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1. 发明申请

US20090295552A1 Vibrotactile Haptic Feedback Devices 有权
标题翻译：振动触觉触觉反馈装置
公开(公告)号：US20090295552A1
公开(公告)日：2009-12-03
申请号：US12480577
申请日：2009-06-08
申请人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
发明人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
IPC分类号： G06F3/00
CPC分类号： G06F3/016
摘要： Vibrotactile haptic feedback devices are disclosed. For example, in one embodiment, a device includes: a mass, an actuator configured to vibrate the mass, and a coupling disposed between the actuator and the mass or between the mass and a housing, the coupling having a first configuration with a compliance and a second configuration with a compliance, the compliance of the coupling in the first configuration being different from the compliance of the coupling in the second configuration, the actuator being configured to output haptic feedback associated with the first configuration of the coupling and haptic feedback associated with the second configuration of the coupling, the haptic feedback associated with the first configuration of the coupling being different from the haptic feedback associated with the second configuration of the coupling.
摘要翻译：公开了振动触觉触觉反馈装置。例如，在一个实施例中，一种装置包括：质量块，构造成使质量块振动的致动器，以及设置在致动器与质量块之间或物质与壳体之间的联接器，联接器具有第一配置，具有顺从性的第二配置，所述联接在所述第一配置中的顺应性不同于所述第二配置中的联接的顺应性，所述致动器被配置为输出与所述耦合的第一配置和与所述耦合的触觉反馈相关联的触觉反馈耦合的第二配置，与耦合的第一配置相关联的触觉反馈不同于与耦合的第二配置相关联的触觉反馈。

2. 发明授权

US07561142B2 Vibrotactile haptic feedback devices 有权
标题翻译：振动触觉触觉反馈装置
公开(公告)号：US07561142B2
公开(公告)日：2009-07-14
申请号：US10838332
申请日：2004-05-05
申请人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
发明人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
IPC分类号： G09G5/00
CPC分类号： G06F3/016
摘要： Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a variable compliance. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal.
摘要翻译：用于控制触觉反馈装置的振动触觉感觉的幅度和频率的方法和装置。诸如游戏手柄控制器，鼠标，遥控器等的触觉反馈装置包括壳体，联接到壳体的致动器和质量块。在一些实施例中，质量可以由致动器振荡，并且致动器和质量块之间或者质量块和壳体之间的联接具有可变的顺应性。改变合规性允许输出给定的驱动信号具有不同幅度的振动触觉。在其他实施例中，致动器是旋转致动器，并且质量块是由致动器围绕旋转轴线旋转的偏心质量块。偏心质量具有在质量旋转时可相对于旋转轴线变化的偏心度。改变偏心度使给定驱动信号具有不同幅度的振动触觉。

3. 发明授权

US06693622B1 Vibrotactile haptic feedback devices 有权
标题翻译：振动触觉触觉反馈装置
公开(公告)号：US06693622B1
公开(公告)日：2004-02-17
申请号：US09643898
申请日：2000-08-18
申请人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
发明人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
IPC分类号： G09G500
CPC分类号： G06F3/016
摘要： Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing grasped by the user, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a compliance that can be varied. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output to the user grasping the housing. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal to be output to the user grasping the housing.
摘要翻译：用于控制触觉反馈装置的振动触觉感觉的幅度和频率的方法和装置。诸如游戏手柄控制器，鼠标，遥控器等的触觉反馈装置包括由用户掌握的壳体，联接到壳体的致动器和质量块。在一些实施例中，质量可以由致动器振荡，并且致动器和质量块之间或者质量块和壳体之间的联接具有可以改变的柔量。改变顺应性允许对于给定的驱动信号具有不同幅度的振动触觉感觉被输出到抓握壳体的使用者。在其他实施例中，致动器是旋转致动器，并且质量块是由致动器围绕旋转轴线旋转的偏心质量块。偏心质量具有在质量旋转时可相对于旋转轴线变化的偏心度。改变偏心度使得给定驱动信号具有不同幅度的振动触觉感觉被输出到抓握壳体的使用者。

