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41. 发明授权

US5642469A Direct-drive manipulator for pen-based force display 失效
标题翻译：直接驱动机械手，用于基于笔的力显示
公开(公告)号：US5642469A
公开(公告)日：1997-06-24
申请号：US334621
申请日：1994-11-03
申请人： Blake Hannaford , Pietro Buttolo
发明人： Blake Hannaford , Pietro Buttolo
IPC分类号： B25J9/10 , B25J13/02 , B25J13/08 , G06F3/00 , G06F3/01 , G06F3/033 , G09B23/28 , G06F15/00
CPC分类号： G06F3/016 , B25J13/02 , B25J13/085 , B25J9/106 , G06F3/0346 , G09B23/28 , G06F2203/015
摘要： A pen-based direct-drive manipulator enables precision manipulation and force display of a control point within three degrees of freedom. The control point exhibits substantially no backlash, very low friction and very low inertia making it useful as a force display. The manipulator also has a very high force generation bandwidth allowing high frequency force components to be displayed. A parallel actuator structure controls motion over two degrees of freedom in a horizontal plane. The parallel structure is a redundant structure including three chains in parallel coupled at the control point. The redundant structure provides a uniform force capability throughout the manipulator workspace. A pair of rotational actuators rotate the parallel structure about an axis to approximate a linear motion along a third axis. The rotational actuators provide a third degree of freedom for the control point. Motion about the third axis is substantially decouple from motion about the horizontal plane.
摘要翻译：基于笔的直接驱动操纵器使得能够在三个自由度内精确地操纵和强制显示控制点。控制点基本上没有表现出齿隙，非常低的摩擦和非常低的惯性，使其作为力显示是有用的。机械手还具有非常高的力产生带宽，允许显示高频力分量。平行致动器结构在水平面中控制两个自由度的运动。并联结构是冗余结构，包括在控制点处并联耦合的三条链。冗余结构在整个机械手工作空间中提供均匀的力。一对旋转致动器围绕一个轴线旋转平行结构以近似沿着第三轴线的直线运动。旋转致动器为控制点提供第三自由度。关于第三轴的运动基本上与水平面的运动分离。

42. 发明授权

US08217938B2 Method and apparatus for determining item orientation 有权
标题翻译：用于确定项目取向的方法和装置
公开(公告)号：US08217938B2
公开(公告)日：2012-07-10
申请号：US11756126
申请日：2007-05-31
申请人： Yifan Chen , Basavaraj Tonshal , Pietro Buttolo
发明人： Yifan Chen , Basavaraj Tonshal , Pietro Buttolo
IPC分类号： G06T17/00 , G06T15/00
CPC分类号： G06T17/20 , G06T7/73 , G06T7/77
摘要： A computer-implemented method and computer software for calculating an orientation for an item. A bounding cube is constructed which encompasses a mesh representation of the item. The bounding cube is divided into a plurality of voxel elements. A data structure may be used to subdivide the bounding cube. Calculations are performed to determine which of the plurality of voxel elements intersect with the mesh, defining a voxel representation of the item. A statistical analysis is performed on the voxel representation to determine an orientation for the item.
摘要翻译：一种计算机实现的方法和计算机软件，用于计算项目的方向。构造包含项目的网格表示的边界立方体。边界立方体被分成多个体素元素。可以使用数据结构来细分边界立方体。执行计算以确定多个体素元素中的哪一个与网格相交，定义项目的体素表示。对体素表示进行统计分析，以确定项目的方向。

