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31. 发明授权

US07821496B2 Computer interface apparatus including linkage having flex 失效
标题翻译：计算机接口设备包括具有弯曲的连接
公开(公告)号：US07821496B2
公开(公告)日：2010-10-26
申请号：US10780852
申请日：2004-02-19
申请人： Louis B. Rosenberg , Bruce M. Schena
发明人： Louis B. Rosenberg , Bruce M. Schena
IPC分类号： G09G5/08 , G06F3/033 , G05G11/00
CPC分类号： G06F3/016 , A61B90/50 , A63F2300/1037 , B25J9/1692 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/4207 , G05G9/047 , G05G9/04737 , G05G2009/0474 , G05G2009/04759 , G05G2009/04766 , G06F3/0346 , G06F3/038 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28 , G09B23/285 , H01H2003/008
摘要： A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system. Another embodiment includes a host computer system and a local microprocessor, separate from the host computer, for communicating with the host computer and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus uses voice coil actuators that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic fields. A friction drive mechanism of the present invention can be coupled between an actuator and a gimbal mechanism. Force from the actuator is transmitted to the gimbal mechanism through frictional contact of members of the friction drive mechanism.
摘要翻译：用于将用户可操纵对象与电气或计算机系统的运动对接的方法和装置包括由用户物理联系的用户对象。万向节机构耦合到用户对象，诸如操纵杆或医疗工具，并且向用户对象提供至少两个自由度。万向架机构优选地包括多个构件，其中至少两个构件形成为在所选构件之间提供挠曲的整体构件。执行器响应于由计算机系统产生的电信号，沿着自由度向使用者物体施加力。传感器沿着自由度检测用户对象的位置，并向计算机系统输出传感器信号。另一个实施例包括与主计算机分离的主计算机系统和本地微处理器，用于与主计算机进行通信，并根据根据主机命令，传感器信号和时序选择的处理器子程序来控制致动器输出的力信息。接口装置的另一实施例使用音圈致动器，其使用在磁场中施加的电流产生线性或旋转自由度的力。本发明的摩擦驱动机构可以联接在致动器和万向节机构之间。致动器的力通过摩擦驱动机构的构件的摩擦接触传递到万向节机构。

32. 发明授权

US07489309B2 Control knob with multiple degrees of freedom and force feedback 有权
标题翻译：控制旋钮具有多个自由度和力反馈
公开(公告)号：US07489309B2
公开(公告)日：2009-02-10
申请号：US11603294
申请日：2006-11-21
申请人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
发明人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
IPC分类号： G09G5/00 , G06F3/033
CPC分类号： G06F3/016
摘要： The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.
摘要翻译：本发明提供了一种设备上的控制旋钮，其允许用户控制设备的功能。在一个实施例中，旋钮可以旋转自由度旋转，并且在大致垂直于轴线的至少一个横向方向上可移动。致动器联接到旋钮以输出围绕轴线的旋转自由度的力，从而提供力反馈。在不同的实施例中，旋钮以关于轴线的旋转自由度提供力反馈，并且还可以在大致平行于轴线的线性自由度中移动，从而允许使用者推动和/或拉动旋钮。由旋钮控制的设备可以是各种类型的设备，诸如音频设备，视频设备等。设备还可以包括提供响应于旋钮的操纵而更新的图像的显示器。可以通过在旋钮的旋转自由度中重叠和调整紧密间隔的棘爪的范围来为旋钮提供限位力。

