Mechanical and force transmission for force feedback devices

• US 6,400,352 B1
• Filed: 08/21/1998
• Issued: 06/04/2002
• Est. Priority Date: 01/18/1995
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Martin, Kenneth M., Schena, Bruce M., Rosenberg, Louis B., Moore, David F., Bruneau, Ryan D.
• Primary Examiner(s): NGUYEN, CHANH DUY
• Application Number:
  US09/138,304
• Time in Patent Office: 1,383 Days
• Field of Search: 345/156, 345/157, 345/161, 345/162, 345/179, 744/71, 33/1.M, 33/1.N, 33/1.MP, 33/1.PT, 335/04, 335/05, 200/6.A, 338/128, 414/5, 901/46, 901/16, 434/45
• US Class Current: 345/156
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: G05G 2009/0474 characterised by means converting mechanical movement into electric signals
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04
• CPC Class Codes: G05G 9/04737 with six degrees of freedom
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/03545 Pens or stylus
• CPC Class Codes: G06F 3/0383 Signal control means within the pointing device
• CPC Class Codes: G09B 23/28 for medicine
• CPC Class Codes: G09B 9/28 Simulation of stick forces or the like

Abstract

A force feedback interface device includes improvements in a mechanical linkage and drive mechanism. The force feedback device is coupled to a host computer and includes a user manipulatable object graspable by a user, at least one actuator that outputs a force on the user object, and a sensor for sensing motion of the user object. A linkage mechanism provides the user object with degrees of freedom and includes five members rotatably coupled to each other. The linkage mechanism supports the bearings of the device with protrusions rotatably coupled to central members of the linkage. The drive mechanism is preferably a belt drive that includes an idler positioned adjacent to a drive pulley and which impedes radial displacement of a belt away from the drive pulley, and thus impedes losing positive engagement of the belt, without preloading the belt. The idler can be a passive idler that does not contact the belt during operation and/or an active idler that continuously contacts the belt. Some or all portions of the linkage mechanism and the drive mechanism are preferably symmetrical, allowing low cost manufacture of the device.

Claims

1. A force feedback device capable of communicating with a host computer, the force feedback device comprising:

a user manipulatable object graspable by a user;

a linkage mechanism coupled to said user manipulatable object and providing said user manipulatable object with first and second rotary degrees of freedom, said linkage mechanism including;

a grounded member coupled to a ground;

a first extension member and a second extension member rotatably coupled to said grounded member; and

a first central member rotatably coupled to said first extension member and a second central member rotatably coupled to said second extension member, wherein said first and second central members are rotatably coupled to each other, and wherein said first extension member and said first central member are substantially identical to and positioned symmetrically to said second extension member and said second central member;

first and second actuators coupled to said linkage mechanism, said first actuator operative to output a force in said first degree of freedom and said second actuator operative to output a force in said second degree of freedom;

at least one sensor operative to sense motion of said user manipulatable object in said first and second degrees of freedom; and

a belt drive transmission coupled between said first actuator and said linkage mechanism, said belt drive transmission including a synchronous belt.

2. A force feedback device as recited in claim 1 wherein said first and second extension members each include two protrusions, each of said protrusions rotatably coupled to said first and second central members, respectively.

3. A force feedback device as recited in claim 2 wherein portions of said first and second extension members extend out of a plane formed by axes of rotation for said first and second degrees of freedom.

4. A force feedback device as recited in claim 3 wherein said portions that extend out of said plane are a middle portion of at least one of said protrusions of each of said extension members.

5. A force feedback device as recited in claim 4 wherein one of said protrusions of said first extension member extend out of said plane on a first side of said plane, and wherein one of said protrusions of said second extension member extend out of said plane on a second side of said plane opposite to said first side.

6. A force feedback device as recited in claim 5 wherein both of said protrusions of said first extension member extend out of said plane on said first side, and wherein both of said protrusions of said second extension member extend out of said plane on said second side.

7. A force feedback device as recited in claim 4 wherein said protrusions of said first extension member are rotatably coupled to first central member such that said first central member is positioned between said protrusions of said first extension member, and wherein said protrusions of said second extension member are rotatably coupled to second central member such that said second central member is positioned between said protrusions of said second extension member.

8. A force feedback device as recited in claim 1 wherein said belt drive transmission is a first belt drive transmission coupled to said first actuator, and further comprising a second belt drive transmission coupled between said second actuator and said linkage mechanism.

9. A force feedback device as recited in claim 8 wherein said first belt drive transmission is symmetrical to said second belt drive transmission.