43. 发明授权

US07275023B2 System and method of interactively generating a family of mesh models 有权
标题翻译：交互式生成一系列网格模型的系统和方法
公开(公告)号：US07275023B2
公开(公告)日：2007-09-25
申请号：US10353357
申请日：2003-01-29
申请人： Yifan Chen , Paul J. Stewart , Pietro Buttolo , Anne Marsan
发明人： Yifan Chen , Paul J. Stewart , Pietro Buttolo , Anne Marsan
IPC分类号： G06F17/10
CPC分类号： G06F17/5095 , G06F17/5018 , G06T17/20
摘要： A system and method for interactively generating a family of mesh models is provided for use in engineering analysis. The system includes a user computer system having a memory, a processor, a user input device and a display device. The system also includes a remotely located computer system having a processor, a memory, and a data storage means and in communication with the user computer system. The system further includes a computer-generated geometric mesh base model stored in the data storage means, a computer-generated mesh feature stored in the data storage means, and a new mesh model including the base mesh model with a mesh feature that is stored in the data storage means. The method includes the steps of selecting a base model from a model library maintained in the data storage means. The method also includes the steps of creating a mesh feature that is defined by a modifiable set of parameters and saving the mesh feature in a mesh feature library maintained in the data storage means. The method further includes the steps of establishing a feature matrix by the user containing instructions for selectively applying the mesh feature to the base mesh model and using the feature matrix to selectively apply the mesh feature to the base model to generate a new mesh model that is available for further analysis.
摘要翻译：提供用于交互式生成网格模型系列的系统和方法用于工程分析。该系统包括具有存储器，处理器，用户输入设备和显示设备的用户计算机系统。该系统还包括具有处理器，存储器和数据存储装置并与用户计算机系统通信的远程定位的计算机系统。该系统还包括存储在数据存储装置中的计算机生成的几何网格基本模型，存储在数据存储装置中的计算机生成的网格特征，以及新的网格模型，其包括具有网格特征的基本网格模型，数据存储装置。该方法包括从维护在数据存储装置中的模型库中选择基本模型的步骤。该方法还包括以下步骤：创建由可修改参数集定义的网格特征，并将网格特征保存在数据存储装置中维护的网格特征库中。该方法还包括以下步骤：由用户建立包含用于选择性地将网格特征应用于基本网格模型的指令的特征矩阵，并且使用特征矩阵来选择性地将网格特征应用于基本模型以生成新的网格模型，可供进一步分析。

44. 发明授权

US5973678A Method and system for manipulating a three-dimensional object utilizing a force feedback interface 失效
标题翻译：利用力反馈界面来操纵三维物体的方法和系统
公开(公告)号：US5973678A
公开(公告)日：1999-10-26
申请号：US921132
申请日：1997-08-29
申请人： Paul Joseph Stewart , Yifan Chen , Pietro Buttolo
发明人： Paul Joseph Stewart , Yifan Chen , Pietro Buttolo
IPC分类号： G06F3/00 , G06F3/01 , G09G5/00
CPC分类号： G06F3/016 , G06F3/011 , G05B2219/34141 , G05B2219/40619
摘要： A method and system for manipulating a three-dimensional object in a computer-aided design (CAD) environment utilizes a force feedback interface. A gravitational sphere is defined around each of the plurality of input parameters of a mathematical model defining a shape, location and orientation of the object. A force is applied to the force feedback interface based on the gravitational spheres and the position of the force feedback interface. An input signal is received from the force feedback interface based on the applied force indicating selection of one of the plurality of input parameters. The selected input parameter can then be edited according to an edit signal generated by the user via the force feedback interface. In addition, the edit signal can be limited according to predetermined constraints via the force feedback interface.
摘要翻译：用于在计算机辅助设计（CAD）环境中操纵三维物体的方法和系统利用力反馈界面。围绕限定对象的形状，位置和取向的数学模型的多个输入参数中的每一个定义重力球。基于重力球和力反馈界面的位置将力施加到力反馈界面。基于所述施加的力，从所述力反馈接口接收输入信号，所述力指示所述多个输入参数之一的选择。然后可以根据用户通过力反馈界面产生的编辑信号来编辑所选择的输入参数。此外，可以经由力反馈界面根据预定的约束来限制编辑信号。

