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31. 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。

32. 发明授权

US06946812B1 Method and apparatus for providing force feedback using multiple grounded actuators 失效
标题翻译：使用多个接地致动器提供力反馈的方法和装置
公开(公告)号：US06946812B1
公开(公告)日：2005-09-20
申请号：US09106565
申请日：1998-06-29
申请人： Kenneth M. Martin , Mike D. Levin , Louis B. Rosenberg
发明人： Kenneth M. Martin , Mike D. Levin , Louis B. Rosenberg
IPC分类号： A61B19/00 , B25J9/16 , G06F3/033 , G09B23/28 , G05B19/10
CPC分类号： B25J9/1689 , A61B34/70 , A61B34/71 , A61B34/76 , A61B2034/742 , G05B2219/35419 , G05B2219/40144 , G06F3/0346 , G06F19/00 , G09B23/28
摘要： An apparatus and method for interfacing the motion of a user-manipulable object with a computer system includes a user object physically contacted or grasped by a user. A 3-D spatial mechanism is coupled to the user object, such as a stylus or a medical instrument, and provides three degrees of freedom to the user object. Three grounded actuators provide forces in the three degrees of freedom. Two of the degrees of freedom are a planar workspace provided by a closed-loop linkage of members, and the third degree of freedom is rotation of the planar workspace provided by a rotatable carriage. Capstan drive mechanisms transmit forces between actuators and the user object and include drums coupled to the carriage, pulleys coupled to-grounded actuators, and flexible cables transmitting force between the pulleys and the drums. The flexibility of the cable allows the drums to rotate with the carriage while the pulleys and actuators remain fixed to ground. The interface also may include a floating gimbal mechanism coupling the linkage to the user object. The floating gimbal mechanism includes rotatably coupled gimbal members that provide three degrees of freedom to the user object and capstan mechanisms coupled between sensors and the gimbal members for providing enhanced sensor resolution.
摘要翻译：用于将用户可操纵对象与计算机系统的运动对接的装置和方法包括用户实际接触或掌握的用户对象。三维空间机构耦合到诸如触笔或医疗器械的用户对象，并且向用户对象提供三个自由度。三个接地执行器提供了三个自由度的力。自由度中的两个是由构件的闭环联动提供的平面工作空间，并且第三自由度是由可旋转托架提供的平面工作空间的旋转。绞盘驱动机构在致动器和用户物体之间传递力，并且包括联接到滑架的滚筒，耦合到接地致动器的滑轮和在滑轮和滚筒之间传递力的柔性电缆。电缆的灵活性允许鼓与滑架一起旋转，同时滑轮和致动器保持固定在地面上。该接口还可以包括将该链接耦合到用户对象的浮动万向架机构。浮动万向架机构包括可旋转地联接的万向架构件，其向用户物体提供三个自由度，并且联接在传感器和万向节构件之间的主导机构用于提供增强的传感器分辨率。

33. 发明授权

US06563487B2 Haptic feedback for directional control pads 有权
标题翻译：方向控制垫的触觉反馈
公开(公告)号：US06563487B2
公开(公告)日：2003-05-13
申请号：US09467309
申请日：1999-12-17
申请人： Kenneth M. Martin , Louis B. Rosenberg
发明人： Kenneth M. Martin , Louis B. Rosenberg
IPC分类号： G09G500
CPC分类号： A63F13/285 , A63F13/24 , A63F2300/1037 , A63F2300/1062 , A63F2300/8017 , G06F3/011 , G06F3/016 , G06F3/0338 , G06F3/03543 , G06F3/03545 , G06F3/0362 , G06F2203/013 , G06F2203/014 , G06F2203/015 , H04L69/329
摘要： A haptic feedback control device coupled to a host computer and outputting forces to a user of the control device. The control device includes a housing, a direction pad capable of being contacted by the user in at least two different locations to provide two different directional signals to the host computer, and a computer-controlled actuator that outputs a force directly on the direction pad. A sensor, such as one or more contact switches, can detects when the locations of the direction pad have been contacted or pressed by the user. The actuator can be a linear or rotary actuator that outputs a force on the direction pad, e.g. approximately perpendicular to the top surface of the direction pad. The actuator can output a vibration or a pulse tactile sensation on the direction pad in coordination with interactions or events in a computer graphical environment or functions of a controlled electronic device. The control device can be a game controller, a mouse, a remote control device, or other type of device.
摘要翻译：触觉反馈控制装置，其耦合到主计算机并向所述控制装置的用户输出力。控制装置包括壳体，能够在至少两个不同位置与使用者接触的方向盘，以向主计算机提供两个不同的方向信号;以及计算机控制的致动器，其直接在方向盘上输出力。诸如一个或多个接触开关的传感器可以检测方向盘的位置何时被用户接触或按压。致动器可以是在方向盘上输出力的线性或旋转致动器，例如。大致垂直于方向盘的顶面。致动器可以与计算机图形环境中的相互作用或事件或受控电子设备的功能协调地在方向焊盘上输出振动或脉冲触觉。控制装置可以是游戏控制器，鼠标，遥控装置或其他类型的装置。

