Method, Apparatus, and Article for Force Feedback Based on Tension Control and Tracking Through Cables

• US 20120032879A1
• Filed: 10/13/2011
• Published: 02/09/2012
• Est. Priority Date: 03/26/2003
• Status: Active Grant

• Current Assignee: MIMIC Technologies, Inc.
• Original Assignee: MIMIC Technologies, Inc.
• Inventors: Berkley, Jeffrey J., Kim, Seahak, Hong, Sungkwan
• Granted Patent: US 9,176,584 B2
• Time in Patent Office: Days
• US Class Current: 345/156
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/0338 with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: G06F 3/04815 Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object

Abstract

A haptic device for human/computer interface includes a user interface tool coupled via cables to first, second, third, and fourth cable control units, each positioned at a vertex of a tetrahedron. Each of the cable control units includes a spool and an encoder configured to provide a signal corresponding to rotation of the respective spool. The cables are wound onto the spool of a respective one of the cable control units. The encoders provide signals corresponding to rotation of the respective spools to track the length of each cable. As the cables wind onto the spools, variations in spool diameter are compensated for. The absolute length of each cable is determined during initialization by retracting each cable In turn to a zero length position. A sensor array coupled to the tool detects rotation around one or more axes.

Claims

1. A cable-based haptic device, comprising:

a frame having a height, width and depth shaped to define an open area and sized to receive at least a hand of a user; and

a plurality of translational effecter devices coupled to the frame, each translational effecter device including;

a spool configured to play out and retract a cable segment,

an electric motor configured to controllably provide torque to the spool for rotating and counter-rotating the spool, and

a brake that is controllably actuated by a signal and configured to prevent rotation, prior to a power-down of the cable-based haptic device and during the power-down of the cable-based haptic device, of the spool.

2. The cable-based haptic device of claim 1, wherein each translational effecter device of the plurality translational effecter devices further includes an encoder configured to provide a signal corresponding to an amount of rotation of the spool.

3. The cable-based haptic device of claim 2, wherein the brake, when actuated, locks the encoder in a fixed position.

4. The cable-based haptic device of claim 1, wherein at least one translational effecter device of the plurality translational effecter devices further includes a first cable guide member positioned to guide the cable segment between the spool and a grip located in the open area of the frame.

5. The cable-based haptic device of claim 4, wherein the at least one translational effecter device further includes a second cable guide member interposing the first cable guide member and the spool and configured to guide the cable segment between the spool and the first cable guide member.

6. The cable-based haptic device of claim 5, wherein the first cable guide member is a pulley.

7. The cable-based haptic device of claim 5, wherein the second cable guide member rotates axially around a portion of the cable segment extending through the second cable guide member.

8. The cable-based haptic device of claim 7, wherein the first cable guide member is rotatable, wherein the at least one translational effecter device further includes a coupling member extending from the second cable guide member and having the first cable guide member coupled thereto, wherein the first cable guide member rotates about an axis that is different from the axial rotation of the second cable guide member.

9. The cable-based haptic device of claim 5, wherein the first cable guide member is an eyelet.

10. The cable-based haptic device of claim 1, further comprising:

a controller configured to provide a signal that releases the brakes from being locked in response to a powering up of the cable-based haptic device and configured to retrieve from a memory, prior to releasing the brakes, at least one value indicative of a length for at least one cable segment.

11. A cable-based haptic device, comprising:

a spool configured to play out and retract a cable segment;

an electric motor configured to controllably provide torque to the spool for rotating and counter-rotating the spool;

a brake that is controllably actuated by a signal and configured to prevent rotation of the spool when actuated by a brake actuation signal; and

a controller that provides signals to control the torque provided by the electric motor.

12. The cable-based haptic device of claim 11, wherein the controller provides the brake actuation signal to the brake prior to a power-down of the cable-based haptic device.

13. The cable-based haptic device of claim 11, wherein the brake is configured to prevent rotation of the spool while the cable-based haptic device is powered down.

14. The cable-based haptic device of claim 11, further comprising:

a grip coupled to the cable segment, the cable segment extending between the spool and the grip; and

first cable guide positioned between the spool and the grip and in engagement with the cable segment, wherein a portion of the cable segment extends directly between the first cable segment and the grip.

15. The cable-based haptic device of claim 14, further comprising:

a second cable guide positioned between the first cable guide and the spool and configured to guide the cable segment between the first cable guide and the spool.

16. The cable-based haptic device of claim 15, wherein the first cable guide is configured to rotate about a first axis of rotation, and wherein the second cable guide is configured to rotate about a second axis of rotation.

17. The cable-based haptic device of claim 16, wherein the first cable guide is a pulley, and wherein the first axis of rotation cable guide is different from the second axis of rotation.

18. A cable-based haptic device, comprising:

a grip configured to be held by a hand of a user;

a cable segment coupled to the grip and extending therefrom;

a spool having the cable segment coupled thereto and configured to play out and retract the cable segment extending between the spool and the grip;

an electric motor configured to controllably provide torque to the spool for rotating and counter-rotating the spool;

an encoder configured to provide signals corresponding to rotation of the spool;

a brake controllably actuated by a brake actuation signal and configured to prevent rotation of the spool when actuated by a brake actuation signal; and

a controller that receives signals corresponding to rotation of the spool, determine force feedback signals to control the torque provided by the electric motor such that tension in the cable segment, induced by the torque applied to the spool, provides force feedback at the grip to the user, and provides the force feedback signals for the electric motor.

19. The cable-based haptic device of claim 18, further comprising:

a first cable guide positioned to guide the cable segment directly to the grip.

20. The cable-based haptic device of claim 19, further comprising:

a second cable guide positioned between the first cable guide and the spool and configured to guide the cable segment therebetween, wherein each of the first and the second cable guide members are rotatable.

21. The cable-based haptic device of claim 19, wherein the first cable guide member is an eyelet.

22. The cable-based haptic device of claim 18, wherein the controller provides the brake actuation signal to the brake prior to a power-down of the cable-based haptic device.

23. The cable-based haptic device of claim 22, wherein the brake is configured to prevent rotation of the spool while the cable-based haptic device is powered down.