# US 2008/0184836 A1 · Haptic Interface With Cables > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2008/0184836 A1 - Document ID: US20080184836A1 - Status: Published application - Kind: A1 - Application number: 11/791,914 - Filed: 2005-11-30 - Published: 2008-08-07 - Earliest claimed: 2004-12-03 - Inventors: Alain Riwan - Web page: https://patentgrep.com/patent/US20080184836A1 ## CPC - G05G 9/04737: {with six degrees of freedom} - Y10T 74/20201: Control moves in two planes - G05G: CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY ("Bowden" or like mechanisms F16C1/10; gearings or mechanisms not peculiar to this purpose F16H; speed changing or reversing mechanisms for gearings conveying rotary motion F16H59/00 - F16H63/00) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract The haptic interface comprises a base (2), a platform (24) at a distance from the base (2), at least two cables (32) each with a first end fixed to the platform and a second end connected to a puller actuator (36) designed to apply tension on the cable (32). Thrust means are mounted on the base (2) by means of an articulation (50). They comprise a thrust rod (40) with a first end in contact with the platform (24) and a second end connected to a pusher actuator that pushes the thrust rod (40) towards the platform (24). The actuators (36, 44) apply forces to the platform representative of information about a system. The platform comprises a control device. ## Claims ### Claim 1 Haptic interface for the control of a system, comprising a base (2), a platform (24) at a distance from the base (2), at least two cables (32) each with a first end fixed to the platform (24) and a second end connected to a puller actuator (36) designed to apply tension on the cable (32), thrust means mounted on the base (2) by means of an articulation (50, 74) and comprising a thrust rod (40) with a first end (42) in contact with the platform (24) and a second end (67) connected to a pusher actuator that pushes the thrust rod (40) towards the platform (24), the actuators (36, 44) applying forces to the platform (24) representative of information about the system, characterised in that the platform (24) comprises a control device. ### Claim 2 (depends on 1) Interface according to claim 1, characterised in that each actuator (36, 44) comprises a sensor (38) capable of outputting a signal representing the length of the cable (32, 58) attached to the sensor and the thrust means comprise a sensor (38) capable of outputting a signal representing the distance between the end of the thrust rod (40) in contact with the platform (24) and their articulation (50, 74) onto the base (2), all of these signals being used to control the system. ### Claim 3 (depends on 1) Interface according to claim 1, characterised in that the pusher actuator is composed of a puller actuator (44) that applies tension on a cable (58) and a movement inversion mechanism (54, 60) that transforms the cable tension (58) into a thrust force on the thrust rod (40). ### Claim 4 (depends on 3) Interface according to claim 3, characterised in that the movement inversion mechanism comprises a muffle (54, 60). ### Claim 5 (depends on 3) Interface according to one of claim 3, characterised in that the movement inversion mechanism is housed in a jack (70). ### Claim 6 (depends on 5) Interface according to claim 5, characterised in that the actuator (44) of the thrust rod (40) is mounted on the jack (70). ### Claim 7 (depends on 1) Interface according to claim 1, characterised in that the actuator (44) of the thrust rod (40) is mounted on the base (2). ### Claim 8 (depends on 1) Interface according to claim 1, characterised in that the actuator (44) of the thrust rod (40) is placed below the articulation (74) of the thrust means on the base (2). ### Claim 9 (depends on 1) Interface according to claim 1, characterised in that the thrust means are articulated on the platform through a universal joint. ### Claim 10 (depends on 9) Interface according to claim 9, characterised in that the thrust rod (40) is provided with a longitudinal axis (ZZ) that is approximately concurrent with the centre (23) of the universal joint. ### Claim 11 (depends on 1) Interface according to claim 1, characterised in that the end of the thrust rod (40) in contact with the platform is articulated to it through a ball joint (42). ### Claim 12 (depends on 11) Interface according to claim 11, characterised in that the platform (24) is made such that its centre is coincident with the centre of the ball joint such that the operator's grip is at the centre of the ball joint (42). ### Claim 13 (depends on 1) Interface according to claim 1, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 14 (depends on 2) Interface according to claim 2, characterised in that the pusher actuator is composed of a puller actuator (44) that applies tension on a cable (58) and a movement inversion mechanism (54, 60) that transforms the cable tension (58) into a thrust force on the thrust rod (40). ### Claim 15 (depends on 4) Interface according to claim 4, characterised in that the movement inversion mechanism is housed in a jack (70). ### Claim 16 (depends on 2) Interface according to claim 2, characterised in that the actuator (44) of the thrust rod (40) is mounted on the base (2) ### Claim 17 (depends on 3) Interface according to claim 3, characterised in that the actuator (44) of the thrust rod (40) is mounted on the base (2) ### Claim 18 (depends on 4) Interface according to