Method, apparatus, and article for force feedback based on tension control and tracking through cables
First Claim
1. A haptic system comprising:
- first, second and third cable segments;
first, second, and third cable control devices coupled to a support structure and defining a plane, each cable control device coupled to a respective one of the first, second and third cable segments and being configured to pay out and retract the respective cable, and to provide a signal corresponding to a change in length of the respective cable segment, wherein changes in length of the first, second and third cable segments correspond to motion of a hand of a user; and
an elongated tool port pivotably coupled at a first end to the support structure and extending toward the plane and coupled at a second end of the elongated tool port to the first, second and third cable segments.
5 Assignments
0 Petitions
Accused Products
Abstract
A haptic device for human/computer interface includes a user interface tool coupled via cables to first, second, third, and fourth cable control units, each positioned at a vertex of a tetrahedron. Each of the cable control units includes a spool and an encoder configured to provide a signal corresponding to rotation of the respective spool. The cables are wound onto the spool of a respective one of the cable control units. The encoders provide signals corresponding to rotation of the respective spools to track the length of each cable. As the cables wind onto the spools, variations in spool diameter are compensated for. The absolute length of each cable is determined during initialization by retracting each cable In turn to a zero length position. A sensor array coupled to the tool detects rotation around one or more axes.
-
Citations
24 Claims
-
1. A haptic system comprising:
-
first, second and third cable segments; first, second, and third cable control devices coupled to a support structure and defining a plane, each cable control device coupled to a respective one of the first, second and third cable segments and being configured to pay out and retract the respective cable, and to provide a signal corresponding to a change in length of the respective cable segment, wherein changes in length of the first, second and third cable segments correspond to motion of a hand of a user; and an elongated tool port pivotably coupled at a first end to the support structure and extending toward the plane and coupled at a second end of the elongated tool port to the first, second and third cable segments. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A haptic device, comprising:
-
at least three translational effecter devices coupled to a support structure; at least three cable segments, each one of the cable segments coupled to a respective one of the translational effecter devices; and an elongated port having opposed first and second ends with a shaft extending therebetween, the first end of the elongated port rotatably fixed to a pivot point and having two rotational degrees-of-freedom, the second end of the elongated port coupled to each one of the at least three cable segments, and the elongated port configured to permit passage of at least a portion of a tool such that an end of the tool extends outward from the second end of the elongated port. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
-
-
19. A haptic device, comprising:
-
an elongated port having opposed first and second ends with a shaft extending therebetween, the first end of the elongated port rotatably fixed to a pivot point and having two rotational degrees-of-freedom; at least three translational effecter devices coupled to a support structure; at least three cable segments, each one of the cable segments coupled to a respective one of the translational effecter devices and to the second end of the elongated port; and an elongated tool at least partially received by the elongated port, the elongated tool extending through and beyond the second end of the elongated port, wherein the elongated tool freely slides within the elongated port. - View Dependent Claims (20, 21, 22, 23, 24)
-
Specification