公开(公告)号：WO1991011298A1

公开(公告)日：1991-08-08

申请号：PCT/US1991000670

申请日：1991-01-30

Applicant: SARCOS GROUP

Inventor： SARCOS GROUP ,  DAVIS, Clark, C. ,  IVERSEN, Edwin, K. ,  JACOBSEN, Stephen, C. ,  BIGGERS, Klaus, B.

IPC: B25J03/04

CPC classification number: G05B19/427 ,  G05B2219/37396

Abstract: A teleoperation system includes a master station (200) having an operable master link (204) coupled to a master actuator (208) which provides force resistance to operation and movement of the master link (204) in response to command signals, and a slave station (202) having a slave link (236) moveable by a slave actuator (240) in response to command signals. Also included is a control system for producing command signals in response to a comparison between position signals representing the position of the master and slave links (204, 236), and also a comparison between force signals of the master and slave links (204, 236). The control system produces a force command signal based upon the results of the comparisons and supplies it to the slave actuator (240) to cause the slave actuator (240) to move the slave link (236) in substantially faithfull imitation of movement of the master link (204).

公开(公告)号：WO2015113757A1

公开(公告)日：2015-08-06

申请号：PCT/EP2015/000154

申请日：2015-01-28

Applicant: GOMTEC GMBH

Inventor： GOMBERT, Bernd ,  SCHREIBER, Felix

IPC: B25J9/16

CPC classification number: G05B19/409 ,  B25J9/1656 ,  B25J13/025 ,  G05B2219/36433 ,  G05B2219/37396 ,  G05B2219/39439 ,  G05B2219/45118

Abstract: Die Erfindung betrifft eine manuelle Robotersteuerung. Mittels der Steuerung wird in Abhängigkeit der der Steuereingabe ein Referenzpunkt des Roboters kontinuierlich im Raum bewegt oder auf einen benachbarten Fangpunkt positioniert.

Abstract translation: 本发明涉及一种手动机器人控制器。 由控制手段是机器人的基准点在控制输入的依赖性被移动连续地定位在房间或到相邻的捕捉点。

公开(公告)号：WO1995012152A1

公开(公告)日：1995-05-04

申请号：PCT/US1993010458

申请日：1993-10-29

Applicant: HONEYWELL INC.

Inventor： HONEYWELL INC. ,  GREGORY, William, W. ,  HEGG, Jeffrey, W. ,  LANCE, Wayne, E.

IPC: G05D01/00

CPC classification number: G05B19/409 ,  G05B2219/35438 ,  G05B2219/37396 ,  G05D1/0061 ,  H01H2003/008 ,  Y10T74/20201

Abstract: An active hand controller system is provided wherein a feedback loop detects the position of a control stick to control a motor driving the control stick to thereby provide certain force feel characteristics to the control stick. The feedback loop includes a detector for detecting force exerted for the control stick to generate a signal indicative of the force or torque being applied to the control stick. In a more specific aspect, the invention includes the use of variable reluctance transformers, preferably in a push/pull configuration to detect the forces being exerted on the control stick.

Abstract translation: 提供了一种主动的手控制器系统，其中反馈回路检测控制棒的位置，以控制驱动控制棒的电机，从而向控制棒提供一定的力感觉特性。 反馈回路包括检测器，用于检测施加给控制棒的力，以产生指示施加到控制棒的力或扭矩的信号。 在更具体的方面，本发明包括使用可变磁阻变压器，优选地在推/拉配置中来检测施加在控制棒上的力。

公开(公告)号：WO01041636A1

公开(公告)日：2001-06-14

申请号：PCT/US2000/004172

申请日：2000-02-17

IPC: A63F13/12 ,  G06F3/00 ,  G06F3/01 ,  A61B5/03 ,  G06F19/00

CPC classification number: A63F13/285 ,  A63F13/12 ,  A63F2300/1037 ,  G05B2219/37396 ,  G06F3/016 ,  G06F2203/015

Abstract: Tactile output devices (8) are provided that are controlled by a control device (3). The control device (3) is provided such as to control the various parameters of the tactile output devices (8). A regulator device (7) is provided such as to process the control device signal into an understandable signal for the tactile ouput device (8).