4. 发明授权

US07084854B1 Actuator for providing tactile sensations and device for directional tactile sensations 有权
标题翻译：用于提供触觉感觉的触发器和用于定向触觉的装置
公开(公告)号：US07084854B1
公开(公告)日：2006-08-01
申请号：US09967494
申请日：2001-09-27
申请人： David F. Moore , Erik J. Shahoian , Bruce M. Schena
发明人： David F. Moore , Erik J. Shahoian , Bruce M. Schena
IPC分类号： G09G5/08
CPC分类号： G06F3/016 , G06F3/03543
摘要： An interface device providing haptic feedback to a user is in communication with a host computer. The device includes a housing, at least one sensor for detecting user input, and an actuator assembly. The actuator assembly includes a grounded flexure suspension coupled to an inertial mass which moves when the actuator assembly is energized to cause inertial sensations. The inertial mass includes a pole piece surrounding a magnet, and a grounded coil between magnet and pole piece causes the motion of the inertial mass when current is flowed therethrough. Another embodiment provides directional haptic feedback to a user and includes at least two actuator assemblies oriented such that the inertial masses oscillate substantially orthogonally, and can be controlled to output the inertial sensations approximately along a single axis having a desired orientation.
摘要翻译：向用户提供触觉反馈的接口设备与主计算机通信。该装置包括壳体，用于检测用户输入的至少一个传感器和致动器组件。致动器组件包括联接到惯性质量块的接地挠曲悬架，当致动器组件被激励以引起惯性感觉时，惯性块移动。惯性质量包括一个围绕磁体的极片，而磁体和极片之间的接地线圈导致当电流流过惯性质量时的运动。另一个实施例向用户提供定向触觉反馈，并且包括至少两个致动器组件，其被定向成使得惯性质量基本上正交振荡，并且可以被控制以沿着具有期望取向的单个轴输出惯性感觉。

5. 发明授权

US08441444B2 System and method for providing directional tactile sensations 有权
标题翻译：提供定向触觉的系统和方法
公开(公告)号：US08441444B2
公开(公告)日：2013-05-14
申请号：US11408675
申请日：2006-04-21
申请人： David F. Moore , Erik J. Shahoian , Bruce M. Schena
发明人： David F. Moore , Erik J. Shahoian , Bruce M. Schena
IPC分类号： G06F3/033
CPC分类号： G06F3/016 , G06F3/03543
摘要： An interface device providing haptic feedback to a user is in communication with a host computer. The device includes a housing, at least one sensor for detecting user input, and an actuator assembly. The actuator assembly includes a grounded flexure suspension coupled to an inertial mass which moves when the actuator assembly is energized to cause inertial sensations. The inertial mass includes a pole piece surrounding a magnet, and a grounded coil between magnet and pole piece causes the motion of the inertial mass when current is flowed therethrough. Another embodiment provides directional haptic feedback to a user and includes at least two actuator assemblies oriented such that the inertial masses oscillate substantially orthogonally, and can be controlled to output the inertial sensations approximately along a single axis having a desired orientation.
摘要翻译：向用户提供触觉反馈的接口设备与主计算机通信。该装置包括壳体，用于检测用户输入的至少一个传感器和致动器组件。致动器组件包括联接到惯性质量块的接地挠曲悬架，当致动器组件被激励以引起惯性感觉时，惯性块移动。惯性质量包括一个围绕磁体的极片，而磁体和极片之间的接地线圈导致当电流流过惯性质量时的运动。另一个实施例向用户提供定向触觉反馈，并且包括至少两个致动器组件，其被定向成使得惯性质量基本上正交振荡，并且可以被控制以沿着具有期望取向的单个轴输出惯性感觉。

