Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems
First Claim
1. An apparatus for interfacing motion of a user-manipulable object with an electrical system comprising:
- a gimbal mechanism including a plurality of members and providing two revolute degrees of freedom to a user-manipulable object about two axes of rotation, wherein said gimbal mechanism includes a closed loop five member linkage, and wherein each of said five members is rotatably coupled to at least two other members of said linkage, and wherein said five member linkage includes;
a ground member coupled to a ground surface;
first and second extension members, each extension member being coupled to said ground member; and
first and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to each other at ends not coupled to said extension members and wherein at least one of said central members is translatably coupled to said linear axis member;
a linear axis member translatably coupled to said gimbal mechanism and independently translatable with respect to said gimbal mechanism along a linear third axis in a third degree of freedom, wherein said object is coupled to said linear axis member and is independently translatable along said third axis with respect to said gimbal mechanism, said third axis extending approximately through an intersection of said two axes of rotation; and
a first degree of freedom transducer coupled between two of said members of said gimbal mechanism;
whereby said transducer provides an electromechanical interface between said object and said electrical system.
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Reexamination
Accused Products
Abstract
A method and apparatus for providing high bandwidth and low noise mechanical input and output for computer systems. A gimbal mechanism provides two revolute degrees of freedom to an object about two axes of rotation. A linear axis member is coupled to the gimbal mechanism at the intersection of the two axes of rotation. The linear axis member is capable of being translated along a third axis to provide a third degree of freedom. The user object is coupled to the linear axis member and is thus translatable along the third axis so that the object can be moved along all three degrees of freedom. Transducers associated with the provided degrees of freedom include sensors and actuators and provide an electromechanical interface between the object and a digital processing system. Capstan drive mechanisms transmit forces between the transducers and the object. The linear axis member can also be rotated about its lengthwise axis to provide a fourth degree of freedom, and, optionally, a floating gimbal mechanism is coupled to the linear axis member to provide fifth and sixth degrees of freedom to an object. Transducer sensors are associated with the fourth, fifth, and sixth degrees of freedom. The interface is well suited for simulations of medical procedures and simulations in which an object such as a stylus or a joystick is moved and manipulated by the user.
437 Citations
52 Claims
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1. An apparatus for interfacing motion of a user-manipulable object with an electrical system comprising:
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a gimbal mechanism including a plurality of members and providing two revolute degrees of freedom to a user-manipulable object about two axes of rotation, wherein said gimbal mechanism includes a closed loop five member linkage, and wherein each of said five members is rotatably coupled to at least two other members of said linkage, and wherein said five member linkage includes; a ground member coupled to a ground surface; first and second extension members, each extension member being coupled to said ground member; and first and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to each other at ends not coupled to said extension members and wherein at least one of said central members is translatably coupled to said linear axis member; a linear axis member translatably coupled to said gimbal mechanism and independently translatable with respect to said gimbal mechanism along a linear third axis in a third degree of freedom, wherein said object is coupled to said linear axis member and is independently translatable along said third axis with respect to said gimbal mechanism, said third axis extending approximately through an intersection of said two axes of rotation; and a first degree of freedom transducer coupled between two of said members of said gimbal mechanism; whereby said transducer provides an electromechanical interface between said object and said electrical system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. An apparatus for interfacing the motion of user-manipulable object with an electrical system comprising:
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a gimbal mechanism providing two revolute degrees of freedom to an object engaged with said gimbal mechanism about two axes of rotation, said object being coupled to said gimbal mechanism at about the intersection of said two axes of rotation, wherein said gimbal mechanism includes a five member linkage, and wherein each of said five members is rotatably coupled to at least two other members of said linkage, and wherein said five member linkage includes; a ground member coupled to a ground surface; first and second extension members, each extension member being coupled to said ground member; and first and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to each other at ends not coupled to said extension members and wherein at least one of said central members is coupled to said object; a transducer coupled to said gimbal mechanism to generate a force along said first degree of freedom; and a capstan drive mechanism coupled between said actuator and said gimbal mechanism, said capstan drive mechanism including a capstan drum coupled to a pulley by a flexible member, said flexible member transmitting said force generated by said transducer to said gimbal mechanism and transmitting forces applied by a user from said gimbal mechanism to said transducer; whereby said transducer provides an electromechanical interface between said object and said electrical system. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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37. An apparatus for interfacing motion of a user-manipulable object with an electrical system comprising:
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a gimbal mechanism including a closed loop linkage of five members, wherein each of said five members is rotatably coupled to at least two other members of said linkage wherein said five member linkage includes; a ground member coupled to a ground surface; first and second extension members, each extension member being coupled to said ground member; and first and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to each other at ends not coupled to said extension members; a user-manipulable object coupled to said gimbal mechanism such that said gimbal mechanism provides two revolute degrees of freedom to said object about two axes of rotation, said object being coupled to said gimbal mechanism at about an intersection of said two axes of rotation and being independently rotatable with respect to said gimbal mechanism about a third axis in a third degree of freedom, said third axis extending approximately through said intersection of said two axes of rotation; and first and second degree of freedom transducers, wherein each of said transducers is coupled between a ground member of said gimbal mechanism and a different members of said gimbal mechanism; whereby said transducer provides an electromechanical interface between said object and said electrical system. - View Dependent Claims (38, 39, 40, 41, 42, 43)
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44. An interface apparatus for interfacing motion of a user manipulable object with a host computer system displaying visual images on a screen, said interface apparatus comprising:
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a user object movable in a degree of freedom by a user and being physically contacted by said user; a gimbal mechanism coupled to said user object and providing two revolute degrees of freedom to said user object about two axes of rotation, said gimbal mechanism including a closed-loop five member linkage, wherein each of said five members is rotatably coupled to at least two other members of said linkage, and wherein said five member linkage includes; a ground member coupled to a ground surface; first and second extension members, each extension member being coupled to said ground member; and first and second central members, said first central member having an end coupled to said first extension member and said second central member having an end coupled to said second extension member, wherein said central members are coupled to each other at ends not coupled to said extension members and wherein at least one of said central members is coupled to said object; a microprocessor, separate from said host computer system, for communicating with said host computer system via a communication interface by receiving a host command from said host computer system, said microprocessor being controlled by software instructions; an actuator electrically coupled to said microprocessor for applying a force along a degree of freedom to said user object in accordance with a microprocessor command from said microprocessor, said microprocessor command being derived from said host command; and a sensor for detecting a position of said user object along said degree of freedom and outputting said input signals to said host computer system, said input signals including information representative of said position of said user object. - View Dependent Claims (45, 46, 47, 48, 49, 50, 51, 52)
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Specification