Force feedback transmission mechanisms
First Claim
1. A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device coupled to a host computer, the mechanism comprising:
- a grounded member coupled to a ground;
a moveable member included in a force feedback mechanism, said moveable member moveable in a degree of freedom by an actuator and transmitting forces to said user manipulatable object of said force feedback interface device;
a spring member operative to be selectively coupled and selectively decoupled between said grounded member and said moveable member; and
a catch mechanism coupled to said spring member, said catch mechanism including a first catch member coupled to a first end of said spring member and a second catch member that is coupled between said grounded member and a second end of said spring member, wherein said first catch member may be selectively engaged and selectively disengaged with said second catch member to selectively couple and decouple said spring member.
3 Assignments
0 Petitions
Accused Products
Abstract
A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device. A moveable member included in a force feedback mechanism is moveable in a degree of freedom to transmit forces to the user manipulatable object, such as a joystick handle. A spring member can be selectively coupled and decoupled between a grounded member and the moveable member. The spring member provides a spring force on the moveable member that biases the joystick handle to a desired position, such as the center of the degree of freedom. A dynamic calibration procedure reduces inaccuracies when sensing the position of the user manipulandum by only reading new range limits when the actuator is not outputting a force in the direction of that limit. A capstan drive mechanism is preferably coupled between the actuator and linkage mechanism, where a capstan drum includes a curved end over which the cable is routed, the curved end including flanges to substantially prevent the cable from slipping of the sides of the end. The capstan drum includes a tensioning spring member coupled to one or both ends of the cable for tensioning the cable.
-
Citations
42 Claims
-
1. A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device coupled to a host computer, the mechanism comprising:
-
a grounded member coupled to a ground; a moveable member included in a force feedback mechanism, said moveable member moveable in a degree of freedom by an actuator and transmitting forces to said user manipulatable object of said force feedback interface device; a spring member operative to be selectively coupled and selectively decoupled between said grounded member and said moveable member; and a catch mechanism coupled to said spring member, said catch mechanism including a first catch member coupled to a first end of said spring member and a second catch member that is coupled between said grounded member and a second end of said spring member, wherein said first catch member may be selectively engaged and selectively disengaged with said second catch member to selectively couple and decouple said spring member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A force feedback interface device for providing forces on a user manipulating said interface device when coupled to a host computer, said force feedback interface device comprising:
-
a user manipulandum for physical contact by a user; a sensor for detecting a position of said user manipulandum in a degree of freedom; an actuator coupled to said user manipulandum for applying a force to said user manipulandum; a linkage mechanism coupled between said actuator and said user manipulandum, said linkage mechanism providing said degree of freedom and transmitting said force from said actuator to said user manipulandum; and a spring selection mechanism coupled to said linkage mechanism and selectively allowing a spring force to be applied on said user manipulandum, said spring selection mechanism comprising; a physical spring; and a catch mechanism coupled to said physical spring, said catch mechanism including a first catch member coupled to a first end of said spring and a second catch member that is coupled between a grounded surface and a second end of said spring, wherein said first catch member may be selectively engaged and selectively disengaged with said second catch member to selectively allow said spring to be coupled to said linkage mechanism. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
-
-
28. A method for selectively providing a spring force in a force feedback interface device using a physical spring, the method comprising:
-
selectively decoupling a spring member from a user manipulandum when an actuator of said interface device is to output forces on said user manipulandum, said user manipulandum being physically contacted by a user, wherein said spring member is coupled between said user manipulandum and a linkage mechanism, said user manipulandum physically contacted by a user to feel said forces output on said user manipulandum; and selectively coupling said spring member to said user manipulandum when said actuator is not to output forces on said user manipulandum, wherein said spring member provides a centering spring force on said user manipulandum when coupled to said user manipulandum for centering said user manipulandum a degree of freedom. - View Dependent Claims (29, 30, 31)
-
-
32. A force feedback interface device coupled to a host computer and providing forces to a user manipulating said interface device, the interface device comprising;
-
a user manipulandum for physical contact by a user; a sensor for detecting a position of said user manipulandum in a degree of freedom; an actuator coupled to said user manipulandum for applying a force to said user manipulandum; a linkage mechanism coupled between said actuator and said user manipulandum, said linkage mechanism providing said degree of freedom and transmitting said force from said actuator to said user manipulandum; and a capstan drive mechanism coupled between said actuator and said linkage mechanism, wherein said capstan drive mechanism includes a pulley coupled to said actuator, a moveable capstan drum coupled to said linkage mechanism, and a cable coupling said pulley to said capstan drum, said cable having two ends, wherein a tensioning spring member is coupled to both ends of said cable for tensioning said cable, and wherein said capstan drum includes a curved end over which said cable is routed, said curved end including flanges arranged on sides of said curved end to substantially prevent said cable from slipping off said sides of said curved end. - View Dependent Claims (33, 34, 35, 36)
-
-
37. A force feedback interface device coupled to a host computer and providing forces to a user manipulating said interface device, the interface device comprising;
-
a user manipulandum for physical contact by a user; a sensor for detecting a position of said user manipulandum in a degree of freedom; an actuator coupled to said user manipulandum for applying a force to said user manipulandum; a linkage mechanism coupled between said actuator and said user manipulandum, said linkage mechanism providing said degree of freedom and transmitting said force from said actuator to said user manipulandum; and a capstan drive mechanism coupled between said actuator and said linkage mechanism and providing mechanical advantage to said force, wherein said capstan mechanism includes a pulley coupled to said actuator, a moveable capstan drum coupled to said linkage mechanism, and a cable having two ends, each of said ends coupled to said capstan drum, said cable coupling said pulley to said capstan drum, and wherein said capstan drum includes a tensioning spring member coupled between one end of said cable and said capstan drum for tensioning said cable to reduce slack in said cable. - View Dependent Claims (38, 39, 40)
-
-
41. A force feedback interface device for providing forces on a user manipulating said interface device when coupled to a host computer, said force feedback interface device comprising:
-
a user manipulandum for physical contact by a user; a sensor for detecting a position of said user manipulandum in a degree of freedom; an actuator coupled to said user manipulandum for applying a force to said user manipulandum; a linkage mechanism coupled between said actuator and said user manipulandum, said linkage mechanism providing said degree of freedom and transmitting said force from said actuator to said user manipulandum; a spring selection mechanism coupled to said linkage mechanism and selectively allowing a physical spring to be coupled to said linkage mechanism to provide a spring force to be applied on said user manipulandum; and a capstan drive mechanism coupled between said actuator and said linkage mechanism, wherein said capstan drive mechanism includes a capstan pulley coupled to said actuator, a capstan drum coupled to said linkage mechanism, and a cable coupling said capstan pulley to said capstan drum, wherein said capstan drum includes a tensioning spring member coupled to both ends of said cable for tensioning said cable.
-
-
42. A force feedback interface device coupled to a host computer and providing forces to a user manipulating said interface device, the interface device comprising:
-
a user manipulandum for physical contact by a user; a sensor for detecting a position of said user manipulandum in a degree of freedom; an actuator coupled to said user manipulandum for applying a force to said user manipulandum; a linkage mechanism coupled between said actuator and said user manipulandum, said linkage mechanism providing said degree of freedom and transmitting said force from said actuator to said user manipulandum; and a capstan drive mechanism coupled between said actuator and said linkage mechanism, where in said capstan mechanism includes a pulley coupled to said actuator, a moveable capstan drum coupled to said linkage mechanism, and a cable coupling said pulley to said capstan drum, and wherein said capstan drum includes a tensioning spring member coupled to both ends of said cable for tension ing said cable.
-
Specification