6. 发明授权

US07061466B1 Force feedback device including single-phase, fixed-coil actuators 有权
标题翻译：力反馈装置包括单相，固定线圈执行机构
公开(公告)号：US07061466B1
公开(公告)日：2006-06-13
申请号：US09565207
申请日：2000-05-04
申请人： David F. Moore , Bruce M. Schena , Erik J. Shahoian
发明人： David F. Moore , Bruce M. Schena , Erik J. Shahoian
IPC分类号： G09G5/00
CPC分类号： F16F15/03 , F16F6/00 , G05G9/047 , G05G2009/0474 , G05G2009/04755 , G05G2009/04759 , G05G2009/04766 , G06F2203/015 , H01H2003/008
摘要： A force feedback interface device that provides force feedback to a joystick handle manipulated by a user. A force feedback device inputs control signals to a computer and outputs forces to a user of the force feedback device. The device includes a housing gripped by the user of the force feedback device and a joystick handle manipulable in at least two rotary degrees of freedom by the user, such as a gamepad. Sensors detect a position of the joystick handle and two direct drive actuators each provide torque in a rotary degree of freedom. Each of the actuators is a brushless, single phase actuator having a grounded excitation coil and a moving magnetic material. The joystick is mechanically constrained to not move past either of two limits where the torque output by the actuator in an unenergized state changes direction. The joystick handle can be oriented such that a center position is substantially at a local minimum reluctance position of the actuator, where the joystick is mechanically constrained to not move substantially past either local maximum reluctance position adjacent to the local minimum reluctance position. The local minimum reluctance position can in some embodiments provide a centering spring force on the joystick handle.
摘要翻译：力反馈接口装置，其向使用者操纵的操纵杆手柄提供力反馈。力反馈装置将控制信号输入到计算机并向力反馈装置的使用者输出力。该装置包括由力反馈装置的使用者握持的壳体和由用户可操作的至少两个旋转自由度的操纵杆，例如游戏手柄。传感器检测操纵杆手柄的位置，两个直接驱动执行器以旋转自由度提供扭矩。每个致动器是具有接地励磁线圈和移动磁性材料的无刷单相致动器。操纵杆被机械地限制为不能超过两个极限，其中致动器在未通电状态下输出的扭矩改变方向。操纵杆手柄可以被定向成使得中心位置基本上处于致动器的局部最小磁阻位置，其中操纵杆被机械地限制为基本上不超过邻近局部最小磁阻位置的局部最大磁阻位置。在一些实施例中，局部最小磁阻位置可以在操纵杆手柄上提供定心弹簧力。

7. 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。

8. 发明授权

US06400352B1 Mechanical and force transmission for force feedback devices 有权
标题翻译：力反馈装置的机械和力传递
公开(公告)号：US06400352B1
公开(公告)日：2002-06-04
申请号：US09138304
申请日：1998-08-21
申请人： Ryan D. Bruneau , Kenneth M. Martin , Louis B. Rosenberg , David F. Moore , Bruce M. Schena
发明人： Ryan D. Bruneau , Kenneth M. Martin , Louis B. Rosenberg , David F. Moore , Bruce M. Schena
IPC分类号： G09G500
CPC分类号： G06F3/016 , A61B90/50 , A63F13/285 , A63F2300/1037 , G05G9/047 , G05G9/04737 , G05G2009/0474 , G05G2009/04766 , G06F3/03545 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28
摘要： A force feedback interface device includes improvements in a mechanical linkage and drive mechanism. The force feedback device is coupled to a host computer and includes a user manipulatable object graspable by a user, at least one actuator that outputs a force on the user object, and a sensor for sensing motion of the user object. A linkage mechanism provides the user object with degrees of freedom and includes five members rotatably coupled to each other. The linkage mechanism supports the bearings of the device with protrusions rotatably coupled to central members of the linkage. The drive mechanism is preferably a belt drive that includes an idler positioned adjacent to a drive pulley and which impedes radial displacement of a belt away from the drive pulley, and thus impedes losing positive engagement of the belt, without preloading the belt. The idler can be a passive idler that does not contact the belt during operation and/or an active idler that continuously contacts the belt. Some or all portions of the linkage mechanism and the drive mechanism are preferably symmetrical, allowing low cost manufacture of the device.
摘要翻译：力反馈接口装置包括机械联动和驱动机构的改进。力反馈装置耦合到主计算机，并且包括用户可握持的用户可操纵的对象，在用户对象上输出力的至少一个致动器和用于感测用户对象的运动的传感器。连动机构向使用者物体提供自由度，并且包括彼此可旋转地联接的五个构件。连杆机构支撑具有可旋转地联接到连杆的中心构件的突起的装置的轴承。驱动机构优选地是带驱动器，其包括邻近驱动皮带轮定位的惰轮，并且阻止皮带远离驱动皮带轮的径向位移，并且因此阻止皮带的正接合而不预加载皮带。惰轮可以是在操作期间不接触皮带的被动惰轮和/或连续接触皮带的活动惰轮。联动机构和驱动机构的一些或全部部分优选是对称的，允许低成本地制造装置。