claim 4, characterised in that the actuator (44) of the thrust rod (40) is mounted on the base (2) ### Claim 19 (depends on 5) Interface according to claim 5, characterised in that the actuator (44) of the thrust rod (40) is mounted on the base (2) ### Claim 20 (depends on 2) Interface according to claim 2, characterised in that the actuator (44) of the thrust rod (40) is placed below the articulation (74) of the thrust means on the base (2). ### Claim 21 (depends on 3) Interface according to claim 3, characterised in that the actuator (44) of the thrust rod (40) is placed below the articulation (74) of the thrust means on the base (2). ### Claim 22 (depends on 4) Interface according to claim 4, characterised in that the actuator (44) of the thrust rod (40) is placed below the articulation (74) of the thrust means on the base (2). ### Claim 23 (depends on 5) Interface according to claim 5, characterised in that the actuator (44) of the thrust rod (40) is placed below the articulation (74) of the thrust means on the base (2). ### Claim 24 (depends on 6) Interface according to claim 6, characterised in that the actuator (44) of the thrust rod (40) is placed below the articulation (74) of the thrust means on the base (2). ### Claim 25 (depends on 7) Interface according to claim 7, characterised in that the actuator (44) of the thrust rod (40) is placed below the articulation (74) of the thrust means on the base (2). ### Claim 26 (depends on 2) Interface according to claim 2, characterised in that the thrust means are articulated on the platform through a universal joint. ### Claim 27 (depends on 3) Interface according to claim 3, characterised in that the thrust means are articulated on the platform through a universal joint. ### Claim 28 (depends on 4) Interface according to claim 4, characterised in that the thrust means are articulated on the platform through a universal joint. ### Claim 29 (depends on 5) Interface according to claim 5, characterised in that the thrust means are articulated on the platform through a universal joint. ### Claim 30 (depends on 6) Interface according to claim 6, characterised in that the thrust means are articulated on the platform through a universal joint. ### Claim 31 (depends on 7) Interface according to claim 7, characterised in that the thrust means are articulated on the platform through a universal joint. ### Claim 32 (depends on 8) Interface according to claim 8, characterised in that the thrust means are articulated on the platform through a universal joint. ### Claim 33 (depends on 2) Interface according to claim 2, characterised in that the end of the thrust rod (40) in contact with the platform is articulated to it through a ball joint (42). ### Claim 34 (depends on 3) Interface according to claim 3, characterised in that the end of the thrust rod (40) in contact with the platform is articulated to it through a ball joint (42). ### Claim 35 (depends on 4) Interface according to claim 4, characterised in that the end of the thrust rod (40) in contact with the platform is articulated to it through a ball joint (42). ### Claim 36 (depends on 5) Interface according to claim 5, characterised in that the end of the thrust rod (40) in contact with the platform is articulated to it through a ball joint (42). ### Claim 37 (depends on 6) Interface according to claim 6, characterised in that the end of the thrust rod (40) in contact with the platform is articulated to it through a ball joint (42). ### Claim 38 (depends on 7) Interface according to claim 7, characterised in that the end of the thrust rod (40) in contact with the platform is articulated to it through a ball joint (42). ### Claim 39 (depends on 8) Interface according to claim 8, characterised in that the end of the thrust rod (40) in contact with the platform is articulated to it through a ball joint (42). ### Claim 40 (depends on 9) Interface according to claim 9, characterised in that the end of the thrust rod (40) in contact with the platform is articulated to it through a ball joint (42). ### Claim 41 (depends on 10) Interface according to claim 10, characterised in that the end of the thrust rod (40) in contact with the platform is articulated to it through a ball joint (42). ### Claim 42 (depends on 2) Interface according to claim 2, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 43 (depends on 3) Interface according to claim 3, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 44 (depends on 4) Interface according to claim 4, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 45 (depends on 5) Interface according to claim 5, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 46 (depends on 6) Interface according to claim 6, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 47 (depends on 7) Interface according to claim 7, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 48 (depends on 8) Interface according to claim 8, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 49 (depends on 9) Interface according to claim 9, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 50 (depends on 10) Interface according to claim 10, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 51 (depends on 11) Interface according to claim 11, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24). ### Claim 52 (depends on 12) Interface according to claim 12, characterised in that it comprises six cables that are advantageously distributed in three pairs of cables (32) fixed in pairs at the ends (30) of a triangle on the platform (24).