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Three dimensional position sensing interface with force output

  • US 6,046,727 A
  • Filed: 02/09/1999
  • Issued: 04/04/2000
  • Est. Priority Date: 07/16/1993
  • Status: Expired due to Term
First Claim
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1. A position sensing device for use in conjunction with a host computer and a fixed surface, said device comprising:

  • a user manipulatable object moveable by a user;

    a mechanical linkage coupled to said fixed surface by a base rotary joint and coupled to said user manipulatable object by an object rotary joint, said mechanical linkage allowing at least five degrees of freedom in the motion of said object with respect to said fixed surface, wherein said mechanical linkage provides said degrees of freedom through a structure of substantially rigid members joined by a plurality of rotary joints, said mechanical linkage providing said user the ability to manipulate both a location and an orientation of said object in three dimensional space;

    at least one sensor for producing a locative signal which is responsive to and corresponding with a position of said user manipulatable object, said locative signal providing information about the location of said user manipulatable object for use by said host computer; and

    at least one force generator for locking a corresponding rotary joint of said mechanical linkage in response to force signals provided to said position sensing device from said host computer.

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