45. 发明授权

US07536918B2 Method and apparatus to measure force-travel profile of a shifter in a vehicle environment 有权
标题翻译：用于测量车辆环境中换档器的力 - 行驶曲线的方法和装置
公开(公告)号：US07536918B2
公开(公告)日：2009-05-26
申请号：US11511562
申请日：2006-08-29
申请人： James Rankin, II , Pietro Buttolo , Yifan Chen
发明人： James Rankin, II , Pietro Buttolo , Yifan Chen
IPC分类号： G01B7/16
CPC分类号： F16H61/24
摘要： Generally provided is a system and method that determines a force-travel profile of a shifter in a vehicle having a shifter having an associated shifter shaft for a transmission. The feel of the shifter to a user of the shifter may be improved by using present system. Additionally, accurate measurements for determining shifter forces applied to a shifter and corresponding position of the shifter are performed. In operation, the system correlates the forces applied to the shifter and associated movement of the shifter to determine an associated feel of the shifter. The system operates to equate the forces correlating to the shifter and movement of the shifter to calibrate a feel of the shifter for a user applying the force to the shifter to actuate the shifter.
摘要翻译：通常提供一种系统和方法，其确定具有换档器的车辆中的换档器的力 - 行驶分布，所述换档器具有用于变速器的相关联的换档轴。可以通过使用本系统来改善移位器对移位器的用户的感觉。此外，执行用于确定施加到移位器的移位器力和移位器的相应位置的精确测量。在操作中，系统将施加到移位器的力和移位器的相关运动相关联，以确定移位器的相关感觉。该系统用于将与移位器相关联的力与移位器的移动相等，以校准用户向移位器施加力以致动换档器的移动器的感觉。

46. 发明授权

US07373844B1 Switch feel measurement apparatus 有权
标题翻译：开关感测量装置
公开(公告)号：US07373844B1
公开(公告)日：2008-05-20
申请号：US11607533
申请日：2006-12-01
申请人： Yifan Chen , Pietro Buttolo , Basavaraj Tonshal , James Rankin, II , Gary Strumolo
发明人： Yifan Chen , Pietro Buttolo , Basavaraj Tonshal , James Rankin, II , Gary Strumolo
IPC分类号： G01L3/14
CPC分类号： G01L3/1478 , G01L5/0095
摘要： A measuring system that relate to the measurement of relatively small one degree of freedom mechanisms, such as pivoting and rotary switches, is disclosed. In particular end effectors and a kit for assembling various end effector assemblies is disclosed, that allow for accurate measurement of torque versus angular displacement curves for various types of pivoting and rotary switches.
摘要翻译：公开了一种与诸如枢转和旋转开关之类的相对较小的一个自由度机构的测量有关的测量系统。特别地，公开了端部执行器和用于组装各种末端执行器组件的套件，其允许针对各种类型的枢转和旋转开关的扭矩对角位移曲线的精确测量。

47. 发明申请

US20080059109A1 Method and apparatus to measure force-travel profile of a shifter in a vehicle environment 有权
标题翻译：用于测量车辆环境中换档器的力 - 行驶曲线的方法和装置
公开(公告)号：US20080059109A1
公开(公告)日：2008-03-06
申请号：US11511562
申请日：2006-08-29
申请人： James Rankin , Pietro Buttolo , Yifan Chen
发明人： James Rankin , Pietro Buttolo , Yifan Chen
IPC分类号： G06F19/00 , G06F17/40
CPC分类号： F16H61/24
摘要： Generally provided is a system and method that determines a force-travel profile of a shifter in a vehicle having a shifter having an associated shifter shaft for a transmission. The feel of the shifter to a user of the shifter may be improved by using present system. Additionally, accurate measurements for determining shifter forces applied to a shifter and corresponding position of the shifter are performed. In operation, the system correlates the forces applied to the shifter and associated movement of the shifter to determine an associated feel of the shifter. The system operates to equate the forces correlating to the shifter and movement of the shifter to calibrate a feel of the shifter for a user applying the force to the shifter to actuate the shifter.
摘要翻译：通常提供一种系统和方法，其确定具有换档器的车辆中的换档器的力 - 行驶分布，所述换档器具有用于变速器的相关联的换档轴。可以通过使用本系统来改善移位器对移位器的用户的感觉。此外，执行用于确定施加到移位器的移位器力和移位器的相应位置的精确测量。在操作中，系统将施加到移位器的力和移位器的相关运动相关联，以确定移位器的相关感觉。该系统用于将与移位器相关联的力与移位器的移动相等，以校准用户向移位器施加力以致动换档器的移动器的感觉。

