Method and apparatus for applying force in force feedback devices using friction
First Claim
1. An apparatus for interfacing the motion of a user-manipulable object with a host computer, the apparatus comprising:
- a linkage mechanism providing two degrees of freedom to an object engaged with said linkage mechanism about two axes of rotation, said linkage mechanism including at least two members rotatably coupled to each other;
an actuator for generating a force in one of said degrees of freedom of said linkage mechanism; and
a friction drive mechanism coupled between said actuator and said linkage mechanism, wherein sad force from said actuator is transmitted to said linkage mechanism through frictional contact of a plurality of members of said friction drive mechanism, wherein said members include a drive roller and a moveable member having a rigid portion in frictional contact with said drive roller.
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Accused Products
Abstract
A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system. Another embodiment includes a host computer system and a local microprocessor, separate from the host computer, for communicating with the host computer and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus uses voice coil actuators that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic fields. A friction drive mechanism of the present invention can be coupled between an actuator and a gimbal mechanism. Force from the actuator is transmitted to the gimbal mechanism through frictional contact of members of the friction drive mechanism.
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Citations
32 Claims
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1. An apparatus for interfacing the motion of a user-manipulable object with a host computer, the apparatus comprising:
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a linkage mechanism providing two degrees of freedom to an object engaged with said linkage mechanism about two axes of rotation, said linkage mechanism including at least two members rotatably coupled to each other;
an actuator for generating a force in one of said degrees of freedom of said linkage mechanism; and
a friction drive mechanism coupled between said actuator and said linkage mechanism, wherein sad force from said actuator is transmitted to said linkage mechanism through frictional contact of a plurality of members of said friction drive mechanism, wherein said members include a drive roller and a moveable member having a rigid portion in frictional contact with said drive roller. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A force feedback interface device for interfacing the motion of a user with a host computer system, the force feedback interface device comprising:
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a user manipulatable object physically contacted by a user and moveable by said user in at least one degree of freedom;
an actuator coupled to said user manipulatable object that applies a force;
a sensor that detects motion of said user manipulatable object in said at least one degree of freedom and provides a sensor signal to said host computer system; and
a friction drive mechanism coupled between said actuator and said user manipulatable object, wherein force from said actuator is transmitted to said user manipulatable object through frictional contact of members of said friction drive mechanism, wherein said members of said friction drive mechanism include a drive roller and a drive bar in direct frictional contact with said drive roller, said drive roller coupled to and driven by said actuator, wherein force is applied to said drive bar by said actuator only through said frictional contact, and wherein said drive bar is curved such that said drive bar forms a portion of an arc having a radius of greater length than a radius of said drive roller. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A friction drive mechanism for use in a force feedback interface device that is coupled to a host computer system and which outputs force sensations to a user, the friction drive mechanism comprising:
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a moving member movable in a rotary degree of freedom and providing a user manipulatable object with motion in said rotary degree of freedom, wherein said user manipulatable object is grasped by said user;
a drive bar directly coupled to said moving member such that said drive bar moves in said rotary degree of freedom with said moving member; and
a drive roller frictionally engaged and in contact with said drive bar and operative to apply a force to said drive bar when rotated by an actuator, wherein said force is transmitted to said moving member such that said force is applied in said rotary degree of freedom. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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27. A method for producing a force on a user manipulatable object of a force feedback device coupled to a host computer, wherein a user physically contacts said user manipulatable object, the method comprising:
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outputting a rotational force from an actuator to a drive roller;
frictionally engaging said drive roller with a drive bar, wherein said drive bar engages a circumferential surface of said drive roller approximately tangentially to said circumferential surface; and
transmitting said rotational force from said drive roller to said drive bar and from said drive bar to a user manipulatable object coupled to said drive bar, said user manipulatable object being physically contacted by a user of said force feedback device, wherein said drive bar is rotatable in a rotary degree of freedom and said rotational force provides a force to said drive bar in said rotary degree of freedom of said drive bar. - View Dependent Claims (28, 29, 30, 31, 32)
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Specification