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1. 发明授权

EP0677185B1 ACTIVE HAND CONTROLLER FEEDBACK LOOP 失效
标题翻译：主动手控反馈回路
公开(公告)号：EP0677185B1
公开(公告)日：1999-01-20
申请号：EP94900468.3
申请日：1993-10-29
申请人： HONEYWELL INC.
发明人： GREGORY, William, W. , HEGG, Jeffrey, W. , LANCE, Wayne, E.
IPC分类号： G05D1/00 , B64C13/46
CPC分类号： G05B19/409 , G05B2219/35438 , G05B2219/37396 , G05D1/0061 , H01H2003/008 , Y10T74/20201
摘要： An active hand controller system is provided wherein a feedback loop detects the position of a control stick to control a motor driving the control stick to thereby provide certain force feel characteristics to the control stick. The feedback loop includes a detector for detecting force exerted for the control stick to generate a signal indicative of the force or torque being applied to the control stick. In a more specific aspect, the invention includes the use of variable reluctance transformers, preferably in a push/pull configuration to detect the forces being exerted on the control stick.
摘要翻译：提供一种主动手控制器系统，其中反馈回路检测控制手柄的位置以控制驱动控制手柄的马达，从而为控制手柄提供一定的力感特性。反馈回路包括检测器，用于检测施加给控制杆的力以产生指示施加到控制杆的力或扭矩的信号。在更具体的方面，本发明包括使用可变磁阻变压器，优选地以推/拉配置来检测施加在控制棒上的力。

2. 发明授权

EP0565143B1 Interactive rotary controller system with tactile feedback 失效
标题翻译：具有触觉反馈的互动可转动的控制系统
公开(公告)号：EP0565143B1
公开(公告)日：1998-03-25
申请号：EP93200011.0
申请日：1993-01-05
申请人： AMPEX SYSTEMS CORPORATION
发明人： Larkins, David L. , Yoshida, Glenn T. , Helmers, Thomas L.
IPC分类号： G11B15/00 , H02P8/00 , G05B19/10 , G11B15/02 , G11B15/18 , G11B15/10 , G11B19/16
CPC分类号： G11B19/00 , G05B2219/23053 , G05B2219/23379 , G05B2219/35459 , G05B2219/37023 , G05B2219/37396 , G11B15/026 , G11B15/103 , G11B15/1875 , G11B27/024 , G11B27/028 , G11B2220/90 , H01H2003/008

3. 发明公开

EP0732637A2 Method and apparatus for controlling coordinate displacements of a platform 失效
公开(公告)号：EP0732637A2
公开(公告)日：1996-09-18
申请号：EP96107698.1
申请日：1992-04-30
申请人： Becton Dickinson and Company
发明人： Den Engelse, Peter , Flipse, Alexander
IPC分类号： G05B19/23 , G05B19/421
CPC分类号： G02B21/26 , G05B19/106 , G05B19/231 , G05B19/421 , G05B2219/35459 , G05B2219/35477 , G05B2219/36465 , G05B2219/37396 , G05B2219/43186 , G05B2219/45182 , G05B2219/45238
摘要： The field of the invention is a combination of a microscope and an interactive image analysis system comprising a camera and a computer work station. The purpose of the invention is to facilitate the interactive control of coordinate displacements of the stage of the microscope. For each coordinate x and y an electromechanical control channel is established. At the input of the control channel two cascaded wheels in a coaxial arrangement and two angle encoders are used as a detached, independent tool which is not kinematically linked to the stage. In the middle of the control channel, the pulses of the angle encoders undergo a non-linear transformation. A processor performs a calculation which discriminates between slow displacements and fast displacements. At the end of the control channel, a flat, easily accessible platform of the microscope stage has two working areas, one for manual previewing and one for interactive scanning of a specimen.

4. 发明公开

EP1628176A3 Interface device, haptic feedback system and method therefor 失效
标题翻译：接口装置，触觉反馈系统及其方法
公开(公告)号：EP1628176A3
公开(公告)日：2009-10-28
申请号：EP05023800.5
申请日：1996-12-19
申请人： Immersion Corporation
发明人： Schuler, Chester, L. , Haberman, Seth, M.
IPC分类号： G05B13/00 , G06F3/00
CPC分类号： G06F3/016 , G05B19/108 , G05B19/231 , G05B2219/23053 , G05B2219/35459 , G05B2219/37396 , G05B2219/43186 , G05B2219/45184 , G06F3/011 , G06F3/03543 , G06F3/03549 , G06F3/0362 , G06F2203/014 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , H01H2003/008
摘要： A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. The interface device includes at least two sets of wheels that move as the interface device is actuated. A servo motor (116) is attached to each of the at least two sets of wheels. A position encoder (118) is associated with each servo motor (116) and outputs position information to a controller (120).

