Actuation system with fluid transmission for interaction control and high force haptics
AssigneeMassachusetts Institute of Technology
InventorsStephen P. Buerger, Neville Hogan
Life of this patent
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Abstract
A fluid transmission system adapted to provide a controlled force to a dynamic system includes a controller, a drive system coupled to the controller and to a path having a captured amount (mass) of fluid contained therein and an interface coupled to the captured fluid path.
Claims34
A fluid transmission system adapted to provide a controlled force to a dynamic system, comprising:
- a controller;
- drive system coupled to receive a plurality of force feedback and/or motion feedback control values from the controller;
- a first actuator coupled to the drive system;
- an interface to the dynamic system;
- a second actuator coupled to said interface;
- and
- a fluid path coupled between the first and second actuator, said fluid path containing a captured volume of fluid for transmitting a force from the first actuator to the second actuator such that said second actuator provides a controlled force to the interface with the dynamic system;
- and
- one or more impedance shapers disposed in said fluid path.
A fluid transmission system adapted to provide a controlled force to a dynamic system, comprising:
- a controller;
- a drive system coupled to receive a plurality of force feedback and motion feedback control values from the controller;
- a first actuator coupled to the drive system;
- a fluid path having a captured amount of fluid contained therein, the fluid path having a first port coupled to the first actuator and having a port end;
- at least one impedance shaper coupled to the fluid path to control at least one of:
- a compliance characteristic of the fluid within the fluid path;
- a damping characteristic of the fluid within the fluid path;
- and an inertia characteristic of fluid within the fluid path;
- a second actuator to provide the controlled force to the interface with the dynamic system, coupled to the second end of the captured fluid path;
- and
- an interface to the dynamic system.
A fluid transmission system adapted to provide a controlled force to a dynamic system, comprising:
- a controller;
- drive system coupled to receive a plurality of force feedback and motion feedback control values from the controller;
- a first actuator coupled to the drive system;
- an interface to the dynamic system;
- a second actuator coupled to said interface;
- a first fluid path coupled between the first and second actuator, said first fluid path containing a captured volume of fluid for transmitting pressure from the first actuator to the second actuator;
- and
- a second fluid path coupled between the first and second actuator, said second fluid path containing a captured volume of fluid for transmitting pressure from the first actuator to the second actuator.
A fluid transmission system adapted to provide a controlled force to a dynamic system, comprising:
- an interface;
- a first actuator coupled to the interface;
- a first pressure pre-load device coupled to said first actuator;
- a bi-directional drive system;
- a second actuator coupled to said drive system;
- a second pressure pre-load device coupled said second actuator;
- and
- a first fluid path coupled between the first and second actuator, said first fluid path containing a captured volume of fluid for transmitting pressure from the first actuator to the second actuator.
A fluid transmission system adapted to provide a controlled force to a dynamic system, comprising:
- a controller;
- a backdrivable drive system coupled to receive a plurality of force feedback and/or motion feedback control values from the controller;
- a first backdrivable actuator coupled to the drive system;
- an interface to the dynamic system;
- a second backdrivable actuator coupled to said interface;
- and
- a fluid path coupled between the first and second actuator, said fluid path containing a captured volume of fluid for transmitting a force from the first actuator to the second actuator such that said second actuator provides a controlled force to the interface with the dynamic system.
Dependencies are inferred from the claim text.