High fidelity mechanical transmission system and interface device
First Claim
1. A transmission system for transmitting motion and force between a driven object and an actuator, the transmission system comprising:
- an actuator stage coupled to said actuator, said actuator stage including;
a capstan pulley coupled to said actuator, said capstan pulley rotatable about a first axis by said actuator;
a capstan drum rotatable about a second axis; and
a flexible member having two ends and coupling said capstan pulley to said capstan drum, wherein said flexible member is coupled to said capstan drum at each end of said flexible member, and wherein said capstan pulley causes said capstan drum to rotate about said second axis for multiple revolutions; and
an output stage coupled to said actuator stage, said output stage coupled to said driven object to rotate said driven object.
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Accused Products
Abstract
A high-fidelity mechanical transmission system for transmitting forces which can be used in a human-computer force feedback interface device connected to a host computer. The transmission system includes multiple stages, including an actuator stage coupled to an actuator and one or more additional stages. The actuator stage includes a rotatable capstan pulley coupled to the actuator, a cylindrical capstan drum, and a flexible member, such as a cable, coupling the capstan pulley and drum. The cable is coupled to the capstan drum at both ends, and causes the capstan drum to rotate for multiple revolutions. The output stage is coupled to the driven object to rotate the driven object. The output stage can include a capstan pulley, capstan drum, and cable. An interface device can include the transmission system for inputting motion signals to a connected host computer and for providing force feedback to the user. The interface device includes a user manipulatable object, such a steering wheel, joystick, or the like, which is manipulated by the user to interact with the host computer.
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Citations
48 Claims
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1. A transmission system for transmitting motion and force between a driven object and an actuator, the transmission system comprising:
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an actuator stage coupled to said actuator, said actuator stage including; a capstan pulley coupled to said actuator, said capstan pulley rotatable about a first axis by said actuator; a capstan drum rotatable about a second axis; and a flexible member having two ends and coupling said capstan pulley to said capstan drum, wherein said flexible member is coupled to said capstan drum at each end of said flexible member, and wherein said capstan pulley causes said capstan drum to rotate about said second axis for multiple revolutions; and an output stage coupled to said actuator stage, said output stage coupled to said driven object to rotate said driven object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An interface device coupled to a host computer and inputting motion signals to said host computer in response to manipulations of said interface device by a user, said interface device providing force feedback to said user, said interface device comprising:
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a user manipulatable object contacted and manipulated by a user and moveable in a degree of freedom; a sensor coupled to said user manipulatable object that detects motion of said user manipulatable object, wherein said sensor provides a sensor signal including information describing said motion of said user manipulatable object in said degree of freedom; an actuator that provides forces in said degree of freedom of said user manipulatable object, wherein said actuator is controlled from commands output by said host computer; and a capstan drive assembly coupling said actuator to said user manipulatable object, said capstan drive assembly including an actuator stage and an output stage, wherein said actuator stage includes a capstan pulley coupled to a cylindrical capstan drum by a flexible member having two ends, each end coupled to said capstan drum, said cylindrical drum having rotatable range over 360 degrees, and wherein a ratio of a diameter of said drum to a diameter of said pulley in said actuator stage increases a magnitude of forces output on said user manipulatable object from said actuator. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 48)
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29. A steering wheel interface device for providing force feedback to a user of said steering wheel interface device, wherein a host computer is coupled to said steering wheel interface device and implements a graphical environment with which said user interacts, said steering wheel interface device comprising:
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a steering wheel physically contacted and manipulated by a user in a rotary degree of freedom with respect to a ground surface; a support base coupled to ground, said steering wheel rotatably coupled to said support base; a sensor coupled to said steering wheel that detects rotary motion of said steering wheel, wherein said sensor provides a sensor signal to said host computer including information describing said motion of said steering wheel in said rotary degree of freedom; an actuator coupled to said support base that provides forces in said rotary degree of freedom of said steering wheel, wherein said actuator is controlled from commands output by said host computer; and a capstan drive mechanism coupling said actuator to said steering wheel, said capstan drive mechanism including; a first stage including a first capstan pulley rigidly coupled to said actuator, a first capstan drum rotatably coupled to said support base, and a first cable coupled between said first capstan drum and said first capstan pulley for transmitting force and motion between said first capstan drum and said first capstan pulley, wherein said first cable is wrapped around said first capstan drum a plurality of times, allowing said first capstan drum to rotate a plurality of times, and wherein said first cable has two ends coupled to said first capstan drum; and a second stage including a second capstan pulley rigidly coupled to said first capstan drum, a second capstan drum rigidly coupled to said steering wheel, and a second cable coupled between said second capstan pulley and said second capstan drum; wherein said capstan drive mechanism provides mechanical advantage to forces output by said actuator on said steering wheel. - View Dependent Claims (30, 31, 32, 33)
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34. A method for transmitting forces from an actuator to a driven object, the method comprising:
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causing said actuator to output a force on a first capstan pulley coupled to a shaft of said actuator and causing said first capstan pulley to rotate; rotating a first capstan drum in conjunction with said first capstan pulley, wherein said first capstan drum is coupled to said first capstan pulley by a first cable, said first cable being coupled to said first capstan drum at each end of said first cable, and wherein said first capstan drum rotates for multiple revolutions; rotating a second capstan pulley in conjunction with said first capstan drum, said second capstan pulley rigidly coupled to said first capstan drum; and rotating a second capstan drum in conjunction with said second capstan pulley, wherein said second capstan drum is coupled to said second capstan pulley by a second cable, wherein said second capstan drum is coupled to said driven object. - View Dependent Claims (35, 36, 37, 38, 39)
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40. A method for interfacing a graphical simulation implemented by a host computer with a user using an interface device including a mechanical transmission system, the method comprising:
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providing a user manipulatable object graspable by a user and rotatable in a rotary degree of freedom; sensing motion of said user manipulatable object and providing signals indicating of said motion to said host computer; outputting a force from an actuator on said user manipulatable object in said rotary degree of freedom; and providing mechanical advantage for said force such that said force is increased in magnitude before being output on said user object, said mechanical advantage being provided from a capstan drive mechanism having a plurality of stages, each stage of said capstan drive mechanism including a pulley and a cylindrical drum, wherein said pulley is coupled to said cylindrical dram by a cable having two ends, each of said ends coupled to said cylindrical drum. - View Dependent Claims (41, 42, 43, 44, 45, 46, 47)
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Specification