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Systems and methods for providing a haptic manipulandum

  • US 9,207,763 B2
  • Filed: 11/17/2008
  • Issued: 12/08/2015
  • Est. Priority Date: 06/03/2003
  • Status: Active Grant
First Claim
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1. A method comprising:

  • actuating a lever arm by a first actuator to pivot the lever arm around a pivot point to engage a roller of a roller assembly with a substantially-spherical manipulandum to provide a first haptic effect; and

    after engaging the roller, actuating the roller by a second actuator to apply a second resistive haptic effect to the substantially-spherical manipulandum by rotating the roller in a direction opposing a rotation of the substantially-spherical manipulandum in an axis of rotation, wherein the first haptic effect comprises a resistive force based on a normal force between the roller and a surface of the substantially-spherical manipulandum.

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