34. 发明授权

US08552982B2 Position sensing methods for interface devices 有权
标题翻译：接口设备的位置检测方法
公开(公告)号：US08552982B2
公开(公告)日：2013-10-08
申请号：US10657854
申请日：2003-09-09
申请人： Kenneth M. Martin , Adam C. Braun , Ryan D. Bruneau
发明人： Kenneth M. Martin , Adam C. Braun , Ryan D. Bruneau
IPC分类号： G09G5/08
CPC分类号： A63F13/22 , A63F13/06 , A63F13/21 , A63F13/285 , A63F2300/1037 , A63F2300/1043
摘要： Improvements in accurately sensing a user manipulandum of a force feedback device. A force feedback device, coupled to a host computer, includes an actuator for outputting forces on a manipulandum and a sensor for detecting a position of the manipulandum. In one feature, a raw sensor value representing manipulandum position is adjusted based on compliance between sensor and manipulandum, where the adjustment can be based on a compliance constant and an output force. In another feature, a range of motion of the manipulandum is dynamically calibrated from startup. One boundary value of an assigned initial range is set equal to a received sensor value if the sensor value is outside the initial range, and the other boundary value is adjusted to maintain the size of the initial range unless the other boundary value has already been sensed outside the initial range. In another feature, manipulandum position is accurately sensed by filtering raw sensor values for overshoot values occurring at limits to manipulandum motion and using the filtered value in the dynamic calibration. In another feature, sensing inaccuracies caused by compliance in the device are decreased by normalizing a raw sensor value to a normalized range of motion that includes a saturation zone at each end of the range that adjusts sensor values over a saturation level to the saturation level.
摘要翻译：精确感测用户操纵力反馈装置的改进。耦合到主计算机的力反馈装置包括用于在操纵上输出力的致动器和用于检测操纵的位置的传感器。在一个特征中，基于传感器和操纵之间的顺应度来调整表示操纵位置的原始传感器值，其中调整可以基于顺从性常数和输出力。在另一个特征中，操作的运动范围从启动动态校准。如果传感器值在初始范围之外，则分配的初始范围的一个边界值被设置为等于接收到的传感器值，并且另一边界值被调整以维持初始范围的大小，除非已经感测到另一个边界值在初始范围之外。在另一个特征中，通过过滤原始传感器值以便在操纵力运动的限制下发生的过冲值并且使用动态校准中的滤波值来精确地感测到操纵性位置。在另一个特征中，通过将原始传感器值归一化为归一化的运动范围来降低感测由装置中的顺应性引起的不准确度，该归一化运动范围包括在将饱和电平上的传感器值调整到饱和度的范围的每个端点处的饱和区域。

35. 发明授权

US07327348B2 Haptic feedback effects for control knobs and other interface devices 有权
标题翻译：用于控制旋钮和其他接口设备的触觉反馈效果
公开(公告)号：US07327348B2
公开(公告)日：2008-02-05
申请号：US10641243
申请日：2003-08-14
申请人： Alex S. Goldenberg , Steven P. Vassallo , Kenneth M. Martin , Adam C. Braun
发明人： Alex S. Goldenberg , Steven P. Vassallo , Kenneth M. Martin , Adam C. Braun
IPC分类号： G00G5/00
CPC分类号： G06F3/016 , A63F2300/1037 , B60K37/06 , B60K2350/102 , G05G1/02 , G05G1/08 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F3/0485 , G06F2203/013 , G06F2203/014 , H01H25/008 , H01H25/06 , H01H2003/008 , Y10T74/20012
摘要： The present invention provides haptic sensations for a haptic feedback device and especially for a rotational device such as a knob. Force effects such as a hill force effect and barrier force effect allow easier selection of menu items, menus, values, or other options by the user. Force models are also described to allow greater selection functionality, such as a scrolling list with detents and rate control borders, a jog shuttle, a push-turn model, a double-push model, and a cast control model.
摘要翻译：本发明提供了触觉反馈装置的触觉感觉，特别是用于诸如旋钮的旋转装置。诸如山力效应和障碍力效应的力效应允许用户更容易地选择菜单项，菜单，值或其他选项。还描述了强制模型以允许更多的选择功能，例如具有制动和速率控制边界的滚动列表，旋转梭，推挽模型，双推模型和铸造控制模型。

