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Method and apparatus for compensating for position slip in interface devices

  • US 7,447,604 B2
  • Filed: 11/23/2004
  • Issued: 11/04/2008
  • Est. Priority Date: 05/11/1999
  • Status: Expired due to Fees
First Claim
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1. A method comprising:

  • determining a device position delta from a sensed position of a manipulandum of an interface device in a degree of freedom, said position delta indicating a change in an actual position of said manipulandum;

    determining if a position slip has occurred in a position sensing system, said position slip caused by a change in position of said manipulandum not sensed by a sensor of said interface device;

    correcting an error in said sensed position caused by said position slip by adjusting said sensed position to take into account said position slip, and using said adjusted position as said actual position of said manipulandum;

    determining a computation value from said device position delta, and outputting said computation value; and

    determining a force having a magnitude and a direction at least partially based on said computation value, and outputting said force with an actuator disposed within said interface device.

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