# US 7,411,576 B2 · Force reflecting haptic interface > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 7,411,576 B2 - Document ID: US7411576B2 - Status: Granted - Kind: B2 - Application number: 10/697,963 - Filed: 2003-10-30 - Published: 2005-05-05 - Granted: 2008-08-12 - Earliest claimed: 2003-10-30 - Assignees: SensAble Technologies, Inc. - Inventors: Thomas H. Massie; William Alexander Goodwin; Elaine Chen; Deepak Kapoor; Abbe J. Cohen; Brandon D. Itkowitz - Web page: https://patentgrep.com/patent/US7411576B2 ## CPC - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - G06F 1/206: {comprising thermal management} - G06F 3/0346: with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A multi-function force reflecting haptic interface including various sub-assemblies is disclosed. The sub-assemblies include multiple function user interfaces, a user interface docking station for setting the interface to a home position, temperature monitoring and control systems, and various kinematic cable drive systems. ## Claims ### Claim 1 A force reflecting haptic interface including at least three degrees of freedom and a user interface, the user interface comprising: a nose section secured to the force reflecting haptic interface, the nose section comprising at least one electrical wiring circuit; a user connection section detachably secured to the nose section, the nose section interchangeable with alternative user connection sections, wherein the at least one electrical wiring circuit allows for direction of an electronic signal from the user connection section to the force reflecting haptic interface; and a sensor for outputting a signal representative of a position of the user connection section relative to the nose section. ### Claim 2 (depends on 1) The force reflecting haptic interface of claim 1, wherein the user connection section is selected from the group consisting of a stylus, a pistol grip, a roller ball, a mouse, a joystick, and a steering device. ### Claim 3 The force reflecting haptic interface of claim of 1, wherein the user connection section couples to the nose section by a jack and chuck arrangement. ### Claim 4 (depends on 1) The force reflecting haptic interface of claim 1, wherein the user connection section decouples from the nose section upon application of a load greater than a threshold load value. ### Claim 5 (depends on 1) The force reflecting haptic interface of claim 1, wherein the user interface further comprises a first user input on the user connection section. ### Claim 6 (depends on 5) The force reflecting haptic interface of claim 5, wherein the user interface further comprises a second user input on the user connection section. ### Claim 7 (depends on 6) The force reflecting haptic interface of claim 6, wherein at least one of the first user input and the second user input is customizable by a user. ### Claim 8 (depends on 6) The force reflecting haptic interface of claim 6, wherein at least one of the first user input and the second user input comprises a switch. ### Claim 9 (depends on 6) The force reflecting haptic interface of claim 6, wherein at least one of the first user input and the second user input modifies a function of the user interface. ### Claim 10 (depends on 9) The force reflecting haptic interface of claim 9, wherein the user interface is adapted to function as a force feedback device and a computer mouse. ### Claim 11 (depends on 10) The force reflecting haptic interface of claim 10, wherein the user interface is adapted to function as a digitizer. ### Claim 12 (depends on 1) The force reflecting haptic interface of claim 1, wherein the user interface comprises a housing, the housing comprising multiple components that interlock without requiring a fastener. ### Claim 13 (depends on 5) The force reflecting haptic interface of claim 5, wherein the first user input is connected to the at least one electrical wiring circuit. ### Claim 14 (depends on 6) The force reflecting haptic interface of claim 6, wherein the second user input is connected to the at least one electrical wiring circuit. ### Claim 15 (depends on 6) The force reflecting haptic interface of claim 6, wherein at least one of the first user input and the second user input is selected from the group consisting of a button, a toggle, and a roller. ### Claim 16 (depends on 1) The force reflecting haptic interface of claim 1, wherein the user interface comprises a docking station. ### Claim 17 (depends on 16) The force reflecting haptic interface of claim 16, wherein the docking station comprises a projection disposed on one of the user interface and a housing of the haptic interface and a mating recess formed in the other of the user interface and the housing. ### Claim 18 (depends on 17) The force reflecting haptic interface of claim 17, wherein the docking station further comprises a sensor for indicating mating of the projection in the recess. ### Claim 19 (depends on 1) The force reflecting haptic interface of claim 1, wherein the user interface is adapted to support a first function and a second function. ### Claim 20 (depends on 19) The force reflecting haptic interface of claim 19, wherein the user interface is further adapted to support a third function. ### Claim 21 (depends on 20) The force reflecting haptic interface of claim 20, wherein the third function comprises a digitizer. ### Claim 22 (depends on 20) The force reflecting haptic interface of claim 20, wherein the third function is enabled independently from the first function and the second function. ### Claim 23 (depends on 19) The force reflecting haptic interface of claim 19, wherein the first function comprises a force feedback device. ### Claim 24 (depends on 19) The force reflecting haptic interface of claim 19, wherein the second function comprises a computer mouse. ### Claim 25 (depends on 19) The force reflecting haptic interface of claim 19, wherein the user interface is switchable between the first function and the second function. ### Claim 26 (depends on 1) The force reflecting haptic interface of claim 1, wherein the nose further comprises an electrical connection. ### Claim 27 (depends on 1) The force reflecting haptic interface of claim 1, wherein the user connection section further comprises an electrical connection. ### Claim 28 (depends on 1) The force reflecting haptic interface of claim 1, wherein the nose section further comprises a tip. ### Claim 29 (depends on 28) The force reflecting haptic interface of claim 28, wherein the tip comprises at least one of a manual switch and a spring loaded switch. ### Claim 30 A force reflecting haptic interface including at least three degrees of freedom and a user interface, the user interface comprising: a nose section comprising a pair of projections, each projection adapted to mate with a bearing; a yoke assembly comprising two hinged halves adapted to capture the pair of projections extending from the nose section, wherein at least one of the projections is adapted to mate with a sensor for outputting a signal representative of a position of the user interface relative to the yoke assembly; and a user connection section detachably coupled to the nose section, the nose section interchangeable with alternative user connection sections. ### Claim 31 A force reflecting haptic interface including at least three degrees of freedom and a user interface, the user interface comprising: a nose section secured to the force reflecting haptic interface, the nose section comprising at least one electrical wiring circuit; a yoke section connected to the nose section; and a user connection section detachably secured to the nose section, the nose section interchangeable with alternative user connection sections, wherein the at least one electrical wiring circuit allows for direction of an electronic signal from the user connection section to the force reflecting haptic interface. ### Claim 32 (depends on 31) The force reflecting haptic interface of claim 31, wherein the yoke assembly comprises two hinged halves adapted to capture a pair of projections extending from the nose section. ### Claim 33 (depends on 32) The force reflecting haptic interface of claim 32, wherein the yoke assembly further comprises a pair of bearings, the pair of bearings adapted to capture the pair of projections. ### Claim 34 (depends on 33) The force reflecting haptic interface of claim 33, wherein the two hinged halves clamp the pair of bearings with positive pressure. ### Claim 35 (depends on 32) The force reflecting haptic interface of claim 32, wherein each projection is adapted to mate with a bearing and at least one of the projections is adapted to mate with a sensor for outputting a signal representative of a position of the user interface relative to the yoke assembly.