36. 发明授权

US06903721B2 Method and apparatus for compensating for position slip in interface devices 有权
公开(公告)号：US06903721B2
公开(公告)日：2005-06-07
申请号：US09570157
申请日：2000-05-11
申请人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
发明人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
IPC分类号： G06F3/00 , G06F3/01 , G09G5/08
CPC分类号： G06F3/016 , A63F2300/1018 , A63F2300/1037
摘要： Method and apparatus for compensating for position slip in interface devices that may occur between a manipulandum and a sensor of the device due to a mechanical transmission. A device position delta is determined from a sensed position of a manipulandum of an interface device. It is determined if position slip has occurred caused by a change in position of the manipulandum that was not sensed by a sensor of the interface device, typically caused by a mechanical transmission between sensor and manipulandum. If position slip has occurred, an error in the sensed position caused by the position slip is corrected by adjusting the sensed position to take into account the position slip. The adjusted position delta is used as the position of the manipulandum and the display of objects controlled by the interface device are accordingly compensated.

37. 发明授权

US06704002B1 Position sensing methods for interface devices 有权
标题翻译：接口设备的位置检测方法
公开(公告)号：US06704002B1
公开(公告)日：2004-03-09
申请号：US09571397
申请日：2000-05-15
申请人： Kenneth M. Martin , Adam C. Braun , Ryan D. Bruneau
发明人： Kenneth M. Martin , Adam C. Braun , Ryan D. Bruneau
IPC分类号： G09G508
CPC分类号： A63F13/22 , A63F13/06 , A63F13/21 , A63F13/285 , A63F2300/1037 , A63F2300/1043
摘要： Improvements in accurately sensing a user manipulandum of a force feedback device. A force feedback device, coupled to a host computer, includes an actuator for outputting forces on a manipulandum and a sensor for detecting a position of the manipulandum. In one feature, a raw sensor value representing manipulandum position is adjusted based on compliance between sensor and manipulandum, where the adjustment can be based on a compliance constant and an output force. In another feature, a range of motion of the manipulandum is dynamically calibrated from startup. One boundary value of an assigned initial range is set equal to a received sensor value if the sensor value is outside the initial range, and the other boundary value is adjusted to maintain the size of the initial range unless the other boundary value has already been sensed outside the initial range. In another feature, manipulandum position is accurately sensed by filtering raw sensor values for overshoot values occurring at limits to manipulandum motion and using the filtered value in the dynamic calibration. In another feature, sensing inaccuracies caused by compliance in the device are decreased by normalizing a raw sensor value to a normalized range of motion that includes a saturation zone at each end of the range that adjusts sensor values over a saturation level to the saturation level.
摘要翻译：精确感测用户操纵力反馈装置的改进。耦合到主计算机的力反馈装置包括用于在操纵上输出力的致动器和用于检测操纵的位置的传感器。在一个特征中，基于传感器和操纵之间的顺应度来调整表示操纵位置的原始传感器值，其中调整可以基于顺从性常数和输出力。在另一个特征中，操作的运动范围从启动动态校准。如果传感器值在初始范围之外，则分配的初始范围的一个边界值被设置为等于接收到的传感器值，并且另一边界值被调整以维持初始范围的大小，除非已经感测到另一个边界值在初始范围之外。在另一个特征中，通过过滤原始传感器值以便在操纵力运动的限制下发生的过冲值并且使用动态校准中的滤波值来精确地感测到操纵性位置。在另一个特征中，通过将原始传感器值归一化为归一化的运动范围来降低感测由装置中的顺应性引起的不准确度，该归一化运动范围包括在将饱和电平上的传感器值调整到饱和度的范围的每个端点处的饱和区域。

