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US 12,226,892 B2Granted
Compact paired parallel architecture for high-fidelity haptic applications
AssigneeThe Board of Trustees of the Leland Stanford Junior University
InventorsMargot R. Vulliez, Oussama Khatib
Life of this patent
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Abstract
A versatile, compact, and high-fidelity haptic device is provided. The mechanical transparency of the design and the selection of proper actuation meet the challenges of an accurate and stiff haptic device with high and isotropic force capability. Such a haptic interface enables a precise remote control and provides perfect sense of the task interaction in any environments and applications.
Claims1
A haptic device, comprising:
- (a) a paired parallel architecture formed by a first parallel translational manipulator and a second parallel translational manipulator together providing a 6-DOF motion of a reversible friction-less helical end-effector of the haptic device to which first and second manipulators are coupled in parallel;
- and
- (b) the reversible friction-less helical end-effector attached to the first and second parallel translational manipulators through two serial kinematic chains enabling a transformation of displacements of the first and second parallel translational manipulators into translational and rotational motions of the reversible friction-less helical end-effector, and transmission of torques from the first and second parallel translational manipulators to generate 6-DOF haptic feedback in an operational space of the haptic device.
Dependencies are inferred from the claim text.