Method and apparatus for compensating for position slip in interface devices
First Claim
1. A method comprising:
- determining a device position delta from a sensed position of a manipulandum of an interface device in a degree of freedom, said position delta indicating a change in an actual position of said manipulandum;
determining if a position slip has occurred in a position sensing system, said position slip caused by a change in position of said manipulandum that was not sensed by a sensor of said interface device; and
correcting an error in said sensed position caused by said position slip by adjusting said sensed position to take into account said position slip, and using said adjusted position as said actual position of said manipulandum.
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Accused Products
Abstract
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.
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Citations
23 Claims
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1. A method comprising:
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determining a device position delta from a sensed position of a manipulandum of an interface device in a degree of freedom, said position delta indicating a change in an actual position of said manipulandum;
determining if a position slip has occurred in a position sensing system, said position slip caused by a change in position of said manipulandum that was not sensed by a sensor of said interface device; and
correcting an error in said sensed position caused by said position slip by adjusting said sensed position to take into account said position slip, and using said adjusted position as said actual position of said manipulandum. - View Dependent Claims (2, 3, 4, 6, 7, 8, 10, 11)
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5. A method as recited in claim 43 further comprising determining a force having a magnitude and a direction at least partially based on said computation value, and outputting said force with an actuator disposed within said interface device.
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9. A method as recited in claim 48 wherein said mechanical transmission comprises a drive selected from the group consisting of a gear drive, a belt drive, and a capstan drive.
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12. A device comprising:
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a manipulandum movable in at least one degree of freedom;
a position sensor operative to detect a position of said manipulandum in at least one of said degrees of freedom;
a mechanical transmission coupled between said manipulandum and said position sensor; and
a reference sensor operative to detect the motion of at least one reference location of said manipulandum. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A method comprising:
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enabling a determination of a device position delta from a sensed position of a manipulandum of an interface device in a degree of freedom, said position delta indicating a change in an actual position of said manipulandum;
enabling a determination of whether a position slip has occurred in said position sensing system, said position slip caused by a change in position of said manipulandum that was not sensed by a sensor of said interface device; and
enabling a correction of an error in said sensed position caused by said position slip by adjusting said sensed position to take into account said position slip, and enabling said adjusted position be provided as said actual position of said manipulandum. - View Dependent Claims (21, 22, 23)
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Specification