9. 发明授权

US06995744B1 Device and assembly for providing linear tactile sensations 有权
标题翻译：用于提供线性触觉的设备和组件
公开(公告)号：US06995744B1
公开(公告)日：2006-02-07
申请号：US09965097
申请日：2001-09-28
申请人： David F. Moore , Erik J. Shahoian
发明人： David F. Moore , Erik J. Shahoian
IPC分类号： G09G5/08
CPC分类号： G06F3/016
摘要： A haptic feedback interface device and actuator assembly providing inertial tactile sensations. An interface device includes a housing that is physically contacted by a user, a sensor device detecting said manipulation of the interface device by the user, and an actuator assembly of the present invention. The assembly includes an actuator operative to output a force and a mechanism coupling the actuator to the device housing. The mechanism allows the actuator to be moved and act as an inertial mass when in motion to provide an inertial force that is transmitted to the user. The mechanism includes at least two separated portions, each of the portions coupled to a different portion of the actuator. The mechanism is preferably a flexure having at least two flex joints.
摘要翻译：触觉反馈接口装置和提供惯性触觉的致动器组件。接口装置包括由用户物理接触的壳体，检测用户对接口装置的操作的传感器装置以及本发明的致动器组件。组件包括可操作地输出力的致动器和将致动器联接到装置壳体的机构。该机构允许致动器被移动并且当运动时用作惯性质量以提供传递给使用者的惯性力。该机构包括至少两个分开的部分，每个部分联接到致动器的不同部分。该机构优选是具有至少两个挠性接头的弯曲部。

10. 发明申请

US20120004668A1 ROBOTIC CATHETER SYSTEM 有权
标题翻译：机器人导管系统
公开(公告)号：US20120004668A1
公开(公告)日：2012-01-05
申请号：US13118293
申请日：2011-05-27
申请人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
发明人： Daniel T. Wallace , Frederic H. Moll , Robert G. Younge , Kenneth M. Martin , Gregory J. Stahler , David F. Moore , Daniel T. Adams , Michael R. Zinn , Gunter D. Niemeyer
IPC分类号： A61B19/00
CPC分类号： A61B34/37 , A61B5/042 , A61B5/066 , A61B5/6852 , A61B5/6885 , A61B5/7285 , A61B5/746 , A61B6/4423 , A61B6/503 , A61B6/504 , A61B6/541 , A61B8/0891 , A61B8/12 , A61B8/4254 , A61B8/4461 , A61B8/4466 , A61B8/543 , A61B10/06 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/71 , A61B34/76 , A61B34/77 , A61B46/10 , A61B90/50 , A61B2017/00247 , A61B2017/003 , A61B2017/00309 , A61B2017/00327 , A61B2018/00392 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B2034/715 , A61B2090/035 , A61B2090/367 , A61B2090/374 , A61B2090/378 , A61B2090/3925 , A61B2090/397 , A61M25/0113 , A61M25/09041
摘要： A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.
摘要翻译：机器人导管系统包括具有主输入装置的控制器。仪器驱动器与控制器通信，并且具有引导仪器接口，其包括响应于至少部分由主输入设备产生的控制信号的多个引导仪器驱动元件。细长的引导器具具有底座，远端和工作腔，其中导向仪器底座可操作地连接到导向仪器接口。导向仪器包括多个导向仪器控制元件，其可操作地联接到相应的引导驱动元件并固定到引导器械的远端。引导仪器控制元件相对于引导仪器可轴向移动，使得引导器械远端的移动可由主输入装置控制。

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