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Multi-dimensional force-torque hand controller having force feedback

  • US 4,604,016 A
  • Filed: 08/03/1983
  • Issued: 08/05/1986
  • Est. Priority Date: 08/03/1983
  • Status: Expired due to Term
First Claim
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1. A controller for remotely manipulating objects including:

  • (a) a cursor having a line attachment member for retaining control lines in spaced relationship and a handle means connected thereto for repositioning the attachment member;

    (b) a cursor support means surrounding the cursor having a plurality of means adapted to receive control lines for movement therethrough;

    (c) a plurality of control lines each connected at a first end to the line attachment member and at a second end adapted for connection to a controlled apparatus, the cursor and attachment member being suspended within the cursor support means by said plurality of control lines, each line directed through the receiving means of the support means wherein movement of the cursor handle means correspondingly actuates the controlled apparatus.

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