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Master having redundant degrees of freedom

  • US 6,684,129 B2
  • Filed: 04/11/2002
  • Issued: 01/27/2004
  • Est. Priority Date: 09/19/1997
  • Status: Expired due to Term
First Claim
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1. An input device comprising:

  • a base;

    a handle manually movable with 6 degrees of freedom relative to the base;

    a linkage coupling the handle to the base, the linkage having at least 7 degrees of freedom and including at least one driven joint;

    a sensor system generating input signals in response to the manual movement of the handle; and

    a drive system drivingly engaging the at least one driven joint so as to drive the linkage away from a motion-inhibiting configuration of the linkage during the manual movement of the handle.

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