Method and apparatus for compensating for position slip in interface devices
First Claim
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, the position delta indicating a change in an actual position of the manipulandum;
determining if a position slip has occurred in a position sensing system, the position slip caused by a change in position of the manipulandum not sensed by a sensor of the interface device;
correcting an error in the sensed position caused by the position slip by adjusting the sensed position to take into account the position slip, and using the adjusted position as the actual position of the manipulandum; and
using the sensed position of the manipulandum as the actual position of the manipulandum if the manipulandum is not moving in the degree of freedom.
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Accused Products
Abstract
Method and apparatus for compensating for position slip in interface devices that may occur between a manipulandum and a sensor of the device due to a mechanical transmission. A device position delta is determined from a sensed position of a manipulandum of an interface device. It is determined if position slip has occurred caused by a change in position of the manipulandum that was not sensed by a sensor of the interface device, typically caused by a mechanical transmission between sensor and manipulandum. If position slip has occurred, an error in the sensed position caused by the position slip is corrected by adjusting the sensed position to take into account the position slip. The adjusted position delta is used as the position of the manipulandum and the display of objects controlled by the interface device are accordingly compensated.
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Citations
17 Claims
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1. A method comprising:
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determining a device position delta from a sensed position of a manipulandum of an interface device in a degree of freedom, the position delta indicating a change in an actual position of the manipulandum; determining if a position slip has occurred in a position sensing system, the position slip caused by a change in position of the manipulandum not sensed by a sensor of the interface device; correcting an error in the sensed position caused by the position slip by adjusting the sensed position to take into account the position slip, and using the adjusted position as the actual position of the manipulandum; and using the sensed position of the manipulandum as the actual position of the manipulandum if the manipulandum is not moving in the degree of freedom. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A device comprising:
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a manipulandum movable in at least one degree of freedom; a position sensor operative to detect a position of the manipulandum in the at least one degree of freedom; a mechanical transmission coupled between the manipulandum and the position sensor; a reference sensor operative to detect a motion of at least one reference location of the manipulandum; and a local microprocessor operable to receive the reference signal and operable to adjust the detected position of the manipulandum if position slip has occurred and to use the detected position of the manipulandum as the actual position of the manipulandum if the manipulandum is not moving in the degree of freedom. - View Dependent Claims (8, 9, 10, 11)
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12. A non-transitory computer-readable medium on which is encoded program code to cause a processor to execute a method, comprising:
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determining a device position delta from a sensed position of a manipulandum of an interface device in a degree of freedom, the position delta indicating a change in an actual position of the manipulandum; determining if a position slip has occurred in a position sensing system, the position slip caused by a change in position of the manipulandum not sensed by a sensor of the interface device; correcting an error in the sensed position caused by the position slip by adjusting the sensed position to take into account the position slip, and using the adjusted position as the actual position of the manipulandum; using the sensed position of the manipulandum as the actual position of the manipulandum if the manipulandum is not moving in the degree of freedom. - View Dependent Claims (13, 14, 15, 16, 17)
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Specification