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1. 发明授权

US07054775B2 Digitizing system and rotary table for determining 3-D geometry of an object 有权
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：US07054775B2
公开(公告)日：2006-05-30
申请号：US10781801
申请日：2004-02-20
申请人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
IPC分类号： G01B7/08
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 is described. An apparatus includes at least one sensor that detects information describing the three-dimensional geometry of the object and provides 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：描述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形状的信息，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。表面上的转盘和物体围绕轴旋转，在传感器期间或之间检测到描述物体的三维几何的信息。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。

2. 发明授权

US6125337A Probe apparatus and method for tracking the position and orientation of a stylus and controlling a cursor 有权
标题翻译：用于跟踪触控笔的位置和方位并控制光标的探针装置和方法
公开(公告)号：US6125337A
公开(公告)日：2000-09-26
申请号：US212075
申请日：1998-12-15
申请人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
IPC分类号： B25J9/16 , G01B5/00 , G01B5/008 , G01B5/016 , G01B5/20 , G01B21/04 , G05B19/42 , G05D25/02 , G06F3/00 , G06F3/01 , G06F3/038 , G06T15/00 , G01B7/008
CPC分类号： B25J9/1692 , G01B21/04 , G01B21/042 , G01B5/008 , G05B19/4207 , G05D25/02 , G06F3/016 , G06F3/0346 , G06F3/038 , G06F3/0383 , A63F2300/1037 , G05B2219/37021 , G05B2219/37043 , G05B2219/39015 , G05B2219/39021 , G05B2219/39024 , G05B2219/39048 , G05B2219/45055 , G05B2219/45061 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for measuring three-dimensional (3-D) coordinates. A 3-D object can be digitized into a mesh representation manipulable by a computer system by tracing a stylus of a probe apparatus over surfaces of the object. The probe apparatus includes an arm having a series of linkages and joints. The arm can be assembled by placing the joints of the arm in joint fixtures a desired distance and angle apart and bonding the joints to a linkage. The probe apparatus is calibrated by placing the tip of the stylus at an arbitrary point in a work volume and varying the stylus' orientation to find error values and determine calibration parameters. The sensors of the probe apparatus are zeroed by placing the probe apparatus in the only possible home position and assigning assumed starting angles to the sensors. A rotary table can be used to support the object being digitized, where the rotation of the rotary table and object during digitization is sensed and included in coordinate calculations. A mesh representation of the object is developed by a computer system by incrementally creating and displaying triangles from data points of contour lines of the mesh. A selection template allows commands to be selected by the stylus by defining a template having selection areas within the probe's work volume and associating the selection areas with specific commands to the host computer.
摘要翻译：一种用于测量三维（3-D）坐标的方法和装置。 3-D物体可以被数字化为可由计算机系统操纵的网格表示，通过在对象的表面上追踪探针装置的触针。探针装置包括具有一系列连杆和接头的臂。手臂可以通过将臂的关节放置在关节固定装置中，将所需的距离和角度分开并将关节粘合到连杆上来组装。通过将探针的尖端放置在工作体积中的任意点并改变触针取向以找出误差值并确定校准参数来校准探针装置。探针装置的传感器通过将探针装置置于唯一可能的原始位置并将假设的起始角度分配给传感器来归零。旋转工作台可用于支撑被数字化的物体，其中感测数字化期间旋转台和物体的旋转并包括在坐标计算中。该对象的网格表示由计算机系统通过从网格的轮廓线的数据点递增地创建和显示三角形来开发。选择模板允许通过在探针的工作量中定义具有选择区域的模板并且将选择区域与特定命令相关联的方式通过触控笔来选择命令。

