（401）的控制信号，用于动态地控制由触发器施加到手控制接口的使用者的力。

公开(公告)号：US20180296291A1

公开(公告)日：2018-10-18

申请号：US15768196

申请日：2016-10-27

申请人： Covidien LP

发明人： Peter Vokrot ,  William Peine ,  Matthew Blanco

IPC分类号： A61B34/00

CPC分类号： A61B34/76 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/73 ,  A61B34/74 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00115 ,  A61B2017/00221 ,  A61B2018/00303 ,  A61B2018/00595 ,  A61B2034/731 ,  A61B2090/064 ,  A61B2090/367 ,  A61B2090/376 ,  A61B2090/378 ,  B25J3/04 ,  B25J13/025 ,  G05B2219/40132 ,  G05G5/03 ,  G05G2009/04718 ,  G05G2009/04766 ,  G06F3/016 ,  G06F3/0346

摘要： A gimbal for a robotic surgical system includes a support link, an input link, and a vibration assembly. The input link extends from the support link and the vibration assembly is mounted to the support link. The vibration assembly includes a central support, an end cap, and a voice coil. The end cap is moveable relative to the central support. The voice coil has an inner member that is fixed to the central support and an outer member that is fixed to the end cap. The voice coil is configured to vibrate the gimbal in response to a voltage being applied to one of the inner or outer members.

公开(公告)号：US20170121129A1

公开(公告)日：2017-05-04

申请号：US13993139

申请日：2011-12-13

申请人： IMPERIAL INNOVATIONS LIMITED

发明人： George MYLONAS ,  Guang-Zhong YANG

IPC分类号： B65G51/03 ,  A61B90/60 ,  A61B34/00 ,  B25J9/16 ,  B25J13/02

CPC分类号： B65G51/03 ,  A61B34/35 ,  A61B34/74 ,  A61B34/76 ,  A61B90/60 ,  A61B2034/742 ,  B25J9/1689 ,  B25J13/025 ,  G05B2219/40132 ,  G05B2219/45119

摘要： A robotic control device for receiving manipulation instructions for an end effector of a surgical instrument has a platform for supporting a haptic manipulator device, the platform being movably coupled to a surface for supporting the platform and having a movement facilitating member operable to change the amount of force required to move the platform relative to the surface.

公开(公告)号：US08321075B2

公开(公告)日：2012-11-27

申请号：US12391999

申请日：2009-02-24

申请人： Thomas Low ,  Kevin Hufford

发明人： Thomas Low ,  Kevin Hufford

IPC分类号： G06D1/00 ,  G06F7/00

CPC分类号： B25J9/1689 ,  G05B2219/40132 ,  G05B2219/40144

摘要： Biodynamic feedthrough in a master control system can be mitigated. An accelerometer is used to measure the acceleration of an environment. In one embodiment, mitigation damping forces can then be determined based on the velocity of an effector of a haptic manipulator and the measured accelerations. The haptic manipulator applies the mitigation damping forces as force feedback. In another embodiment, biodynamic feedthrough can be filtered from the input signal. Parameters for a model can be accessed based on the position of the effector, and the model can be used to predict biodynamic feedthrough from the measured accelerations.

摘要翻译： 可以减轻主控制系统中的生物动力学馈通。 加速度计用于测量环境的加速度。 在一个实施例中，然后可以基于触觉操纵器的效应器的速度和所测量的加速度来确定减轻阻尼力。 触觉操纵器将减轻阻尼力作为力反馈应用。 在另一个实施例中，生物动力学馈通可以从输入信号滤波。 可以基于效应器的位置来访问模型的参数，并且该模型可以用于从所测量的加速度预测生物动力学馈通。