33. 发明授权

US06956558B1 Rotary force feedback wheels for remote control devices 有权
标题翻译：用于遥控装置的旋转力反馈轮
公开(公告)号：US06956558B1
公开(公告)日：2005-10-18
申请号：US09678110
申请日：2000-10-02
申请人： Louis B. Rosenberg , Bruce M. Schena
发明人： Louis B. Rosenberg , Bruce M. Schena
IPC分类号： G06F3/01 , G06F3/033 , G09G5/00 , G09G5/08
CPC分类号： G06F3/016 , G06F3/0354 , G06F2203/014
摘要： A force feedback wheel is provided on a mouse or other interface device manipulated by a user. A sensor detects a position of the mouse in a workspace and sends a position signal to a connected host computer indicating that position. A rotatable wheel is mounted upon the manipulandum and rotates about a wheel axis, where a wheel sensor provides a wheel signal to the host computer indicating a rotary position of the wheel. A wheel actuator coupled to the rotatable wheel applies a computer-modulated force to the wheel about the wheel axis. The mouse can be a standard mouse or a force-feedback mouse, where forces are applied in the mouse workspace. The host computer is preferably running a graphical environment, where the force applied to the wheel can correspond with an event or interaction displayed in the graphical environment. The wheel can also be included on other devices such as remote controls and radios.
摘要翻译：在由用户操纵的鼠标或其他接口设备上提供力反馈轮。传感器检测工作空间中鼠标的位置，并向所连接的主计算机发送指示该位置的位置信号。可旋转轮安装在操纵上并围绕车轮轴线旋转，其中车轮传感器向主机提供指示车轮旋转位置的车轮信号。联接到可旋转轮的轮致动器将轮子周围的计算机调制力施加到车轮。鼠标可以是标准鼠标或力反馈鼠标，其中在鼠标工作区中应用力。主机优选地运行图形环境，其中施加到车轮的力可对应于在图形环境中显示的事件或交互。车轮也可以包括在其他设备上，如遥控器和收音机。

34. 发明授权

US06697748B1 Digitizing system and rotary table for determining 3-D geometry of an object 失效
标题翻译：用于确定物体的三维几何的数字化系统和旋转台
公开(公告)号：US06697748B1
公开(公告)日：2004-02-24
申请号：US09687923
申请日：2000-10-13
申请人： Louis B. Rosenberg , Bruce M. Schena , Scott B. Brave , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bruce M. Schena , Scott B. Brave , Bernard G. Jackson
IPC分类号： G01B7008
CPC分类号： G06F3/038 , B25J9/1692 , G01B5/008 , G01B21/04 , G05B19/4207 , G05B2219/37021 , G05B2219/37043 , G05B2219/39021 , G05B2219/39024 , G05B2219/39048 , G05B2219/45055 , G05B2219/45061 , G06F3/0346
摘要： A digitizing system and rotary table for determining the three-dimensional geometry of an object. An apparatus includes at least one sensor detecting information describing the three-dimensional geometry of the object and providing the information to a host computer. A rotary table includes a base and a turntable rotatable about an axis positioned perpendicularly to the turntable surface. The turntable and object on its surface rotate about the axis during or between the sensor detecting the information describing the three-dimensional geometry of the object. A turntable sensor coupled to the base measures the rotation of the turntable, where the turntable sensor outputs turntable data indicative of the rotation to the host computer.
摘要翻译：用于确定物体的三维几何形状的数字化系统和旋转台。一种装置包括至少一个传感器，其检测描述对象的三维几何的信息并将信息提供给主计算机。旋转台包括基座和可围绕垂直于转台表面定位的轴线旋转的转盘。传感器和表面上的物体在检测描述物体的三维几何的信息的传感器期间或之间围绕轴旋转。连接到基座的转盘传感器测量转盘的旋转，其中转盘传感器将指示旋转的转盘数据输出到主计算机。