3. 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。

4. 发明授权

US6134506A Method and apparatus for tracking the position and orientation of a stylus and for digitizing a 3-D object 失效
标题翻译：用于跟踪触针的位置和方向以及用于数字化3D对象的方法和装置
公开(公告)号：US6134506A
公开(公告)日：2000-10-17
申请号：US739454
申请日：1996-10-29
申请人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
IPC分类号： B25J9/16 , G01B5/00 , G01B5/008 , G01B5/016 , G01B5/20 , G01B21/04 , G05B19/42 , G05D25/02 , G06F3/00 , G06F3/01 , G06F3/038 , G06T15/00 , G06F3/033
CPC分类号： B25J9/1692 , G01B21/04 , G01B21/042 , G01B5/008 , G05B19/4207 , G05D25/02 , G06F3/016 , G06F3/0346 , G06F3/038 , G06F3/0383 , A63F2300/1037 , G05B2219/37021 , G05B2219/37043 , G05B2219/39015 , G05B2219/39021 , G05B2219/39024 , G05B2219/39048 , G05B2219/45055 , G05B2219/45061 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for measuring three-dimensional (3-D) coordinates. A 3-D object can be digitized into a mesh representation manipulable by a computer system by tracing a stylus of a probe apparatus over surfaces of the object. The probe apparatus includes an arm having a series of linkages and joints. The arm can be assembled by placing the joints of the arm in joint fixtures a desired distance and angle apart and bonding the joints to a linkage. The probe apparatus is calibrated by placing the tip of the stylus at an arbitrary point in a work volume and varying the stylus' orientation to find error values and determine calibration parameters. The sensors of the probe apparatus are zeroed by placing the probe apparatus in the only possible home position and assigning assumed starting angles to the sensors. A rotary table can be used to support the object being digitized, where the rotation of the rotary table and object during digitization is sensed and included in coordinate calculations. A mesh representation of the object is-developed by a computer system by incrementally creating and displaying triangles from data points of contour lines of the mesh. A selection template allows commands to be selected by the stylus by defining a template having selection areas within the probe's work volume and associating the selection areas with specific commands to the host computer.
摘要翻译：一种用于测量三维（3-D）坐标的方法和装置。 3-D物体可以被数字化为可由计算机系统操纵的网格表示，通过在对象的表面上追踪探针装置的触针。探针装置包括具有一系列连杆和接头的臂。手臂可以通过将臂的关节放置在关节固定装置中，将所需的距离和角度分开并将关节粘合到连杆上来组装。通过将探针的尖端放置在工作体积中的任意点并改变触针取向以找出误差值并确定校准参数来校准探针装置。探针装置的传感器通过将探针装置置于唯一可能的原始位置并将假设的起始角度分配给传感器来归零。旋转工作台可用于支撑被数字化的物体，其中感测数字化期间旋转台和物体的旋转并包括在坐标计算中。该对象的网格表示由计算机系统通过从网格的轮廓线的数据点递增地创建和显示三角形来开发。选择模板允许通过在探针的工作量中定义具有选择区域的模板并且将选择区域与特定命令相关联的方式通过触控笔来选择命令。

5. 发明授权

US06015473A Method for producing a precision 3-D measuring apparatus 失效
标题翻译：精密三维测量装置的制造方法
公开(公告)号：US06015473A
公开(公告)日：2000-01-18
申请号：US744725
申请日：1996-11-01
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： B25J9/16 , G01B5/00 , G01B5/008 , G01B5/016 , G01B5/20 , G01B21/04 , G05B19/42 , G05D25/02 , G06F3/00 , G06F3/01 , G06F3/038 , G06T15/00 , B29C65/00 , B29C65/54 , B29C65/78
CPC分类号： B25J9/1692 , G01B21/04 , G01B21/042 , G01B5/008 , G05B19/4207 , G05D25/02 , G06F3/016 , G06F3/0346 , G06F3/038 , G06F3/0383 , A63F2300/1037 , G05B2219/37021 , G05B2219/37043 , G05B2219/39015 , G05B2219/39021 , G05B2219/39024 , G05B2219/39048 , G05B2219/45055 , G05B2219/45061 , G06F2203/015 , H01H2003/008
摘要： A method for assembling a linkage assembly for a 3-D Digitizing Probe Apparatus. A linkage assembly for incorporation into the probe apparatus includes a linkage and a joint member provided at each end of the linkage. Joint fixtures for receiving and holding the joints are provided at a desired distance and orientation apart. The joint members are loosely coupled to the linkage and are moved relative to the linkage so that the joint members fit in the joint fixtures and so that the linkage provides a desired length between the joints. The joint members are bonded to the linkage while the assembly is in the fixtures, thus fastening the components of the assembly together with minimal stress to the assembly and providing a precise linkage length and orientation of joints in the assembly.
摘要翻译：一种用于组装3-D数字化探头装置的连杆组件的方法。用于结合到探针装置中的连杆组件包括连杆机构和设置在连杆机构两端的接头部件。用于接收和保持接头的接合夹具以期望的距离和方向分开设置。联接构件松动地联接到联动装置并且相对于联动装置移动，使得关节构件配合在关节固定装置中，使得连杆在关节之间提供期望的长度。联接构件在组件位于固定装置中时结合到联动装置上，从而将组件的部件以最小的应力紧固在组件上，并提供组件中接头的精确的连杆长度和取向。

