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    • 3. 发明申请
    • A METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE
    • 一种用于控制乐器的方法和装置
    • WO2007136739A3
    • 2008-07-24
    • PCT/US2007011891
    • 2007-05-18
    • MAKO SURGICAL CORPQUAID ARTHUR EKANG HYOSIGMOSES DENNIS
    • QUAID ARTHUR EKANG HYOSIGMOSES DENNIS
    • G06F3/01B25J9/16
    • B25J9/1638B25J13/025G06F3/016
    • A method and apparatus for controlling a haptic device. In one embodiment, the haptic device includes an actuator; an actuator sensor, producing an actuator signal indicative of the actuator velocity; a load; a load output sensor producing a load output signal indicative of the load position; and a controller in electrical communication with the load output sensor, actuator sensor and actuator. The controller controls the actuator in response to the actuator signal and the load output signal to provide a haptic response to a user. In one embodiment, the method for controlling an actuator of a haptic device includes the steps of producing an actuator signal indicative of the velocity of an actuator; producing a position signal indicative of the position of a load; and controlling the actuator in response to the actuator signal and the load output position signal to produce a haptic response to a user.
    • 一种用于控制触觉装置的方法和装置。 在一个实施例中,触觉装置包括致动器; 致动器传感器,产生指示致动器速度的致动器信号; 负载; 产生表示负载位置的负载输出信号的负载输出传感器; 以及与负载输出传感器,致动器传感器和致动器电连通的控制器。 控制器响应于致动器信号和负载输出信号来控制致动器以向用户提供触觉响应。 在一个实施例中,用于控制触觉装置的致动器的方法包括以下步骤:产生指示致动器速度的致动器信号; 产生指示负载位置的位置信号; 以及响应于致动器信号和负载输出位置信号来控制致动器,以产生对用户的触觉响应。
    • 8. 发明申请
    • A METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE
    • 一种用于控制乐器的方法和装置
    • WO2007136739A2
    • 2007-11-29
    • PCT/US2007/011891
    • 2007-05-18
    • MAKO SURGICAL CORPORATIONQUAID, Arthur, E.KANG, HyosigMOSES, Dennis
    • QUAID, Arthur, E.KANG, HyosigMOSES, Dennis
    • B25J9/1638B25J13/025G06F3/016
    • A method and apparatus for controlling a haptic device. In one embodiment, the haptic device includes an actuator; an actuator sensor, producing an actuator signal indicative of the actuator velocity; a load; a load output sensor producing a load output signal indicative of the load position; and a controller in electrical communication with the load output sensor, actuator sensor and actuator. The controller controls the actuator in response to the actuator signal and the load output signal to provide a haptic response to a user. In one embodiment, the method for controlling an actuator of a haptic device includes the steps of producing an actuator signal indicative of the velocity of an actuator; producing a position signal indicative of the position of a load; and controlling the actuator in response to the actuator signal and the load output position signal to produce a haptic response to a user.
    • 一种用于控制触觉装置的方法和装置。 在一个实施例中,触觉装置包括致动器; 致动器传感器,产生指示致动器速度的致动器信号; 负载; 产生表示负载位置的负载输出信号的负载输出传感器; 以及与负载输出传感器,致动器传感器和致动器电连通的控制器。 控制器响应于致动器信号和负载输出信号来控制致动器以向用户提供触觉响应。 在一个实施例中,用于控制触觉装置的致动器的方法包括以下步骤:产生指示致动器速度的致动器信号; 产生指示负载位置的位置信号; 以及响应于致动器信号和负载输出位置信号来控制致动器,以产生对用户的触觉响应。