Passive force feedback for computer interface devices

• US 6,850,222 B1
• Filed: 06/26/2000
• Issued: 02/01/2005
• Est. Priority Date: 01/18/1995
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): CHANG, KENT WU
• Application Number:
  US09/603,758
• Time in Patent Office: 1,681 Days
• Field of Search: 345/161, 345/156, 345/157, 345/7, 744/71.XY, 434/45, 463/38, 273/148.B, 273/317
• US Class Current: 345/161
• CPC Class Codes: A61B 90/50 Supports for surgical instruments, e.g. articulated arms
• 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 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• 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 method and apparatus for interfacing the motion of an object with a digital processing system includes a sensor which has a sensing resolution and detects movement of the object along a degree of freedom. An amount of play less than the sesning resolution exists between the sensor and the object. A passive actuator is coupled to the mechanism to transmit a resistive force to the object along the degree of freedom. A play mechanism is coupled to the actuator to provide a desired amount of play between the actuator and the object along the degree of freedom. The desired amount of play is greater than the sensing resolution of the sensor so that the sensor can detect the desired play when the user moves the object, even when the actuator has locked the object into place. Such desired play can be torsion flex (compliance) or rotary backlash. The actuator and the sensor provide an electromechanical interface between the object and the digital processing system. A gimbal mechanism or slotted yoke mechanism can be coupled between the actuator and the object. The interface is well suited for simulations of medical procedures and simulations in which an object such as a stylus or a joystick is moved and manipulated by the user.

Claims

1. An apparatus for interfacing the motion of an object with an electrical system, the apparatus comprising:

a support mechanism providing a first revolute degree of freedom to said object about a first axis of rotation;

a sensor electrically coupled to said electrical system and mechanically coupled to said support mechanism for sensing positions of said object along said first degree of freedom, said sensor having a sensing resolution; and

a braking mechanism electrically coupled to said electrical system and mechanically coupled to said support mechanism to create a drag along said first degree of freedom, said braking mechanism providing an amount of play between said braking mechanism and said object along said degree of freedom, said amount of play being equal to or greater than said sensing resolution;

whereby said braking mechanism and said sensor provide an electromechanical interface between said object and said electrical system.

2. An apparatus as recited in claim 1 wherein said support mechanism provides a second degree of freedom to said object about a second axis of rotation, and further comprising a sensor for sensing positions of said object along said second degree of freedom and a braking mechanism to create a drag along said second degree of freedom.

3. An apparatus as recited in claim 2 further comprising a capstan drive mechanism coupled between said braking mechanism and said support mechanism, said capstan drive mechanism transmitting said drag generated by said braking mechanism to said support mechanism and transmitting movement of said object to said sensor.

4. An apparatus as recited in claim 3 wherein said braking mechanism includes an actuator and a coupling, said coupling providing said amount of play.

5. An apparatus as recited in claim 4 further comprising a linear axis member coupled to said support mechanism at said intersection of said two axes of rotation capable of being translated along a third axis in a third degree of freedom, wherein said object is coupled to said linear axis member and is translatable along said third axis.

6. An apparatus as recited in claim 5 further comprising a third degree of freedom transducer coupled between said support mechanism and said linear axis member to create a drag along said third degree of freedom and sense translation of said linear axis member.

7. An apparatus as recited in claim 4 wherein said support mechanism includes a closed loop five member linkage.

8. An apparatus as recited in claim 7 wherein said object includes one of the group consisting of at least a portion of a surgical tool, a stylus, and a joystick.

9. An apparatus as recited in claim 2 wherein said electrical system includes a digital processing system.

10. An apparatus as recited in claim 8 wherein said braking mechanism includes magnetic particle brakes.

11. An apparatus as recited in claim 7 wherein said five member linkage includes:

a ground member coupled to a ground surface;

first and second extension members, each extension member being coupled to said ground member;

first and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to said linear axis member at ends not coupled to said extension members.

12. An apparatus as recited in claim 1 further comprising an active actuator electrically coupled to said electrical system and mechanically coupled to said support mechanism to create a force in said first degree of freedom.

13. An apparatus for interfacing the motion of an object with a computer system, the apparatus comprising:

a support mechanism providing a first degree of freedom to said object;

a sensor electrically coupled to said computer system and mechanically coupled to said support mechanism operative to sense positions of said object in said first degree of freedom, said sensor having a sensing resolution;

a drag mechanism electrically coupled to said computer system and rigidly mechanically coupled to said support mechanism to create a drag along said first degree of freedom, said drag mechanism providing an amount of play between said drag mechanism and said object in said degree of freedom, said amount of play being equal to or greater than said sensing resolution; and

an active actuator electrically coupled to said computer system and mechanically coupled to said support mechanism to create a force in said first degree of freedom based on electrical signals received by said active actuator.

14. An apparatus as recited in claim 13 wherein said first degree of freedom is a rotary degree of freedom.

15. An apparatus as recited in claim 13 wherein said support mechanism provides a second degree of freedom to said object and further comprising a sensor for sensing positions of said object in said second degree of freedom and a drag mechanism to create a drag in said second degree of freedom.

16. An apparatus as recited in claim 13 wherein said drag mechanism includes an actuator and a coupling, said coupling providing said amount of play.

17. An apparatus as recited in claim 13 wherein said support mechanism includes a closed loop five member linkage.

18. An apparatus as recited in claim 13 wherein said drag mechanism includes a magnetic particle brake.

19. An interface apparatus for interfacing the motion of an object with a computer system, the apparatus comprising:

a sensor operative to sense positions of said object in a first degree of freedom, said positions provided to said computer system, said sensor having a sensing resolution;

a passive actuator operative to create a drag to said motion of said object in said first degree of freedom;

a play mechanism providing an amount of play between said passive actuator and said object in said degree of freedom, said amount of play being equal to or greater than said sensing resolution; and

an active actuator operative to create an active force on said object in said first degree of freedom based on electrical signals received by said active actuator.

20. An interface apparatus as recited in claim 19 further comprising a support mechanism providing said first degree of freedom to said object.

21. An interface apparatus as recited in claim 19 wherein said first degree of freedom is a rotary degree of freedom.

22. An interface apparatus as recited in claim 20 wherein said support mechanism provides a second degree of freedom to said object and further comprising a sensor for sensing positions of said object in said second degree of freedom and a passive actuator to create a drag in said second degree of freedom.

23. An interface apparatus as recited in claim 19 further comprising a linear axis member coupled to said support mechanism at an intersection of two axes of rotation of said first and second degrees of freedom, said linear axis member capable of being translated along a third axis in a third degree of freedom, wherein said object is coupled to said linear axis member and is translatable along said third axis.

24. An interface apparatus as recited in claim 20 wherein said support mechanism includes a closed loop five member linkage.

25. An interface apparatus as recited in claim 19 wherein said object includes one of the group consisting of at least a portion of a surgical tool, a stylus, and a joystick.

26. An interface apparatus as recited in claim 19 wherein said passive actuator includes a magnetic particle brake.