6. 发明授权

US5724264A Method and apparatus for tracking the position and orientation of a stylus and for digitizing a 3-D object 失效
公开(公告)号：US5724264A
公开(公告)日：1998-03-03
申请号：US512084
申请日：1995-08-07
申请人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bruce M. Schena , Bernard G. Jackson
IPC分类号： B25J9/16 , G01B5/00 , G01B5/008 , G01B5/016 , G01B5/20 , G01B21/04 , G05B19/42 , G05D25/02 , G06F3/00 , G06F3/01 , G06F3/038 , G06T15/00 , G01B7/008
CPC分类号： B25J9/1692 , G01B21/04 , G01B21/042 , G01B5/008 , G05B19/4207 , G05D25/02 , G06F3/016 , G06F3/0346 , G06F3/038 , G06F3/0383 , A63F2300/1037 , G05B2219/37021 , G05B2219/37043 , G05B2219/39015 , G05B2219/39021 , G05B2219/39024 , G05B2219/39048 , G05B2219/45055 , G05B2219/45061 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for measuring three-dimensional (3-D) coordinates. A 3-D object can be digitized into a mesh representation manipulable by a computer system by tracing a stylus of a probe apparatus over surfaces of the object. The probe apparatus includes an arm having a series of linkages and joints. The arm can be assembled by placing the joints of the arm in joint fixtures a desired distance and angle apart and bonding the joints to a linkage. The probe apparatus is calibrated by placing the tip of the stylus at an arbitrary point in a work volume and varying the stylus' orientation to find error values and determine calibration parameters. The sensors of the probe apparatus are zeroed by placing the probe apparatus in the only possible home position and assigning assumed starting angles to the sensors. A rotary table can be used to support the object being digitized, where the rotation of the rotary table and object during digitization is sensed and included in coordinate calculations. A mesh representation of the object is developed by a computer system by incrementally creating and displaying triangles from data points of contour lines of the mesh. A selection template allows commands to be selected by the stylus by defining a template having selection areas within the probe's work volume and associating the selection areas with specific commands to the host computer.