48. 发明授权

US07257901B1 Switch feel measurement setup 有权
标题翻译：切换感觉测量设置
公开(公告)号：US07257901B1
公开(公告)日：2007-08-21
申请号：US11382372
申请日：2006-05-09
申请人： Pietro Buttolo , James Rankin, II , Yifan Chen
发明人： Pietro Buttolo , James Rankin, II , Yifan Chen
IPC分类号： G01B7/00
CPC分类号： G01L5/22 , G01L5/0042 , H01H3/04 , H01H11/0062
摘要： A method may be employed to assure that a switch feel measurement system accurately measures a torque/angular displacement profile for a pivot switch. A procedure may be employed that aligns the pivot axis of the switch with the rotational axis of the measurement unit of the switch measurement system.
摘要翻译：可以采用一种方法来确保开关感测量系统精确地测量枢转开关的扭矩/角位移曲线。可以采用使开关的枢转轴线与开关测量系统的测量单元的旋转轴线对准的步骤。

49. 发明授权

US06873944B1 Method of real time collision detection between geometric models 有权
标题翻译：几何模型之间的实时碰撞检测方法
公开(公告)号：US06873944B1
公开(公告)日：2005-03-29
申请号：US09686601
申请日：2000-10-11
申请人： Pietro Buttolo , Paul J. Stewart
发明人： Pietro Buttolo , Paul J. Stewart
IPC分类号： G06F3/00 , G06F3/01 , G06G7/48 , G06T17/40
CPC分类号： G06F3/016 , G06T19/00 , G06T2210/21 , G06T2210/28
摘要： A method of real time collision detection between geometric models includes the steps of identifying a current tracking point of a force feedback device colliding with a mesh model of the geometric model and identifying a current triangle associated with the current tracking point, wherein the force feedback device is operatively connected to a computer system. The method also includes the steps of determining a new tracking point of the force feedback device colliding with the mesh model by approximating the new tracking point from the current tracking point and the current triangle, and determining a state of the new tracking point and a known state using the new tracking point and the state of the previous tracking point, wherein the state is inside, on an edge or on a vertex of either the current triangle or a new triangle. The method further includes the steps of using the state of the new tracking point to determine if a predetermined condition is met to conclude that the new tracking point is on the current triangle or if another predetermined condition is met to conclude that the new tracking point crossed to a new triangle, wherein the new triangle is connectively associated with the current triangle.
摘要翻译：几何模型之间的实时碰撞检测方法包括以下步骤：识别力反馈装置的当前跟踪点与几何模型的网格模型相撞并识别与当前跟踪点相关联的当前三角形，其中力反馈装置可操作地连接到计算机系统。该方法还包括以下步骤：通过从当前跟踪点和当前三角形近似新的跟踪点来确定力反馈装置与网格模型相撞的新跟踪点，以及确定新跟踪点的状态和已知的使用新的跟踪点和先前跟踪点的状态，其中状态位于当前三角形或新三角形的边缘或顶点的内部。该方法还包括以下步骤：使用新跟踪点的状态来确定是否满足预定条件以断定新的跟踪点在当前三角形上，或者如果满足另一个预定条件以断定新的跟踪点被越过到新的三角形，其中新的三角形与当前三角形连接地相关联。

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