Multi-dimensional force-torque hand controller having force feedback
First Claim
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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Accused Products
Abstract
A hand controller or `cursor` for the actuation of slaved apparatus. The cursor includes a handle extending from a line attachment member comprised of four equally spaced legs. The ends of these legs define vertices of a regular tetrahedron. The cursor is supported within a subtending structure by a plurality of tension lines which may be connected to torque motors or to another controlled device. A control computer preferably interfaces the present controller with the slaved apparatus wherein signals representative of the several tension line lengths are translated by the computer into control signals actuating the slaved device. In addition, force transducers on the slaved mechanism generate signals representative of the forces encountered by the slaved device which, in turn, are translated by the computer into torque motor control signals thereby providing interactive cursor force-feedback.
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Citations
10 Claims
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1. A controller for remotely manipulating objects including:
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(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. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A controller for remotely manipulating objects including:
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(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 axial movement therethrough; (c) a plurality of control lines each connected at a first end to the line support member and at a second end to motor tensioning means, each line directed through the line receiving means of the support means wherein the motor tensioning means is adapted to reel-in or play-out control lines as the cursor is manipulated within the support means. - View Dependent Claims (8)
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9. A controller for remotely manipulating objects including:
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(a) a cursor including a line attachment member and a handle means connected thereto, the line attachment member having four vertices defining a tetrahedral geometry;
means on each vertex for attaching three support lines thereto;(b) cursor support means surrounding the cursor including four corners defining a volume therebetween wherein the cursor is suspended for manipulation; (c) means associated with each support means corner adapted to receive three control lines for movement therethrough; (d) twelve control lines each having a first end connected to a vertex of the line attachment member and a second end adapted for connection to a controlled apparatus, three of said control lines being directed through the line receiving means of each support means corner whereby movement of the cursor handle means causes a corresponding response in said controlled means. - View Dependent Claims (10)
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Specification