Haptic pointing devices
First Claim
1. A haptic pointing device, comprising:
- three rigid, elongated proximal members, each with a first end and a second end;
an actuator coupled to the first end of each proximal member, causing each member to move in response to a control signal, two of said proximal members moving in a first plane, and wherein one of said proximal members moves in a second plane different from said first plane;
at least three rigid, elongated distal members, each distal member having a first end interconnected to the second end of a proximal member through an articulating joint; and
an end-effector interconnected to the second end of each distal member through an articulating joint.
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Abstract
A haptic pointing device includes a plurality of rigid, elongated proximal members, each connected to a separate rigid, elongated distal member through an articulating joint. The other end of each proximal member is coupled to an actuator such as a motor, causing that member to swing within a separate plane perpendicular to the shaft of the motor in response to a control signal. An end-effector is interconnected to the second end of each distal member through an articulating joint, such that as the actuators move the proximal members, the end-effector moves in space. In a preferred embodiment, the device includes at least three proximal members and three distal members, and the end-effector is coupled to a user-graspable element such as a stylus which retains a preferred orientation in space as the members are driven by the actuators. In a force-feedback application, the haptic pointing device further includes a position sensor associated with each degree of freedom, and haptic processing means interfaced to a virtual reality system or teleoperations environment. Additional components may be provided to increase flexibility, degrees of freedom, or both.
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Citations
22 Claims
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1. A haptic pointing device, comprising:
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three rigid, elongated proximal members, each with a first end and a second end;
an actuator coupled to the first end of each proximal member, causing each member to move in response to a control signal, two of said proximal members moving in a first plane, and wherein one of said proximal members moves in a second plane different from said first plane;
at least three rigid, elongated distal members, each distal member having a first end interconnected to the second end of a proximal member through an articulating joint; and
an end-effector interconnected to the second end of each distal member through an articulating joint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
a position sensor associated with each proximal member; and
haptic processing means outputting an electronic signal indicative of the position of the end-effector in space.
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3. The haptic pointing device of claim 1, wherein the articulating joints are universal joints.
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4. The haptic pointing device of claim 1, wherein the articulating joints are ball joints.
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5. The haptic pointing device of claim 1, wherein the articulating joints utilize a flexible material.
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6. The haptic pointing device of claim 1, wherein the actuator is a motor having a shaft perpendicular to the plane of movement of the proximal member coupled thereto.
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7. The haptic pointing device of claim 1, wherein:
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the end-effector is coupled to a user-graspable element having a preferred orientation in space; and
the arrangement of the members and joints is such that the element retains the preferred orientation as the end effector is moved by the actuators.
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8. The haptic pointing device of claim 7, wherein the user-graspable element is a stylus.
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9. The haptic pointing device of claim 7, wherein:
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the user-graspable element includes a user control; and
at least one pair of the interconnected proximal and distal members is substantially hollow to carry electrical wiring to the control.
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10. The haptic pointing device of claim 1, wherein the end-effector is coupled to a user-graspable element, the haptic pointing device further including one or more actuators associated with the articulating joint interconnecting the end-effector to the second ends of the distal members, providing one or more degrees of freedom associated with roll, pitch and yaw.
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11. The haptic pointing device of claim 1, including:
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a pair of base platforms; and
at least two sets of proximal and distal members, each set members being associated with one of the base platforms.
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12. The haptic pointing device of claim 1, further including a docking point to receive the end effector so as to calibrate the end effector in space.
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13. A haptic pointing device, comprising:
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three rigid, elongated proximal members, each with a first end and a second end;
a position sensor associated with each proximal member;
an actuator coupled to the first end of each proximal member, causing each member to move in response to a control signal, two of said proximal members moving in a first plane, and one of said proximal members moving in second plane different from said first plane;
at least three rigid, elongated distal members, each distal member having a first end interconnected to the second end of a proximal member through an articulating joint;
an end-effector interconnected to the second end of each distal member through an articulating joint; and
a haptic processor operative to;
a) output an electronic signal indicative of the position of the end-effector in space, and b) receive an electronic signal causing the actuators to output a force on the end-effector. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
the end-effector is coupled to a user-graspable element having a preferred orientation in space; and
the arrangement of the members and joints is such that the element retains the preferred orientation as the end effector is moved by the actuators.
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16. The haptic pointing device of claim 15, wherein the user-graspable element is a stylus.
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17. The haptic pointing device of claim 13, wherein the end-effector is coupled to a user-graspable element, the haptic pointing device further including one or more actuators associated with the articulating joint interconnecting the end-effector to the second ends of the distal members, providing one or more degrees of freedom associated with roll, pitch and yaw.
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18. The haptic pointing device of claim 13, including:
a pair of base platforms; and
at least two sets of proximal and distal members, each set members being associated with one of the base platforms.
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19. The haptic pointing device of claim 18, including:
six sets of proximal and distal members, three sets associated with each of the two platforms.
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20. The haptic pointing device of claim 13, wherein the haptic processor is interfaced to a virtual reality system including descriptions of virtual objects enabling a user to interact with the objects through the end effector.
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21. The haptic pointing device of claim 13, wherein the haptic processor is interfaced to a slave system including a separate set of actuators and encoders, enabling a user to interact with the objects through the end effector.
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22. A haptic pointing device, comprising:
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three rigid, elongated proximal members, each with a first end and a second end;
actuator means coupled to the first end of each proximal member, causing each member to move in response to a control signal, two of said members moving in a first plane, wherein one of said members moves in a second plane different from said first plane;
at least three rigid, elongated distal members, each distal member having a first end interconnected to the second end of a proximal member through an articulating joint; and
end-effector means interconnected to each distal member through articulating joint means;
haptic processing means for outputting an electronic signal indicative of the position of the end-effector means in space, and for receiving an electronic signal causing the actuator means to output a force on the end-effector means.
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Specification