Abstract translation: 提供由控制装置（3）控制的触觉输出装置（8）。 控制装置（3）被设置为控制触觉输出装置（8）的各种参数。 提供调节器装置（7），以将控制装置信号处理成触觉输出装置（8）的可理解信号。

公开(公告)号：WO1997025657A1

公开(公告)日：1997-07-17

申请号：PCT/US1996020687

申请日：1996-12-19

Applicant: LEX COMPUTER AND MANAGEMENT CORPORATION

Inventor： LEX COMPUTER AND MANAGEMENT CORPORATION ,  SCHULER, Chester, L. ,  HABERMAN, Seth, M.

IPC: G05B13/00

CPC classification number: G06F3/016 ,  G05B19/108 ,  G05B19/231 ,  G05B2219/23053 ,  G05B2219/35459 ,  G05B2219/37396 ,  G05B2219/43186 ,  G05B2219/45184 ,  G06F3/011 ,  G06F3/03543 ,  G06F3/03549 ,  G06F3/0362 ,  G06F2203/014 ,  G11B27/02 ,  G11B27/028 ,  G11B27/031 ,  G11B27/034 ,  G11B27/34 ,  H01H2003/008

Abstract: A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. The interface device includes at least two sets of wheels that move as the interface device is actuated. A servo motor (116) is attached to each of the at least two sets of wheels. A position encoder (118) is associated with each servo motor (116) and outputs position information to a controller (120).

Abstract translation: 实现可灵活编程的具有电子可控触觉响应性的用户界面装置（例如鼠标或轨迹球）的方法和装置。 接口装置包括至少两组随着接口装置致动而移动的轮。 伺服电动机（116）附接到至少两组车轮中的每一个。 位置编码器（118）与每个伺服电机（116）相关联，并将位置信息输出到控制器（120）。

公开(公告)号：WO1993008517A1

公开(公告)日：1993-04-29

申请号：PCT/US1992009006

申请日：1992-10-26

Applicant: LEX COMPUTER AND MANAGEMENT CORPORATION

Inventor： LEX COMPUTER AND MANAGEMENT CORPORATION ,  SCHULER, Chester, L.

IPC: G05B19/29

CPC classification number: G06F3/016 ,  G05B19/108 ,  G05B19/231 ,  G05B2219/23053 ,  G05B2219/35459 ,  G05B2219/37396 ,  G05B2219/43186 ,  G05B2219/45184 ,  G06F3/011 ,  G06F3/03543 ,  G06F3/03549 ,  G06F3/0362 ,  G11B27/02 ,  G11B27/028 ,  G11B27/031 ,  G11B27/034 ,  G11B27/34 ,  H01H2003/008

Abstract: An actuator having electronically controllable tactile responsiveness which is flexibly programmable to facilitate provision in a single actuator of torque-position characteristics, such as a selectable number of detents per actuation through its full operative path. A rotary actuator (114) facilitates provision in a single actuator, of torque versus angular position characteristics, such as a selectable number of detents per revolution. The actuator is in communication with a servo motor (116) having a position encoder (118) which outputs position information to a controller (120) that has access to torque-position relation information. The controller outputs a digital torque signal, which is converted to an analog current signal applied to the servo motor (116). The torque, presenting a tactile response to a human interacting with the actuator (114), is sensed as a detent or a plurality of detents.

公开(公告)号：WO2016019091A1

公开(公告)日：2016-02-04

申请号：PCT/US2015/042790

申请日：2015-07-30

Applicant: CNH INDUSTRIAL AMERICA LLC

Inventor： KASSEN, Gary R. ,  WU, Duqiang ,  SINGH, Aditya ,  MELCHINGER, Uli ,  GULATI, Navneet ,  DEAN, Patrick, T.

IPC: E02F3/34 ,  A01B71/02 ,  B60W50/16 ,  E02F9/20 ,  E02F9/24 ,  G05B11/01 ,  G05G5/03

CPC classification number: E02F9/2004 ,  A01B71/02 ,  B60W50/16 ,  E02F3/3414 ,  E02F9/24 ,  G05B11/01 ,  G05B2219/37396 ,  G05G5/03

Abstract: A movable machine including a chassis, a tool coupled to the chassis, an operator control carried by the chassis and a controller. The controller is communicatively coupled to the operator control. The controller being configured to send a force feedback and/or a vibration feedback to the operator control thereby conveying information to the operator. The information is not related to a load encountered by the tool.

