Method and apparatus for realtime remote robotics command

• US 6,126,373 A
• Filed: 12/19/1997
• Issued: 10/03/2000
• Est. Priority Date: 12/19/1997
• Status: Expired due to Fees

• Current Assignee: USA USA (USA)
• Original Assignee: Fanuc USA Corporation (Fanuc Corporation)
• Inventors: Yee, Albert G., Akeel, Hadi A., McNeill, Michael A.
• Primary Examiner(s): Underwood, Donald W.
• Application Number:
  US08/994,103
• Time in Patent Office: 1,019 Days
• Field of Search: 414/4, 414/5, 414/6, 414/7, 395/99
• US Class Current: 414/5
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves

Abstract

Methods and apparatus for controlling a remote device using a command glove system are disclosed. An apparatus for controlling a device is arranged to be at least partially supported on and operated by a human appendage. The apparatus is further arranged to transmit signals to and receive signals from the device, and includes a positioning assembly mounted on the human appendage. The positioning assembly is arranged to respond to motions of the human appendage, and also transmits position signals that are used to control the device. The apparatus includes a braking assembly which is arranged to resist motion of the positioning assembly, and responds to resistance signals received from the device. The apparatus also includes a sense effecting assembly which transforms haptic signals received from the device into sensations felt by the human appendage.

Claims

1. An apparatus for controlling a device, the apparatus being arranged to be at least partially supported on and operated by a human appendage, the apparatus further being arranged to transmit signals to and receive signals from the device, the apparatus comprising:

a positioning assembly substantially mounted on the human appendage, the positioning assembly for responding to motions of the human appendage, the positioning assembly further transmitting position signals to the device to control the device, wherein the positioning assembly includes a spring arranged to extend in response to the motions of the human appendage;

a braking assembly for resisting motion of the positioning assembly, the braking assembly being coupled to the positioning assembly, the braking assembly being responsive to resistance signals received from the device, the resistance signals being substantially indicative of a force that is transmitted to the device wherein the braking assembly includes a brake, the brake being arranged to prevent the spring from extending in response to the resistance signals received from the devices, and a solenoid, the solenoid being arranged to activate the brake in response to the resistance signals received from the device, wherein the solenoid is in communication with the device; and

a sensing assembly for transforming haptic signals received from the device into sensations felt by the human appendage, the sensing assembly being coupled to the positioning assembly.

2. An apparatus as recited in claim 1 wherein the positioning assembly includes a tracking sub-assembly for monitoring the extension of the spring.

3. A method for receiving at least one haptic sensation from a remote device, a first selected one of the haptic sensations being arranged to represent a resistive force encountered by the remote device, the method comprising:

providing a positioning mechanism which is responsive to motions of a human appendage, the positioning mechanism being arranged to send position signals to the remote device;

mounting the positioning mechanism on the human appendage;

moving the human appendage, wherein moving the human appendage causes the positioning mechanism to engage;

controlling movement of the remote device with the position signals;

sensing resistive forces encountered by the remote device during the movement of the remote device;

producing a resistance signal as a function of the sensed resistive forces;

providing a braking mechanism for resisting motion of the positioning mechanism, wherein providing the braking mechanism includes providing a brake which is coupled to a solenoid which is arranged to activate the brake; and

transmitting the resistance signal to the braking mechanism, wherein the braking mechanism engages the positioning mechanism to resist motion of the positioning mechanism.

4. A method as recited in claim 3 wherein providing the positioning mechanism includes providing a constant force spring arrangement.

5. A method as recited in claim 3 further including:

sensing a thermal sensation encountered by the remote device during the movement of the remote device;

producing a thermal signal as a function of the sensed thermal sensation;

providing a thermal sensor arrangement on the human appendage; and

transmitting the thermal signal to the thermal sensor arrangement, wherein the thermal sensor arrangement provides an approximation of the thermal sensation to the human appendage.

6. A method as recited in claim 3 further including:

sensing a vibratory sensation encountered by the remote device during the movement of the remote device;

producing a vibratory signal as a function of the sensed vibratory sensation;

providing a vibration actuator arrangement on the human appendage; and

transmitting the vibratory signal to the vibratory actuator arrangement, wherein the vibratory actuator arrangement provides an approximation of the vibratory sensation to the human appendage.