35. 发明授权

US06348911B1 Force feedback device including safety switch and force magnitude ramping 有权
标题翻译：强制反馈装置包括安全开关和力量斜坡
公开(公告)号：US06348911B1
公开(公告)日：2002-02-19
申请号：US09258749
申请日：1999-02-26
申请人： Louis B. Rosenberg , Adam C. Braun , Bruce M. Schena
发明人： Louis B. Rosenberg , Adam C. Braun , Bruce M. Schena
IPC分类号： G09G508
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/285 , A63F2300/1025 , A63F2300/1031 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F1/266 , G06F3/011 , G06F3/0383 , G06F2203/014 , G06F2203/015 , H01H2003/008 , H04L67/38
摘要： A force feedback interface device including safety features. The interface device includes a sensor that senses the position of a user manipulatable object in a degree of freedom and provides a sensor signal indicating the position of the user manipulatable object to a host computer. An actuator of the device applies a force to the user manipulatable object in the degree of freedom. A safety switch of the interface device disables the actuator when the user is not using the interface device and enables the actuator when the user is using the device. A device is included in the interface device to execute a force ramping process when the safety switch enables the actuator, the force ramping process causing the force to be produced at a reduced magnitude and slowly increased to a desired magnitude over a period of time to avoid an abrupt application of initial force.
摘要翻译：包含安全功能的力反馈界面装置。接口装置包括传感器，该感测器以自由度感测用户可操纵对象的位置，并提供指示用户可操纵对象到主计算机的位置的传感器信号。该装置的致动器以自由度向用户可操纵物体施加力。当用户不使用接口设备时，接口设备的安全开关禁用执行器，并且在用户使用设备时启用执行器。接口装置中包括一个装置，以便在安全开关使执行机构启动时执行强制斜坡加工过程，强制斜坡加工过程使力产生在一个较小的幅度，并在一段时间内慢慢地增加到所需的大小，以避免突然施加初始力。

36. 发明授权

US06342880B2 Force feedback system including multiple force processors 有权
标题翻译：强制反馈系统包括多个强制处理器
公开(公告)号：US06342880B2
公开(公告)日：2002-01-29
申请号：US09414294
申请日：1999-10-06
申请人： Louis B. Rosenberg , Christopher J. Hasser , Bruce M. Schena , Mike D. Levin
发明人： Louis B. Rosenberg , Christopher J. Hasser , Bruce M. Schena , Mike D. Levin
IPC分类号： G09G508
CPC分类号： G06F3/016 , A63F13/06 , A63F13/211 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/0383 , G06F19/00 , G06F2203/015 , H01H2003/008
摘要： A force feedback interface including a haptic accelerator that relieves the computational burden associated with force feedback generation from a force feedback processor. The force feedback processor is preferably a device microprocessor included in the interface device and separate from a controlling host computer for determining forces to be output. The haptic accelerator quickly determines velocity and/or acceleration information describing motion of a user manipulatable object from raw position data received from sensors of the interface device and representing the position of the user object. The velocity and/or acceleration data is used by the force feedback processor in the determination of forces to be output on the user object. The haptic accelerator can in some embodiments also quickly and reliably determine condition forces which depend on the motion of the user object, thus relieving additional computation burden from the force feedback processor and permitting the force feedback processor to focus on determining other types of forces and overseeing the operation of the force feedback interface device.
摘要翻译：一种力反馈界面，包括一个抵消力反馈处理器产生力反馈相关的计算负担的触觉加速器。力反馈处理器优选地是包括在接口设备中的设备微处理器，并且与控制主计算机分离以确定要输出的力。触觉加速器快速地确定速度和/或加速度信息，其描述从接口装置的传感器接收的并且表示用户对象的位置的原始位置数据中的用户可操纵对象的运动。力反馈处理器使用速度和/或加速度数据来确定在用户物体上输出的力。在一些实施例中，触觉加速器还可以快速且可靠地确定取决于用户对象的运动的状态力，从而减轻来自力反馈处理器的额外计算负担，并允许力反馈处理器专注于确定其他类型的力并监督力反馈接口设备的操作。