7. 发明授权

US6057828A Method and apparatus for providing force sensations in virtual environments in accordance with host software 失效
标题翻译：根据主机软件在虚拟环境中提供力感觉的方法和装置
公开(公告)号：US6057828A
公开(公告)日：2000-05-02
申请号：US784803
申请日：1997-01-16
申请人： Louis B. Rosenberg , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bernard G. Jackson
IPC分类号： A61B19/00 , B25J9/16 , G01B21/04 , G05B19/42 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/038 , G09B9/28 , G09B23/28 , G09G5/00
CPC分类号： G06F3/016 , B25J9/1692 , G01B21/04 , G05B19/4207 , G06F3/0346 , G06F3/038 , G06F3/0383 , G09B23/28 , G09B9/28 , A61B90/50 , G05G2009/0474 , G05G2009/04766 , G05G9/047 , G05G9/04737 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for providing force sensations in virtual environments includes a human/computer interface device and method used in conjunction with a host computer and which can provide feel sensations to a user of the device. A user manipulatable object physically contacted by a user, such as a joystick, stylus, pool cue, or other object, is movable in multiple degrees of freedom using a gimbal mechanism. A local microprocessor, separate from the host computer, enables communication with the host computer and receives commands from the host, decodes the commands, outputs actuator signals in accordance with commands, receives sensor signals, and reports data to the host in response to commands. Actuators generate feel sensations by providing a force on the user object in response to actuator signals from the local microprocessor, and sensors detect the motion of the user object and reports sensor signals to the local microprocessor. Memory is included locally to the local microprocessor for storing program instructions and routines enabling feel sensations and host-microprocessor communication. The feel sensation generated on the user is, in one embodiment, a damping sensation simulating a feel of motion through a fluid. In another embodiment, the feel sensation is a wall sensation simulating the feel of impacting a surface or obstruction.
摘要翻译：用于在虚拟环境中提供力感觉的方法和装置包括与主机结合使用并且可以为设备的用户提供感觉的人/计算机接口设备和方法。由用户物理接触的用户可操纵对象（诸如操纵杆，触控笔，游泳池提示或其他对象）可以使用万向节机制在多个自由度上移动。与主机分离的本地微处理器使得能够与主计算机进行通信并从主机接收命令，解码命令，根据命令输出执行器信号，接收传感器信号，并根据命令向主机报告数据。致动器通过响应于来自本地微处理器的致动器信号在用户对象上提供力而产生感觉，并且传感器检测用户对象的运动并将传感器信号报告给本地微处理器。存储器本地包括在本地微处理器中，用于存储程序指令和程序，使得能够感觉到感觉和主机 - 微处理器通信。在一个实施例中，在用户身上产生的感觉是通过流体模拟运动感的阻尼感。在另一个实施例中，感觉是模拟影响表面或障碍物的感觉的壁感觉。

8. 发明授权

US5880714A Three-dimensional cursor control interface with force feedback 失效
标题翻译：具有力反馈的三维光标控制界面
公开(公告)号：US5880714A
公开(公告)日：1999-03-09
申请号：US784198
申请日：1997-01-15
申请人： Louis B. Rosenberg , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bernard G. Jackson
IPC分类号： B25J9/16 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/42 , G05D25/02 , G06F3/00 , G06F3/01 , G06F3/038 , G09G5/00
CPC分类号： G06F3/016 , B25J9/1692 , G01B21/04 , G01B5/008 , G01B7/004 , G05B19/4207 , G05D25/02 , G05G5/03 , G05G9/04737 , G06F3/011 , G06F3/0346 , G06F3/03545 , G06F3/038 , G06F3/0383 , A63F2300/1037 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for use with a computer for providing commands to a computer through tracked manual gestures and for providing feedback to the user through forces applied to the interface. A user manipulatable object is coupled to a mechanical linkage which is, in turn, supportable on a fixed surface. The mechanical linkage or the user manipulatable object is tracked by sensors for sensing the location and/or orientation of the object. A multi-processor system architecture is disclosed wherein a host computer system is interfaced with a dedicated microprocessor which is responsive to the output of the sensors and provides the host computer with information derived from the sensors. The host computer runs an application program which responds to the information provided via the microprocessor and which can provide force-feedback commands back to the microprocessor, the force feedback being felt by a user via the user manipulatable object.
摘要翻译：一种用于计算机的方法和装置，用于通过跟踪的手动手势向计算机提供命令，并通过施加到界面的力量向用户提供反馈。用户可操纵的物体被耦合到机械联动装置，而机械联动装置又可支撑在固定的表面上。用于感测物体的位置和/或取向的传感器跟踪机械联动装置或用户可操纵物体。公开了一种多处理器系统架构，其中主计算机系统与专用微处理器连接，专用微处理器响应于传感器的输出并向主计算机提供从传感器得到的信息。主计算机运行应用程序，其响应通过微处理器提供的信息，并且其可以向微处理器提供力反馈命令，用户经由用户可操纵的对象感觉力反馈。

