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1. 发明公开

EP0864145A4 TACTILE FEEDBACK MAN-MACHINE INTERFACE DEVICE 失效
标题翻译： TAKTILERÜCKKPLPLUNGFÜRMENSCH- / MASCHINENSCHNITTSTELLE
公开(公告)号：EP0864145A4
公开(公告)日：1998-12-16
申请号：EP96944744
申请日：1996-12-02
申请人： VIRTUAL TECHNOLOGIES INC
发明人： TREMBLAY MARC R , YIM MARK H
IPC分类号： B25J3/00 , B25J13/00 , G06F3/00 , G06F3/01 , G10H1/34 , G09G5/00
CPC分类号： G06F3/016 , G06F3/011 , G06F3/014 , G06F3/0484 , G10H1/34 , G10H2220/321 , G10L15/22 , G10L2015/225
摘要： A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.
摘要翻译：公开了一种为各种感测身体部位提供触觉反馈的人机界面。该装置采用一个或多个振动触觉单元（1801-1805），其中每个单元包括质量块（201）和质量移动致动器（200）。当质量通过质量移动的执行器加速时，整个振动触觉单元振动。因此，振动触觉单元将振动刺激传递到其所附着的感测体部分。振动触觉单元可以与测量被测体部分（1900）的空间位置的空间放置感测设备结合使用。计算设备（1904）使用测量身体部位的空间位置来确定由振动触觉单元提供的期望的振动刺激。以这种方式，计算设备可以响应于测量的身体部位的运动来控制由相应的感测身体部位感知的振动反馈的水平。感测体部分和被测体部分可以是分离的或相同的身体部位。

2. 发明公开

EP0981423A4 FORCE-FEEDBACK INTERFACE DEVICE FOR THE HAND 失效
标题翻译： KRAFTRÜCKKPLPLUNGSSCHINITTSTELLENVORRICHTUNGFÜRDIE HAND
公开(公告)号：EP0981423A4
公开(公告)日：2001-05-16
申请号：EP98922224
申请日：1998-05-12
申请人： VIRTUAL TECHNOLOGIES INC
发明人： KRAMER JAMES F , YIM MARK H , TREMBLAY MARC R , GOMEZ DANIEL H
IPC分类号： A61B19/00 , G06F3/00 , G06F3/01 , A61F5/01 , B25J9/00 , B25J13/02
CPC分类号： G06F3/014 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B2034/741 , A61B2090/064 , B25J9/104 , B25J13/025
摘要： A man-machine interface is disclosed which provides force information to sensing body parts. The interface is comprised of a force-generating device (106) that produces a force which is transmitted to a force-applying device (102) via force-transmitting means (104). The force-applying device applies the generated force to a sensing body part. A force sensor associated with the force-applying device and located in the force applicator (126) measures the actual force applied to the sensing body part, while angle sensors (136) measure the angles of relevant joint body parts. A force-control unit (108) uses the joint body part position information to determine a desired force value to be applied to the sensing body part. The force-control unit combines the joint body part position information with the force sensor information to calculate the force command which is sent to the force-generating device.
摘要翻译：公开了一种人机界面，其向感测身体部位提供力信息。界面由产生力的力产生装置（106）组成，该力通过力传递装置（104）传递到力施加装置（102）。施力装置将产生的力施加到感测体部分。与施力装置相关联且位于力施加器（126）中的力传感器测量施加至感测主体部分的实际力，而角度传感器（136）测量相关关节主体部分的角度。力控制单元（108）使用关节主体部分位置信息来确定要施加到感测主体部分的期望力值。力控制单元将关节主体部分位置信息与力传感器信息组合以计算发送至力生成设备的力命令。

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