Six axis force feedback input device

A robot manipulator coupled to an external device, said robot manipulator comprising:

• an actuator base with plural actuators and having a mechanism for receiving forces generated by said external device;
• an end effector interactive with an operator;
• a force feedback sensor coupled between said end effector and said actuator base for receiving said forces from said actuator base, converting said forces into feedback forces, and providing said feedback forces to said operator;
• and
• a plurality of joints each coupled to said actuators, wherein each one of said joints comprises,
• an input link having at least an input keying drive component rotatable on an input axis,
• an output link coupled to said input link and having at least an output keying drive component rotatable on an output axis,
• wherein said input and output keying drive components are constrained to rotate about one another to define an instantaneous center of rotation,
• at least an input passing drive component rotatable on said input link and coupled to said actuator for receiving rotational motion, and
• at least an output passing drive component rotatable on said output link and coupled to said input passing drive component for receiving said rotational motion decoupled from said one joint.

A robot manipulator coupled to an external device, said robot manipulator comprising:

• an actuator base with plural actuators and having a mechanism for receiving forces generated by said external device;
• an end effector interactive with an operator;
• a force feedback sensor coupled between said end effector and said actuator base for receiving said forces from said actuator base, converting said forces into feedback forces, and providing said feedback forces to said operator;
• and
• a plurality of joints each coupled to said actuators, wherein each one of said joints comprises,
• an input link having an input keying pulley,
• an output link coupled to said input link and having an output keying pulley,
• a keying cable for rotatably coupling said input keying pulley to said output keying pulley, wherein said input and output keying pulleys are constrained to rotate about one another thereby defining an instantaneous center of rotation,
• at least one input idler pulley rotatable on said input link and coupled to said actuator for receiving rotational motion,
• at least one output idler pulley rotatable on said output link, and
• at least one passing cable coupled to each input and output idler pulley for transmitting rotational motion of said input idler pulley and said output idler pulley decoupled from said one joint.