Abstract translation: 一种可移动机器，包括底盘，联接到底盘的工具，由底盘承载的操作者控制器和控制器。 控制器通信耦合到操作员控制。 控制器被配置为向操作员控制发送力反馈和/或振动反馈，从而将信息传送给操作者。 该信息与该工具遇到的负载无关。

公开(公告)号：WO2015012997A1

公开(公告)日：2015-01-29

申请号：PCT/US2014/044085

申请日：2014-06-25

Applicant: GENERAL ELECTRIC COMAPNY

Inventor： WARD, Thomas, Charles ,  MAULE, Bryan, David ,  STANCATO, Melissa, Rose ,  PANKOW, Mattew, William ,  ANDREASEN, David, Scott

IPC: G02B23/24 ,  B25J9/16 ,  G06F3/048

CPC classification number: G01N21/01 ,  B25J9/1635 ,  E21B47/0002 ,  G01N2021/0112 ,  G01N2021/0181 ,  G02B23/24 ,  G02B23/2484 ,  G05B2219/23092 ,  G05B2219/35478 ,  G05B2219/37396 ,  G05B2219/39443 ,  G05B2219/45066 ,  G06F3/0482 ,  G06F3/04847 ,  G06F3/0488

Abstract: Systems and methods provided herein. In one embodiment, a borescope system includes a probe to capture images and a display a settings menu, measurements, the images captured by the probe, or any combination thereof. In addition, the borescope system a processor programmed to display a user interface to enable a user to control movement of the probe, adjust settings, navigate menus, make selections, or any combination thereof. The processor is communicatively coupled to the probe, and the display, and is programmed to instruct the borescope to enter a live menu view when an articulation mode is selected from the settings menu. In the live menu view, the processor is programmed to instruct the display to display the images captured by the probe, and to enable a user to control the movement of the probe and adjust articulation sensitivity of the probe while viewing the images on the display.

Abstract translation: 本文提供的系统和方法。 在一个实施例中，管道镜系统包括用于捕获图像的探针和显示设置菜单，测量，由探针捕获的图像或其任何组合。 此外，管道系统是处理器，其被编程为显示用户界面以使得用户能够控制探测器的移动，调整设置，导航菜单，选择或其任何组合。 处理器通信地耦合到探针和显示器，并且被编程为当从设置菜单中选择发音模式时，指示管窥镜进入实时菜单视图。 在实时菜单视图中，处理器被编程为指示显示器显示由探头拍摄的图像，并且使得用户能够在观看显示器上的图像的同时控制探头的移动并调节探头的关节灵敏度。

公开(公告)号：WO2009146359A1

公开(公告)日：2009-12-03

申请号：PCT/US2009/045436

申请日：2009-05-28

Applicant: ILLINOIS TOOL WORKS INC. ,  BATZLER, Todd ,  ALBRECHT, Bruce ,  BECKER, William, J.

Inventor： BATZLER, Todd ,  ALBRECHT, Bruce ,  BECKER, William, J.

IPC: B23K9/32 ,  G05D13/12

CPC classification number: G09B19/003 ,  B23K9/095 ,  B23K9/32 ,  B23K37/00 ,  G05B2219/37396 ,  G09B5/00 ,  G09B9/00 ,  G09B19/24

Abstract: A welding training system includes one or more welding operator device which provides positional feedback relevant to a quality weld. The positional feedback is analyzed and, when the positional feedback is outside of a predetermined range, a signal is provided to the welding operator. In one embodiment, tactile feedback is provided in a welding gun.

Abstract translation: 焊接训练系统包括提供与质量焊缝相关的位置反馈的一个或多个焊接操作装置。 分析位置反馈，并且当位置反馈超出预定范围时，向焊接操作者提供信号。 在一个实施例中，在焊枪中提供触觉反馈。

公开(公告)号：WO1988006242A1

公开(公告)日：1988-08-25

申请号：PCT/US1987002413

申请日：1987-09-23

Applicant: CATERPILLAR INC.

Inventor： CATERPILLAR INC. ,  CEMENSKA, Richard, Alan ,  SCHNEIDER, Marvin, Patrick ,  BUEGE, Thomas, John

IPC: F15B13/14

CPC classification number: G05G1/04 ,  E02F9/2004 ,  F15B13/14 ,  G05B2219/37396 ,  G05B2219/41309 ,  G05G5/03 ,  Y10T74/20396

Abstract: A control lever (16) for effecting positional control of a work implement (18). An actuator means (60) applies a force to the control lever (16) in response to a sensed load being applied to the work implement (18). The force applied to the implement control lever (16) is in proportion to the load being applied to the work implement (18), thereby giving the operator a feel for the load being applied to the implement (18).