Force reflection system

A force reflection system comprising:

• a building structure;
• an electric power cable mounted to the building structure;
• a power outlet mounted to the building structure and connected to the electric power cable so that the power outlet carries a current from the power cable;
• a support frame located in a stationary relationship relative to the building structure;
• a linkage mechanism having a first portion and a second portion being movable relative to the first portion, the first portion being mounted to the frame;
• a user interface device having a component secured to the second portion of the linkage mechanism, and having a surface shaped for contact by a body part of a person, movement of the second portion of the linkage mechanism relative to the first portion thereof causing movement of the user interface device relative to the frame;
• a plurality of electric motors, each having a motor body, an actuating component, an electric voltage supply terminal, wherein, when a current is applied to the supply terminal, the actuating component is caused to move relative to the motor body, the motor being connected between two components of the frame and the linkage mechanism such that movement of the actuating component causes movement of the second portion of the linkage mechanism relative to the first portion thereof with a corresponding movement of the user interface device relative to the frame and the holding structure;
• a connector connected to the power outlet;
• and
• an electric power supply link connecting the connector to the supply terminal so that a sum of currents to the supply terminals of all the electric motors is less than 150% of the current in the power outlet.

A force reflection system comprising:

• a support frame;
• a linkage mechanism having a first portion and a second portion being movable relative to the first portion, the first portion being mounted to the frame;
• a user interface device secured to the second portion of the linkage mechanism and having a surface shaped for contact by a body part of a person, movement of the second portion of the linkage mechanism relative to the first portion thereof causing movement of the user interface device relative to the frame;
• an electric motor having a motor body and an actuating component, and an electric voltage supply terminal wherein, when a current is applied to the supply terminal, the actuating component is caused to move relative to the motor body, the motor being connected between two components of the frame and the linkage mechanism such that movement of the actuating component causes movement of the second portion of the linkage mechanism relative to the first portion thereof with a corresponding movement of the user interface device relative to the frame;
• a nonconductive case over the electric motor, the case preventing the person from contacting the motor and having an opening formed therein, the linkage mechanism passing through the opening.

A force reflection system comprising:

• a support frame;
• a linkage mechanism having a first portion and a second portion being movable relative to the first portion, the first portion being mounted to the frame;
• a user interface device secured to the second portion of the linkage mechanism and having a surface shaped for contact by a body part of a person, movement of the second portion of the linkage mechanism relative to the first portion thereof causing movement of the user interface device relative to the frame;
• an electric motor having a motor body and an actuating component, and an electric voltage supply terminal wherein, when a voltage is altered on the supply terminal, the actuating component is caused to move relative to the motor body, the motor being connected between two components of the frame and the linkage mechanism such that movement of the actuating component causes movement of the second portion of the linkage mechanism relative to the first portion thereof with a corresponding movement of the user interface device relative to the frame;
• a connector for connection to a power outlet;
• an electric power supply link connecting the connector to a power supply terminal of the motor;
• an electric power return link connecting a current return terminal of the motor to the connector;
• and
• a ground fault interrupter connected between the electric power supply and return links, the interrupter disconnecting the connector from the power supply terminal when there is a predetermined difference in magnitude between the supply current in the electric current supply link and the return current in the electric current return link.