Dynamic physical constraint for hard surface emulation
AssigneePerception Raisonnement Action en Medecine
InventorsAntony Hodgson, Christopher Plaskos, Nikolai Hungr
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Abstract
A method and apparatus for haptic hard surface emulation using a dynamic physical constraint are provided. The movement and position of the dynamic physical constraint is actively controlled in order to emulate a hard surface. The dynamic physical constraint may be controlled by a computer. In another aspect of the invention, the dynamic physical constraint limits the motion of a manipulator joint in space. The position at any time of the dynamic physical constraint is dependent on the position in space of the manipulator's end effector.
Claims15
A system for performing hard surface emulation in haptic processes comprising:
- a manipulator that includes:
- a first link that rotates about a first axis;
- a second link coupled to the first link and independently rotatable about a second axis;
- an end-effector coupled to the second link and configured to be manipulated by an application of external forces;
- and
- a single physical constraint selectively driven and independently rotatable about the second axis to limit motion of the second link in only one direction to control movement of the end-effector relative to a predetermined position of the physical constraint.
A system for performing hard surface emulation in haptic processes comprising:
- manipulator that includes:
- a first link that rotates about a first axis;
- a second link independently slidable relative to the first link along a second axis;
- an end-effector coupled to the second link and configured to be manipulated h an application of external forces;
- and
- a single physical constraint selectively driven and independently slidable along the second axis to limit motion of the second link in only one direction to control movement of the end-effector relative to a predetermined position of the physical constraint.
Dependencies are inferred from the claim text.