10. A force feedback device as recited in claim 9 wherein said at least one sensor includes a first sensor coupled to said first actuator and a second sensor coupled to said second actuator.

11. A force feedback device capable of communicating with a host computer, the force feedback device comprising:

a user manipulatable object graspable by a user;

a linkage mechanism coupled to said user manipulatable object and providing said user manipulatable object with first and second rotary degrees of freedom, said linkage mechanism including;

a ground member;

a first extension member coupled to said ground member and rotatable about a first fixed axis of rotation, and a second extension member rotatably coupled to said ground member and rotatable about a second fixed axis of rotation, wherein said first and second extension members each include two protrusions; and

a first central member rotatably coupled to said two protrusions of said first extension member between said two protrusions of said first extension member such that said first central member is supported on two of its sides by said first extension member, and a second central member rotatably coupled to said two protrusions of said second extension member between said two protrusions of said second extension member such that said second central member is supported on two of its sides by said second extension member, and wherein said first and second central members are rotatably coupled to each other and are rotatable about first and second floating axes, respectively, wherein when said user manipulatable object is positioned in a origin position, couplings between said first central member and said protrusions of said first extension member intersect said second fixed axis of rotation, and couplings between said second central member and said protrusion of said second extension member intersect said first fixed axis of rotation, wherein said floating axes are movable with respect to said ground, and said floating axes are coincident with said fixed axes of rotation when said user manipulatable object is positioned in said origin position;

first and second actuators coupled to said linkage mechanism, said first actuator operative to output a force in said first degree of freedom and said second actuator operative to output a force in said second degree of freedom; and

at least one sensor operative to sense motion of said user manipulatable object in said first and second degrees of freedom.

12. A force feedback device as recited in claim 11 wherein portions of said first and second extension members extend out of a plane formed by said floating axes of rotation for said first and second degrees of freedom.

13. A force feedback device as recited in claim 12 wherein said portions that extend out of said plane are a middle portion of at least one of said protrusions of each of said extension members.

14. A force feedback device as recited in claim 13 wherein at least one of said protrusions of said first extension member extend out of said plane on a first side of said plane, and wherein at least one of said protrusions of said second extension member extend out of said plane on a second side of said plane opposite to said first side.

15. A force feedback device as recited in claim 11 wherein said first extension member and said first central member are substantially identical to and positioned symmetrically to said second extension member and said second central member.

16. A force feedback device as recited in claim 11 further comprising a belt drive transmission coupled between said first actuator and said linkage mechanism, said belt drive transmission including a synchronous belt.

17. A force feedback device as recited in claim 11 wherein said protrusions of said first extension member extend in planes parallel to said fixed axis of rotation, and wherein said two protrusions of said second extension member extend on planes parallel to said second fixed axis of rotation.

18. A force feedback interface device capable of communicating with 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 and moveable in two degrees of freedom;

a sensor for detecting a position of said user manipulandum in said degrees of freedom; and

a linkage mechanism coupled between said user manipulandum and a physical ground, said linkage mechanism providing said two degrees of freedom to said user manipulandum, wherein said linkage mechanism includes a serially-linked chain of rotatable members coupled to ground at both ends of said chain, said chain including;

a first member including two protrusions;

a second member rotatably coupled to said first member between said two protrusions of said first member;

a third member rotatably coupled to said second member, and

a fourth member including two protrusions and rotatably coupled to said third member, wherein said third member is coupled between said protrusions of said fourth member,

wherein when said user manipulatable object is in an origin position, a first coupling between said first member and said physical ground and a third coupling between said third member and said fourth member are aligned on one of said fixed axes of rotation, and a second coupling between said first member and said second member and a fourth coupling between said fourth member and said ground are aligned on a different one of said fixed axes of rotation, said first member and said fourth member being rotatable about said two fixed axes of rotation, and wherein said second member and said third member are rotatable about first and second floating axes, said floating axes being movable with respect to said ground.

19. A force feedback interface device as recited in claim 18 wherein middle portions of at least one of said protrusions of said first and fourth members extend out of a plane formed by axes of rotation for said two degrees of freedom.

20. A force feedback interface device as recited in claim 19 wherein said protrusions of said first and fourth members include an inner protrusion and an outer protrusion, wherein said inner protrusion of said first member extends out of said plane on a first side of said plane, and wherein said inner protrusion of said fourth member extends out of said plane on a second side of said plane opposite to said first side.

21. A force feedback interface device as recited in claim 18 further comprising an actuator coupled to said user manipulandum for applying a force to said user manipulandum, wherein at least part of said linkage mechanism is coupled between said actuator and said user manipulandum.