5. 发明公开

EP0876639A4 METHOD AND APPARATUS FOR TACTILELY RESPONSIVE USER INTERFACE 失效
标题翻译：方法和设备触摸敏感用户界面
公开(公告)号：EP0876639A4
公开(公告)日：2002-01-02
申请号：EP96945421
申请日：1996-12-19
申请人： IMMERSION CORP
发明人： SCHULER CHESTER L , HABERMAN SETH M
IPC分类号： G05B19/10 , G05B19/23 , G06F3/00 , G06F3/01 , G06F3/033 , G06F3/038 , G06F3/048 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , G05B13/00
CPC分类号： G06F3/016 , G05B19/108 , G05B19/231 , G05B2219/23053 , G05B2219/35459 , G05B2219/37396 , G05B2219/43186 , G05B2219/45184 , G06F3/011 , G06F3/03543 , G06F3/03549 , G06F3/0362 , G06F2203/014 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , H01H2003/008
摘要： A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. The interface device includes at least two sets of wheels that move as the interface device is actuated. A servo motor (116) is attached to each of the at least two sets of wheels. A position encoder (118) is associated with each servo motor (116) and outputs position information to a controller (120).

6. 发明授权

EP0567681B1 Method and apparatus for controlling coordinate displacements of a platform 无效
标题翻译：用于控制协调平台的位移的方法和装置
公开(公告)号：EP0567681B1
公开(公告)日：1997-07-23
申请号：EP92107387.0
申请日：1992-04-30
申请人： Becton Dickinson and Company
发明人： den Engelse, Peter , Flipse, Alexander , Janus, Walter
IPC分类号： G05B19/23 , G05B19/42
CPC分类号： G02B21/26 , G05B19/106 , G05B19/231 , G05B19/421 , G05B2219/35459 , G05B2219/35477 , G05B2219/36465 , G05B2219/37396 , G05B2219/43186 , G05B2219/45182 , G05B2219/45238

7. 发明公开

EP0732640A3 Method and apparatus for controlling coordinate displacements of a platform 失效
标题翻译：用于控制协调平台的位移的方法和装置
公开(公告)号：EP0732640A3
公开(公告)日：1996-12-04
申请号：EP96107674.2
申请日：1992-04-30
申请人： Becton Dickinson and Company
发明人： den Engelse, Peter , Flipse, Alexander
IPC分类号： G05B19/421
CPC分类号： G02B21/26 , G05B19/106 , G05B19/231 , G05B19/421 , G05B2219/35459 , G05B2219/35477 , G05B2219/36465 , G05B2219/37396 , G05B2219/43186 , G05B2219/45182 , G05B2219/45238
摘要： The field of the invention is a combination of a microscope and an interactive image analysis system comprising a camera and a computer work station. The purpose of the invention is to facilitate the interactive control of coordinate displacements of the stage of the microscope. For each coordinate x and y an electromechanical control channel is established. At the input of the control channel two cascaded wheels in a coaxial arrangement and two angle encoders are used as a detached, independent tool which is not kinematically linked to the stage. In the middle of the control channel, the pulses of the angle encoders undergo a non-linear transformation. A processor performs a calculation which discriminates between slow displacements and fast displacements. At the end of the control channel, a flat, easily accessible platform of the microscope stage has two working areas, one for manual previewing and one for interactive scanning of a specimen.

8. 发明公开

EP0440202A3 Force-reflective teleoperation control system 失效
标题翻译：反思电视控制系统
公开(公告)号：EP0440202A3
公开(公告)日：1994-07-13
申请号：EP91101217.7
申请日：1991-01-30
申请人： SARCOS GROUP
发明人： Davis, Clark C. , Iversen, Edwin K. , Jacobsen, Stephen C. , Biggers, Klaus B.
IPC分类号： G05B19/42 , B25J3/04
CPC分类号： G05B19/427 , G05B2219/37396
摘要： A teleoperation system includes a master station having an operable master link coupled to a master actuator which provides force resistance to operation and movement of the master link in response to command signals, and a slave station having a slave link moveable by a slave actuator in response to command signals. Also included is a control system for producing command signals in response to movement of the master link, where the control system includes apparatus for producing a signal representing position of the master link, apparatus for producing a signal representing force supplied to the master actuator by operation of the master link, apparatus for producing a signal representing force applied to the slave link by the slave actuator, apparatus for producing a signal representing position of a slave link, and a force control unit responsive to the master link position signal, the master actuator force signal, the slave actuator force signal, and the slave link position signal for producing a force command signal for supply to the slave actuator to cause the slave actuator to move the slave link in substantially faithful imitation of movement of the master link.
摘要翻译：远程操作系统包括主站，其具有耦合到主致动器的可操作主链路，其响应于命令信号而提供对主链路的操作和移动的阻力，以及具有从属致动器可响应的从链路的从站命令信号。还包括用于响应于主链路的移动而产生命令信号的控制系统，其中控制系统包括用于产生表示主链路的位置的信号的装置，用于产生表示通过操作提供给主致动器的力的信号的装置主致动器的制造装置，用于产生表示由从动执行器施加到从属链路的力的信号的装置，用于产生表示从属链路的位置的信号的装置，以及响应于主链路位置信号的力控制单元，主致动器从动执行器力信号和从属致动器力信号和从属链接位置信号，用于产生用于向从动执行机构提供的力指令信号，以使从动执行器基本上忠实地模仿主连杆的运动。