37. 发明授权

US6128006A Force feedback mouse wheel and other control wheels 失效
标题翻译：强制反馈鼠标滚轮和其他控制轮
公开(公告)号：US6128006A
公开(公告)日：2000-10-03
申请号：US49155
申请日：1998-03-26
申请人： Louis B. Rosenberg , Bruce M. Schena
发明人： Louis B. Rosenberg , Bruce M. Schena
IPC分类号： G01C21/36 , G06F3/00 , G06F3/01 , G06F3/023 , G06F3/0354 , G06F3/0362 , G06F3/039 , G06F3/0482 , G06F3/0485 , G09G5/08
CPC分类号： G06F3/016 , G01C21/36 , G06F3/0219 , G06F3/03543 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F3/0485 , A63F2300/1037 , G06F2203/013 , G06F2203/014
摘要： A force feedback wheel is provided on a mouse or other interface device manipulated by a user. A sensor detects a position of the mouse in a workspace and sends a position signal to a connected host computer indicating that position. A rotatable wheel is mounted upon the manipulandum and rotates about a wheel axis, where a wheel sensor provides a wheel signal to the host computer indicating a rotary position of the wheel. A wheel actuator coupled to the rotatable wheel applies a computer-modulated force to the wheel about the wheel axis. The mouse can be a standard mouse or a force-feedback mouse, where forces are applied in the mouse workspace. The host computer is preferably running a graphical environment, where the force applied to the wheel can correspond with an event or interaction displayed in the graphical environment. The wheel can also be included on other devices such as remote controls and radios.
摘要翻译：在由用户操纵的鼠标或其他接口设备上提供力反馈轮。传感器检测工作空间中鼠标的位置，并向所连接的主计算机发送指示该位置的位置信号。可旋转轮安装在操纵上并围绕车轮轴线旋转，其中车轮传感器向主机提供指示车轮旋转位置的车轮信号。联接到可旋转轮的轮致动器将轮子周围的计算机调制力施加到车轮。鼠标可以是标准鼠标或力反馈鼠标，其中在鼠标工作区中应用力。主机优选地运行图形环境，其中施加到车轮的力可对应于在图形环境中显示的事件或交互。车轮也可以包括在其他设备上，如遥控器和收音机。

38. 发明授权

US6020875A High fidelity mechanical transmission system and interface device 失效
标题翻译：高保真机械传动系统及接口装置
公开(公告)号：US6020875A
公开(公告)日：2000-02-01
申请号：US961790
申请日：1997-10-31
申请人： David F. Moore , Kenneth M. Martin , Louis B. Rosenberg , Bruce M. Schena
发明人： David F. Moore , Kenneth M. Martin , Louis B. Rosenberg , Bruce M. Schena
IPC分类号： A63F13/02 , A63F13/06 , G06F3/01 , G06F3/033 , G09G3/02
CPC分类号： A63F13/245 , A63F13/02 , A63F13/06 , A63F13/285 , G06F3/016 , A63F13/213 , A63F13/803 , A63F2300/1037 , A63F2300/1043 , A63F2300/1062 , A63F2300/8017
摘要： A high-fidelity mechanical transmission system for transmitting forces which can be used in a human-computer force feedback interface device connected to a host computer. The transmission system includes multiple stages, including an actuator stage coupled to an actuator and one or more additional stages. The actuator stage includes a rotatable capstan pulley coupled to the actuator, a cylindrical capstan drum, and a flexible member, such as a cable, coupling the capstan pulley and drum. The cable is coupled to the capstan drum at both ends, and causes the capstan drum to rotate for multiple revolutions. The output stage is coupled to the driven object to rotate the driven object. The output stage can include a capstan pulley, capstan drum, and cable. An interface device can include the transmission system for inputting motion signals to a connected host computer and for providing force feedback to the user. The interface device includes a user manipulatable object, such a steering wheel, joystick, or the like, which is manipulated by the user to interact with the host computer.
摘要翻译：用于传输力的高保真机械传动系统，其可用于连接到主机的人机力反馈接口装置。传动系统包括多级，包括联接到致动器的致动器级和一个或多个附加级。致动器平台包括联接到致动器的可旋转主导轮，圆柱形主导轮，以及联接主导轮和滚筒的诸如电缆的柔性构件。电缆在两端连接到主导轮，并使主导轮转动多圈。输出级耦合到被驱动对象以旋转被驱动对象。输出级可包括绞盘滑轮，绞盘鼓和电缆。接口设备可以包括用于向连接的主计算机输入运动信号的传输系统和用于向用户提供力反馈。接口设备包括用户可操纵的对象，诸如方向盘，操纵杆等，其由用户操纵以与主计算机交互。

