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US 7,345,672 B2Granted
Force feedback system and actuator power management
AssigneeImmersion Corporation
InventorsCharles J. Jacobus, Alan J. Riggs, Mark J. Taylor
Life of this patent
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Abstract
A system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs, which provide gravity compensation so that the manipulator effectively floats.
Claims12
A method comprising:
- outputting a maximum peak force from an actuator on a manipulandum, the maximum peak force associated with a maximum power that the actuator can utilize instantaneously;
- and
- reducing the output of the maximum peak force to an output of a nominal peak force from the actuator when the power utilized by the actuator exceeds an average power level over a predetermined period of time, the nominal peak force associated with a maximum power that the actuator can utilize in continuous steady-state operation.
A method comprising:
- receiving an input signal comprising a position of a manipulandum;
- determining a stored force feedback effect to contribute to a force output by an actuator on the manipulandum, the stored force feedback effect comprising a force feedback effect type and a magnitude;
- receiving a second signal comprising a calculated force feedback effect;
- and
- determining a combined force feedback effect to contribute to a force output by an actuator on the manipulandum, the combined force feedback effect comprising the stored force feedback effect and the calculated force feedback effect.
2 more elements
Dependencies are inferred from the claim text.