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Six-degree virtual pivot controller

  • US 5,223,776 A
  • Filed: 12/31/1990
  • Issued: 06/29/1993
  • Est. Priority Date: 12/31/1990
  • Status: Expired due to Fees
First Claim
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1. A six degree-of-freedom virtual pivot controller comprising:

  • grip means for receiving externally applied force and torque;

    force and torque sensing means, connected to said grip means, for sensing the force and torque, from up to six-degrees-of-freedom, applied to said grip means;

    first support means, connected to said sensing means, for supporting said sensing means;

    second support means for supporting said hand controller;

    at least one variable-length member means having a first flexible connector attached to said first support means and a second flexible connector, attached to said second support means, for variable supporting said first support means, wherein said at least one variable-length member means comprises;

    translation actuating means connected to said member means, for varying the length of said member means;

    translational sensing means, connected to said member means, for sensing a length of said member means;

    angular actuating means, connected to said member means, for angularly moving said member means relative to said second support means; and

    angular sensing means, connected to said member means, or sensing an angular position of said member means relative to said second support means.

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