9. 发明授权

US5701140A Method and apparatus for providing a cursor control interface with force feedback 失效
标题翻译：用于提供具有力反馈的光标控制界面的方法和装置
公开(公告)号：US5701140A
公开(公告)日：1997-12-23
申请号：US583032
申请日：1996-02-16
申请人： Louis B. Rosenberg , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bernard G. Jackson
IPC分类号： B25J9/16 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/42 , G05D25/02 , G06F3/00 , G06F3/01 , G06F3/038 , G09G3/33
CPC分类号： G06F3/016 , B25J9/1692 , G01B21/04 , G01B5/008 , G01B7/004 , G05B19/4207 , G05D25/02 , G05G5/03 , G05G9/04737 , G06F3/011 , G06F3/0346 , G06F3/03545 , G06F3/038 , G06F3/0383 , A63F2300/1037 , G06F2203/015 , H01H2003/008
摘要： A method and apparatus for use with a computer for providing commands to a computer through tracked manual gestures and for providing feedback to the user through forces applied to the interface. A user manipulatable object is coupled to a mechanical linkage which is, in turn, supportable on a fixed surface. The mechanical linkage or the user manipulatable object is tracked by sensors for sensing the location and/or orientation of the object. A multi-processor system architecture is disclosed wherein a host computer system is interfaced with a dedicated microprocessor which is responsive to the output of the sensors and provides the host computer with information derived from the sensors. The host computer has an application program which responds to the information provided via the microprocessor and which can provide force-feedback commands back to the microprocessor, which is felt by a user via the user manipulatable object.
摘要翻译： PCT No.PCT / US94 / 07851 Sec。 371日期1996年2月16日 102（e）日期1996年2月16日PCT提交1994年7月12日PCT公布。公开号WO95 / 02801 日期1995年1月26日一种用于计算机的方法和装置，用于通过跟踪的手动手势向计算机提供命令，并通过施加到界面的力量向用户提供反馈。用户可操纵的物体被耦合到机械联动装置，而机械联动装置又可支撑在固定的表面上。用于感测物体的位置和/或取向的传感器跟踪机械联动装置或用户可操纵物体。公开了一种多处理器系统架构，其中主计算机系统与专用微处理器连接，专用微处理器响应于传感器的输出并向主计算机提供从传感器得到的信息。主计算机具有应用程序，该应用程序响应通过微处理器提供的信息，并且其可以向用户通过用户可操纵对象感觉到向微处理器提供力反馈命令。

10. 发明授权

US07460105B2 Interface device for sensing position and orientation and outputting force feedback 有权
标题翻译：用于检测位置和方位并输出力反馈的接口装置
公开(公告)号：US07460105B2
公开(公告)日：2008-12-02
申请号：US11332537
申请日：2006-01-13
申请人： Louis B. Rosenberg , Bernard G. Jackson
发明人： Louis B. Rosenberg , Bernard G. Jackson
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , A63F2300/1037 , B25J9/1692 , G01B5/008 , G01B7/004 , G01B21/04 , G05B19/4207 , G05G5/03 , G05G9/04737 , G06F3/011 , G06F3/0346 , G06F3/03545 , G06F3/038 , G06F3/0383 , G06F2203/015 , H01H2003/008
摘要： An interface device for use with a computer that provides locative data to a computer for tracking a user manipulatable physical object and provides feedback to the user through output forces. The physical object is movable in multiple degrees of freedom and is tracked by sensors for sensing the location and orientation of the object. A device processor can be responsive to the output of the sensors and can provide the host computer with information derived from the sensors. The host computer can provide images on a display where the computer responds to the provided sensor information and force feedback is correlated with the displayed images via force feedback commands from the host computer.
摘要翻译：一种用于与计算机一起使用的接口设备，其向计算机提供定位数据以跟踪用户可操纵的物理对象，并通过输出力向用户提供反馈。物理物体可在多个自由度上移动，并由传感器跟踪以感测物体的位置和方位。设备处理器可以响应于传感器的输出，并且可以向主机提供从传感器导出的信息。主计算机可以在计算机响应所提供的传感器信息的显示器上提供图像，并且通过来自主计算机的力反馈命令将力反馈与所显示的图像相关联。

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