Force reflecting haptic interface
AssigneeSensAble Technologies, Inc.
InventorsRodomista Guy, Ziegler Andrew, William A. Goodwin, Bolton Clive, Thomas H. Massie, R. Michael Lohse
Life of this patent
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Abstract
A six degree of freedom force reflecting haptic interface includes three powered axes and three free axes, all of which are tracked so that the position of a user connection element in the work volume can be determined. The interface includes cable drives with polymer composite or metallic cables, automatic cable tensioning devices, and grounded actuator capstans. A nested hub and transfer drive provide a compact, weight balanced interface. User comfort and safety features are also provided.
Claims31
A user connection element for a force reflecting haptic interface, the user connection element comprising a presence detector comprising:
- (i) an electrically conductive portion for contacting a user;
- (ii) an electrical circuit;
- and
- (iii) a connector for electrically coupling the conductive portion with the electrical circuit.
6 The user connection element of claim 1, wherein the connector comprises a spring contact which is biased against an interior surface of the electrically conductive portion.
A wrist rest for a haptic interface, the wrist rest comprising a pad including a contact surface to support an arm or a wrist of a user.
A velocity limiting control method for a haptic interface with powered axes, the velocity limiting method comprising the steps of:
- measuring the rotational speed of an actuator;
- and
- slowing the actuator when a predetermined maximum actuator speed is exceeded.
An automatic work volume calibration method for use with a haptic interface, the calibration method comprising the steps of:
- initializing a position of the haptic interface;
- and
- geometrically centering a user reference point in a workspace volume and a remote environment.
An automatic work volume calibration method for use with a haptic interface, the calibration method comprising the steps of:
- rotating a rotary element of the haptic interface;
- tracking an angular orientation of the rotary element;
- determining a home position for the rotary element;
- and
- centering a user reference point by comparing the angular orientation of the rotary element with respect to the home position of the rotary element.
A system for automatic work volume calibration of a haptic interface, comprising:
- at least one rotary element;
- at least one flag disposed on the at least one rotary element;
- a user interface connection for moving the at least one rotary element through a range of motion thereof;
- and
- means for determining angular orientation of the at least one flag to geometrically calibrate the work volume.
Dependencies are inferred from the claim text.