Force reflecting haptic interface
First Claim
Patent Images
1. A velocity limiting control method for a haptic interface with powered axes to limit the speed of the axes for safety, the velocity limiting method comprising the steps of:
- defining a predetermined maximum actuator rotational speed for at least one of the axes;
measuring rotational speed of an actuator associated with that axis;
comparing the measured speed with the maximum actuator rotational speed of that actuator; and
slowing the actuator when the measured speed exceeds the predetermined maximum actuator rotational speed.
5 Assignments
0 Petitions
Accused Products
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.
-
Citations
9 Claims
-
1. A velocity limiting control method for a haptic interface with powered axes to limit the speed of the axes for safety, the velocity limiting method comprising the steps of:
-
defining a predetermined maximum actuator rotational speed for at least one of the axes; measuring rotational speed of an actuator associated with that axis; comparing the measured speed with the maximum actuator rotational speed of that actuator; and slowing the actuator when the measured speed exceeds the predetermined maximum actuator rotational speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
Specification