22. A force feedback interface device as recited in claim 21 further comprising a belt drive transmission coupled between said actuator and said user manipulatable object, said belt drive transmission including a drive pulley coupled to said actuator, a belt coupling said drive pulley to an amplification pulley, and an idler positioned adjacent to said drive pulley, said idler being positioned to impede radial displacement of a belt away from said drive pulley and thus loss of positive engagement during normal operation without preloading said belt.

23. A force feedback device as recited in claim 22 wherein said idler is an a passive idler positioned adjacent to said drive pulley, said passive idler not contacting said belt wrapped around said drive pulley normal operation and preventing said belt from moving off said drive pulley when slack is introduced in said belt.

24. A force feedback device as recited in claim 22 wherein said idler is an active idler positioned adjacent to said drive pulley and is continually contacting said second belt during normal operation of said belt drive transmission, wherein said active idler increases a wrap angle of said belt on said drive pulley.

25. A force feedback interface device as recited in claim 23 wherein said drive pulley, said amplification pulley and said passive idlers are included in a first stage of said belt drive transmission, and wherein said belt drive transmission further comprises a second stage including a second belt.

26. A force feedback interface device as recited in claim 25 wherein said second stage includes a driven pulley rigidly coupled to said amplification pulley, and a second amplification pulley coupled to said driven pulley by said second belt.

27. A force feedback device as recited in claim 21 wherein said belt drive transmission is a first belt drive transmission coupled to said first actuator, and further comprising a second belt drive transmission coupled between said second actuator and said linkage mechanism.

28. A force feedback device as recited in claim 27, wherein said at least one sensor includes a first sensor coupled to said first actuator and a second sensor coupled to said second actuator.

29. A force feedback device capable of communicating with a host computer, the interface device comprising:

a user manipulatable object physically contactable by a user;

a linkage mechanism coupled to said user manipulatable object and providing said user manipulatable object with first and second rotary degrees of freedom, said linkage mechanism including;

a ground member;

a first extension member and a second extension member rotatably coupled to said ground member; and

a first central member rotatably coupled to said first extension member, and a second central member rotatably coupled to said second extension member, and wherein said first and second central members are rotatably coupled to each other;

first and second actuators coupled to said linkage mechanism, said first actuator operative to output a force in said first degree of freedom and said second actuator operative to output a force in said second degree of freedom;

at least one sensor operative to sense motion of said user manipulatable object in said first and second degrees of freedom; and

a belt drive transmission coupled between said first actuator and said linkage mechanism, said belt drive transmission including a synchronous belt.

30. A force feedback device as recited in claim 29 wherein said first belt drive transmission is symmetrical to said second belt drive transmission.

31. A force feedback interface device capable of communicating with 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 and moveable in two degrees of freedom;

a sensor for detecting a position of said user manipulandum in said degrees of freedom;

an actuator coupled to said user manipulandum for applying a force to said user manipulandum;

a belt drive transmission coupled between said actuator and said user manipulatable object, said belt drive transmission including a drive pulley coupled to said actuator, a belt coupling said drive pulley to an amplification pulley, and an idler positioned adjacent to said drive pulley, said idler being positioned to impede radial displacement of a belt away from said drive pulley and thus loss of positive engagement during normal operation without preloading said belt; and

a linkage mechanism coupled between said actuator and said user manipulandum and coupled to a physical ground, said linkage mechanism providing said two degrees of freedom to said user manipulandum and transmitting said force from said actuator to said user manipulandum, wherein said linkage mechanism includes a serially-linked chain of rotatable members coupled to ground at both ends of said chain, said chain including;

a first member;

a second member rotatably coupled to said first member;

a third member rotatably coupled to said second member, and

a fourth member rotatably coupled to said third member.

32. A force feedback device as recited in claims 31 wherein said idler is a passive idler positioned adjacent to said drive pulley, said passive idler not contacting said belt wrapped around said drive pulley during normal operation and preventing said belt from moving off said drive pulley when slack is introduced in said belt.

33. A force feedback interface device as recited in claim 32 wherein said drive pulley, said amplification pulley and said passive idlers are included in a first stage of said belt drive transmission, and wherein said belt drive transmission further comprises a second stage including a second belt.

34. A force feedback interface device as recited in claim 33 wherein said second stage includes a driven pulley rigidly coupled to said amplification pulley, and a second amplification pulley coupled to said driven pulley by said second belt.

35. A force feedback device as recited in claim 31 wherein said idler is an active idler positioned adjacent to said drive pulley and is continually contacting said second belt during normal operation of said belt drive transmission, wherein said active idler increases a wrap angle of said belt on said drive pulley.