9. 发明公开

EP0440202A2 Force-reflective teleoperation control system 失效
标题翻译： SteuerungssystemfürFernbedienung mitKraftrückführung。
公开(公告)号：EP0440202A2
公开(公告)日：1991-08-07
申请号：EP91101217.7
申请日：1991-01-30
申请人： SARCOS GROUP
发明人： Davis, Clark C. , Iversen, Edwin K. , Jacobsen, Stephen C. , Biggers, Klaus B.
IPC分类号： G05B19/42 , B25J3/04
CPC分类号： G05B19/427 , G05B2219/37396
摘要： A teleoperation system includes a master station having an operable master link coupled to a master actuator which provides force resistance to operation and movement of the master link in response to command signals, and a slave station having a slave link moveable by a slave actuator in response to command signals. Also included is a control system for producing command signals in response to movement of the master link, where the control system includes apparatus for producing a signal representing position of the master link, apparatus for producing a signal representing force supplied to the master actuator by operation of the master link, apparatus for producing a signal representing force applied to the slave link by the slave actuator, apparatus for producing a signal representing position of a slave link, and a force control unit responsive to the master link position signal, the master actuator force signal, the slave actuator force signal, and the slave link position signal for producing a force command signal for supply to the slave actuator to cause the slave actuator to move the slave link in substantially faithful imitation of movement of the master link.
摘要翻译：远程操作系统包括主站，其具有耦合到主致动器的可操作主链路，其响应于命令信号而提供对主链路的操作和移动的阻力，以及具有从属致动器可响应的从链路的从站命令信号。还包括用于响应于主链路的移动而产生命令信号的控制系统，其中控制系统包括用于产生表示主链路的位置的信号的装置，用于产生表示通过操作提供给主致动器的力的信号的装置主致动器的制造装置，用于产生表示由从动执行器施加到从属链路的力的信号的装置，用于产生表示从属链路的位置的信号的装置，以及响应于主链路位置信号的力控制单元，主致动器从动执行器力信号和从属致动器力信号和从属链接位置信号，用于产生用于向从动执行机构提供的力指令信号，以使从动执行器基本上忠实地模仿主连杆的运动。

10. 发明公开

EP1628176A2 Interface device, haptic feedback system and method therefor 失效
标题翻译： Schnittstellenvorrichtung，haptischesRückkoppelungssystemund Verfahrendafür
公开(公告)号：EP1628176A2
公开(公告)日：2006-02-22
申请号：EP05023800.5
申请日：1996-12-19
申请人： Immersion Corporation
发明人： Schuler, Chester, L. , Haberman, Seth, M.
IPC分类号： G05B13/00
CPC分类号： G06F3/016 , G05B19/108 , G05B19/231 , G05B2219/23053 , G05B2219/35459 , G05B2219/37396 , G05B2219/43186 , G05B2219/45184 , G06F3/011 , G06F3/03543 , G06F3/03549 , G06F3/0362 , G06F2203/014 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , H01H2003/008
摘要： A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. The interface device includes at least two sets of wheels that move as the interface device is actuated. A servo motor (116) is attached to each of the at least two sets of wheels. A position encoder (118) is associated with each servo motor (116) and outputs position information to a controller (120).
摘要翻译：实现可灵活编程的具有电子可控触觉反应性的用户界面装置（例如鼠标或轨迹球）的方法和装置。接口装置包括至少两组随着接口装置致动而移动的轮。伺服电动机（116）附接到至少两组车轮中的每一个。位置编码器（118）与每个伺服电机（116）相关联，并将位置信息输出到控制器（120）。

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