39. 发明授权

US5903456A Method and apparatus for providing high bandwidth force feedback with improved actuator feel 失效
公开(公告)号：US5903456A
公开(公告)日：1999-05-11
申请号：US791020
申请日：1997-01-27
申请人： Bruce M. Schena , Louis B. Rosenberg
发明人： Bruce M. Schena , Louis B. Rosenberg
IPC分类号： A63F13/06 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/038 , G06F19/00
CPC分类号： G06F3/016 , A63F13/06 , A63F13/23 , A63F13/24 , A63F13/285 , A63F2300/1025 , A63F2300/1037 , G05G9/047 , G05G2009/04766 , G05G2009/04777 , G06F3/011 , G06F3/0383 , G06F2203/015
摘要： A method and apparatus for providing low-cost, realistic force feedback including an improved actuator. Force sensations are provided to a user and an interface device coupled to a host computer allows a user to interact with a host application program. A user object, such as a joystick, is moveable by a user in at least one rotary degree of freedom. A sensor reports a locative signal to the host computer to indicate a position of the user object. An actuator outputs forces on the user object in response to signals from the host computer and program. The actuator includes a housing, a set of grounded magnets provided on opposing surfaces of the housing and creating a magnetic field, and a rotor coupled to the user object positioned between the magnets. The rotor rotates about an axis of rotation and includes a shaft and teeth spaced around the shaft. An electric current flows through one or more coils on the teeth to cause the rotor to rotate. The teeth and the magnets are provided in a skewed, helical arrangement relative to each other so that, as the rotor rotates, a first tooth gradually exits the magnetic field as the next consecutive tooth gradually enters the magnetic field, thereby significantly reducing a cogging effect of the rotor when the user object is moved by the user and increasing the fidelity of forces experienced by the user.

40. 发明授权

US5805140A High bandwidth force feedback interface using voice coils and flexures 失效
标题翻译：高带宽力反馈接口使用音圈和弯曲
公开(公告)号：US5805140A
公开(公告)日：1998-09-08
申请号：US560091
申请日：1995-11-17
申请人： Louis B. Rosenberg , Bruce M. Schena
发明人： Louis B. Rosenberg , Bruce M. Schena
IPC分类号： A61B19/00 , B25J9/16 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/42 , G05D25/02 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/038 , G09B9/28 , G09B23/28 , G09G5/08 , G06F3/033
CPC分类号： G06F3/016 , B25J9/1692 , G01B21/04 , G01B5/008 , G01B7/004 , G05B19/4207 , G05D25/02 , G05G9/047 , G06F3/0346 , G06F3/038 , G06F3/0383 , G09B23/28 , G09B23/285 , G09B9/28 , A61B90/50 , A63F2300/1037 , G05G2009/0474 , G05G2009/04759 , G05G2009/04766 , G05G9/04737 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system. Another embodiment includes a host computer system and a local microprocessor, separate from the host computer, for communicating with the host computer and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus uses voice coil actuators that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic fields. A friction drive mechanism of the present invention can be coupled between an actuator and a gimbal mechanism. Force from the actuator is transmitted to the gimbal mechanism through frictional contact of members of the friction drive mechanism.
摘要翻译：用于将用户可操纵对象与电气或计算机系统的运动对接的方法和装置包括由用户物理联系的用户对象。万向节机构耦合到用户对象，诸如操纵杆或医疗工具，并且向用户对象提供至少两个自由度。万向架机构优选地包括多个构件，其中至少两个构件形成为在所选构件之间提供挠曲的整体构件。执行器响应于由计算机系统产生的电信号，沿着自由度向使用者物体施加力。传感器沿着自由度检测用户对象的位置，并向计算机系统输出传感器信号。另一个实施例包括与主计算机分离的主计算机系统和本地微处理器，用于与主计算机进行通信，并根据根据主机命令，传感器信号和时序选择的处理器子程序来控制致动器输出的力信息。接口装置的另一实施例使用音圈致动器，其使用在磁场中施加的电流产生线性或旋转自由度的力。本发明的摩擦驱动机构可以联接在致动器和万向节机构之间。致动器的力通过摩擦驱动机构的构件的摩擦接触传递到万向节机构。

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