Force feedback device including coupling device
First Claim
1. An apparatus, comprising:
- a manipulandum movable in at least one degree of freedom;
a sensor configured to sense motion of the manipulandum in the at least one degree of freedom, wherein the sensor provides a locative signal to a first processor;
a coupling device coupled to the manipulandum and a first component, wherein the coupling device is configured to allow the manipulandum to freely move a first distance with respect to the first component; and
an actuator coupled to the first component and configured to output force feedback to the first component in response to a force signal from the first processor, wherein the force feedback to the first component causes resistance to movement of the manipulandum when the manipulandum moves beyond the first distance.
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Accused Products
Abstract
A method and apparatus which includes a manipulandum that is movable in at least one degree of freedom. A sensor which is configured to sense motion of the manipulandum provides a locative signal to a first processor. A coupling device is coupled to the manipulandum and a first component. The coupling device is configured to allow the manipulandum to freely move a first distance with respect to the first component. An actuator coupled to the first component and configured to output force feedback to the first component in response to receiving a force signal from the first processor, whereby the force feedback to the first component causes resistance to movement of the manipulandum when the manipulandum moves beyond the first distance.
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Citations
21 Claims
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1. An apparatus, comprising:
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a manipulandum movable in at least one degree of freedom;
a sensor configured to sense motion of the manipulandum in the at least one degree of freedom, wherein the sensor provides a locative signal to a first processor;
a coupling device coupled to the manipulandum and a first component, wherein the coupling device is configured to allow the manipulandum to freely move a first distance with respect to the first component; and
an actuator coupled to the first component and configured to output force feedback to the first component in response to a force signal from the first processor, wherein the force feedback to the first component causes resistance to movement of the manipulandum when the manipulandum moves beyond the first distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for allowing movement of a user interface device, comprising:
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sensing movement of a manipulandum in at least one degree of freedom, wherein the manipulandum is coupled to a coupling device operatively connected to a first component;
transmitting a locative signal associated with the sensed movement to a first processor, wherein the first processor transmits a force feedback signal based on the locative signal; and
outputting a force feedback to the first component utilizing an actuator, the force feedback being based on the force feedback signal to resist movement of the manipulandum in the at least one degree of freedom, wherein the coupling device allows the manipulandum to freely move a distance with respect to the first component while the force feedback is applied to the first component. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A computer executable program capable of being on a tangible media, the computer executable program configured to perform a method for allowing movement of a user interface device, the method comprising:
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sensing movement of a manipulandum in at least one degree of freedom, wherein the manipulandum is coupled to a coupling device operatively connected to a first component;
transmitting a locative signal associated with the sensed movement to a first processor, wherein the first processor transmits a force feedback signal based on the locative signal; and
outputting a force feedback to the first component utilizing an actuator based on the force feedback signal, the force feedback to the first component to resist movement of the manipulandum in the at least one degree of freedom, wherein the coupling device allows the manipulandum to freely move a distance with respect to the first component while the force feedback is applied to the first component. - View Dependent Claims (18, 19, 20)
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21. An apparatus, comprising:
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a manipulandum movable in at least one degree of freedom;
a sensor configured to sense motion of the manipulandum in the at least one degree of freedom, wherein the sensor provides a locative signal to a first processor;
a coupling device coupled to the manipulandum and a first component, wherein the coupling device is configured to allow the manipulandum to freely move a first distance with respect to the first component; and
an actuator coupled to the first component and configured to output force feedback to the first component in response to a force signal from the first processor, wherein the force feedback to the first component alters a resistance to movement of the manipulandum when the manipulandum moves in a second direction opposite to the first direction.
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Specification