Force reflecting haptic interface
First Claim
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1. An automatic workspace volume calibration method for use with a haptic interface, the calibration method comprising the steps of:
- initializing a position of the haptic interface;
rotating a rotary element of the haptic interface;
tracking an angular orientation of the rotary element;
determining a home position for the rotary element; and
geometrically centering a user reference point in a workspace volume and a remote environment by comparing the angular orientation of the rotary element with respect to the home position of the rotary element.
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Abstract
A six degree of freedom force reflecting haptic interface includes three powered axes and three free axes, all of which are tracked so that the position of a user connection element in the work volume can be determined. The interface includes cable drives with polymer composite or metallic cables, automatic cable tensioning devices, and grounded actuator capstans. A nested hub and transfer drive provide a compact, weight balanced interface. User comfort and safety features are also provided.
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Citations
10 Claims
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1. An automatic workspace volume calibration method for use with a haptic interface, the calibration method comprising the steps of:
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initializing a position of the haptic interface;
rotating a rotary element of the haptic interface;
tracking an angular orientation of the rotary element;
determining a home position for the rotary element; and
geometrically centering a user reference point in a workspace volume and a remote environment by comparing the angular orientation of the rotary element with respect to the home position of the rotary element. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for automatic workspace volume calibration of a haptic interface, comprising:
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at least one rotary element;
at least one flag disposed on the at least one rotary element;
a user interface connection for moving the at least one rotary element through a range of motion thereof; and
means for determining angular orientation of the at least one flag to geometrically calibrate the work volume. - View Dependent Claims (9, 10)
a second flag disposed on the at least one rotary element and forming a gap between the at least one flag and the second flag; and
means for determining angular orientation of the second flag and the gap to geometrically calibrate the work volume.
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10. The system for automatic workspace volume calibration of a haptic interface of claim 8 further comprising a cable coupled to the at least one rotary element to transmit force thereto.
Specification