38. 发明申请

US20080303789A1 Method and Apparatus for Compensating for Position Slip in Interface Devices 有权
标题翻译：用于补偿接口设备中位置滑移的方法和装置
公开(公告)号：US20080303789A1
公开(公告)日：2008-12-11
申请号：US12191983
申请日：2008-08-14
申请人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
发明人： Adam C. Braun , Kollin M. Tierling , Kenneth M. Martin , Bruce M. Schena
IPC分类号： G06F3/00
CPC分类号： G06F3/016 , A63F2300/1018 , A63F2300/1037
摘要： Method and apparatus for compensating for position slip in interface devices that may occur between a manipulandum and a sensor of the device due to a mechanical transmission. A device position delta is determined from a sensed position of a manipulandum of an interface device. It is determined if position slip has occurred caused by a change in position of the manipulandum that was not sensed by a sensor of the interface device, typically caused by a mechanical transmission between sensor and manipulandum. If position slip has occurred, an error in the sensed position caused by the position slip is corrected by adjusting the sensed position to take into account the position slip. The adjusted position delta is used as the position of the manipulandum and the display of objects controlled by the interface device are accordingly compensated.
摘要翻译：用于补偿由于机械传动而可能发生在装置的操纵和传感器之间的界面装置中的位置滑移的方法和装置。从接口设备的操作的感测位置确定设备位置增量。通过由传感器和操纵之间的机械传动引起的接口装置的传感器没有感测到的操作位置的变化，确定是否发生位置滑移。如果发生位置滑移，则通过调整感测位置来考虑位置滑移来校正由位置滑移引起的感测位置的误差。调整后的位置增量被用作操纵的位置，相应地补偿由接口装置控制的物体的显示。

39. 发明授权

US06636197B1 Haptic feedback effects for control, knobs and other interface devices 有权
标题翻译：用于控制，旋钮和其他接口设备的触觉反馈效果
公开(公告)号：US06636197B1
公开(公告)日：2003-10-21
申请号：US09783936
申请日：2001-02-14
申请人： Alex S. Goldenberg , Steven P. Vassallo , Kenneth M. Martin , Adam C. Braun
发明人： Alex S. Goldenberg , Steven P. Vassallo , Kenneth M. Martin , Adam C. Braun
IPC分类号： G09G500
CPC分类号： G06F3/016 , A63F2300/1037 , B60K37/06 , B60K2350/102 , G05G1/02 , G05G1/08 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F3/0485 , G06F2203/013 , G06F2203/014 , H01H25/008 , H01H25/06 , H01H2003/008 , Y10T74/20012
摘要： The present invention provides haptic sensations for a haptic feedback device and especially for a rotational device such as a knob. Force effects such as a hill force effect and barrier force effect allow easier selection of menu items, menus, values, or other options by the user. Force models are also described to allow greater selection functionality, such as a scrolling list with detents and rate control borders, a jog shuttle, a push-turn model, a double-push model, and a cast control model.
摘要翻译：本发明提供了触觉反馈装置的触觉感觉，特别是用于诸如旋钮的旋转装置。诸如山力效应和障碍力效应的力效应允许用户更容易地选择菜单项，菜单，值或其他选项。还描述了强制模型以允许更多的选择功能，例如具有制动和速率控制边界的滚动列表，旋转梭，推挽模型，双推模型和铸造控制模型。

40. 发明授权

US07965276B1 Force output adjustment in force feedback devices based on user contact 有权
标题翻译：基于用户接触力强制反馈装置的强制输出调整
公开(公告)号：US07965276B1
公开(公告)日：2011-06-21
申请号：US09798872
申请日：2001-03-01
申请人： Kenneth M. Martin , Adam C. Braun , David F. Moore
发明人： Kenneth M. Martin , Adam C. Braun , David F. Moore
IPC分类号： G09G5/08 , G09G5/00
CPC分类号： G06F3/016 , G06F2203/013 , G06F2203/015
摘要： A method and apparatus for adjusting force output from force feedback devices based on user contact with the device. A degree of user contact with a manipulandum of the device is determined by examining the motion of the manipulandum in at least one degree of freedom. A force is output in the degree of freedom of the manipulandum by an actuator of the force feedback device, where a magnitude of the force is adjusted in accordance with the degree of user contact. The force output can be stopped if the user is not contacting the manipulandum, or the forces can be reduced in magnitude if the user has a light contact or reduced grip on the manipulandum. The device can also continue to monitor manipulandum motion to determine when the user is again interacting with the manipulandum and to reapply or increase the magnitude of the forces.
摘要翻译：一种用于根据用户与设备接触来调节力反馈装置的力输出的方法和装置。通过以至少一个自由度检查操纵的动作来确定用户与装置的操纵的接触程度。通过力反馈装置的致动器在力操作的自由度中输出力，其中根据用户接触程度来调节力的大小。如果用户没有接触到操纵力，则可以停止力输出，或者如果用户在操作上具有轻微的接触或减少的抓地力，则可以大幅度减小力。该装置还可以继续监视操纵运动以确定用户何时再次与操纵进行交互并且重新应用或增加力的大小。

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