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51. 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。

52. 发明授权

US6104382A Force feedback transmission mechanisms 失效
标题翻译：力反馈传递机制
公开(公告)号：US6104382A
公开(公告)日：2000-08-15
申请号：US058259
申请日：1998-04-10
申请人： Kenneth M. Martin , Michael D. Levin , Adam C. Braun
发明人： Kenneth M. Martin , Michael D. Levin , Adam C. Braun
IPC分类号： A63F9/14 , A63F9/24 , A63F13/02 , A63F13/06 , F16H20060101 , G06F3/01 , G06F3/033 , G09G3/02
CPC分类号： A63F13/24 , A63F13/02 , A63F13/06 , A63F13/285 , G06F3/016 , A63F2300/1018 , A63F2300/1037 , A63F2300/1043 , A63F2300/1062 , A63F2300/8017
摘要： A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device. A moveable member included in a force feedback mechanism is moveable in a degree of freedom to transmit forces to the user manipulatable object, such as a joystick handle. A spring member can be selectively coupled and decoupled between a grounded member and the moveable member. The spring member provides a spring force on the moveable member that biases the joystick handle to a desired position, such as the center of the degree of freedom. A dynamic calibration procedure reduces inaccuracies when sensing the position of the user manipulandum by only reading new range limits when the actuator is not outputting a force in the direction of that limit. A capstan drive mechanism is preferably coupled between the actuator and linkage mechanism, where a capstan drum includes a curved end over which the cable is routed, the curved end including flanges to substantially prevent the cable from slipping of the sides of the end. The capstan drum includes a tensioning spring member coupled to one or both ends of the cable for tensioning the cable.
摘要翻译：一种用于在力反馈接口装置中提供弹性构件到用户可操纵物体的选择性接合的机构。包括在力反馈机构中的可移动构件可在自由度上移动以将力传递到用户可操纵的对象，诸如操纵杆手柄。可以在接地构件和可移动构件之间选择性地联接和分离弹簧构件。弹簧构件在可移动构件上提供弹簧力，其将操纵杆手柄偏压到期望的位置，例如自由度的中心。当致动器不在该极限方向上输出力时，动态校准程序通过仅读取新的范围限制来感测用户操纵的位置来减少不准确度。绞盘驱动机构优选地联接在致动器和联动机构之间，其中主导轮鼓包括弯曲端，电缆在该弯曲端上被路由，弯曲端包括凸缘，以基本上防止电缆滑动端部的侧面。绞盘鼓包括联接到电缆的一端或两端的张紧弹簧构件，用于张紧电缆。

53. 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。

54. 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。

55. 发明授权

US07447604B2 Method and apparatus for compensating for position slip in interface devices 有权
标题翻译：用于补偿接口装置中位置滑移的方法和装置
公开(公告)号：US07447604B2
公开(公告)日：2008-11-04
申请号：US10995586
申请日：2004-11-23
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： G06F19/00
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。

56. 发明授权

US06380925B1 Force feedback device with spring selection mechanism 有权
标题翻译：强力反馈装置采用弹簧选择机构
公开(公告)号：US06380925B1
公开(公告)日：2002-04-30
申请号：US09498536
申请日：2000-02-04
申请人： Kenneth M. Martin , Michael D. Levin , Adam C. Braun
发明人： Kenneth M. Martin , Michael D. Levin , Adam C. Braun
IPC分类号： G06F3033
CPC分类号： A63F13/24 , A63F13/02 , A63F13/06 , A63F13/285 , A63F2300/1018 , A63F2300/1037 , A63F2300/1043 , A63F2300/1062 , A63F2300/8017 , G05G2009/04766 , G06F3/016
摘要： A mechanism for providing selective engagement of spring members to a user manipulatable object in a force feedback interface device. A moveable member included in a force feedback mechanism is moveable in a degree of freedom to transmit forces to the user manipulatable object, such as a joystick handle. A spring member can be selectively coupled and decoupled between a grounded member and the moveable member. The spring member provides a spring force on the moveable member that biases the joystick handle to a desired position, such as the center of the degree of freedom. A dynamic calibration procedure reduces inaccuracies when sensing the position of the user manipulandum by only reading new range limits when the actuator is not outputting a force in the direction of that limit. A capstan drive mechanism is preferably coupled between the actuator and linkage mechanism, where a capstan drum includes a curved end over which the cable is routed, the curved end including flanges to substantially prevent the cable from slipping of the sides of the end. The capstan drum includes a tensioning spring member coupled to one or both ends of the cable for tensioning the cable.
摘要翻译：一种用于在力反馈接口装置中提供弹性构件到用户可操纵物体的选择性接合的机构。包括在力反馈机构中的可移动构件可在自由度上移动以将力传递到用户可操纵的对象，诸如操纵杆手柄。可以在接地构件和可移动构件之间选择性地联接和分离弹簧构件。弹簧构件在可移动构件上提供弹簧力，其将操纵杆手柄偏压到期望的位置，例如自由度的中心。当致动器不在该极限方向上输出力时，动态校准程序通过仅读取新的范围限制来感测用户操纵的位置来减少不准确度。绞盘驱动机构优选地联接在致动器和联动机构之间，其中主导轮鼓包括弯曲端，电缆在该弯曲端上被路由，弯曲端包括凸缘，以基本上防止电缆滑动端部的侧面。绞盘鼓包括联接到电缆的一端或两端的张紧弹簧构件，用于张紧电缆。

57. 发明授权

US6067077A Position sensing for force feedback devices 有权
标题翻译：力反馈装置的位置检测
公开(公告)号：US6067077A
公开(公告)日：2000-05-23
申请号：US138309
申请日：1998-08-21
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： A63F9/24 , B25J13/00 , F16D31/02 , G06F3/033 , G06F19/00 , G09G5/00 , 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。

58. 发明授权

US08070654B2 Athleticism rating and performance measuring systems 有权
标题翻译：运动能力评估和绩效测量系统
公开(公告)号：US08070654B2
公开(公告)日：2011-12-06
申请号：US11269161
申请日：2005-11-07
申请人： Rodolfo Chapa, Jr. , Hamid G. Arjomand , Adam C. Braun , Andrew Bark
发明人： Rodolfo Chapa, Jr. , Hamid G. Arjomand , Adam C. Braun , Andrew Bark
IPC分类号： A63B71/00
CPC分类号： A63B71/0619 , A63B24/0006 , A63B24/0062 , A63B71/06 , A63B71/0616 , A63B2024/0009 , A63B2024/0012 , A63B2024/0065 , A63B2024/0068 , A63B2024/0071 , A63B2071/026 , A63B2071/0661 , A63B2071/0663 , A63B2102/18 , A63B2220/12 , A63B2220/13 , A63B2220/805 , A63B2225/093 , A63B2225/15 , A63B2225/20 , A63B2225/50 , A63B2243/0025 , A63B2243/0037 , A63B2243/0066 , A63B2243/007 , G06F1/1626 , G06F19/00 , G07C1/22
摘要： A universal athleticism rating system and related athletic performance measuring systems for accurately detecting and recording athletic performance are disclosed. The athleticism rating system evaluates individual athletes against a common, standardized, set of athletic performance tests. Each athlete performs the athletic tests and his or her scores in the individual tests are entered into a standardized calculation to produce a single athletic performance score. The related performance measuring system is preferably a timing system that ensures quick, easy, and accurate collection of athletic event timing related data without the need for the athlete to wear any special detection devices or the like. In a preferred embodiment, the performance measuring system integrates with the rating system to provide seamless athletic data collection and rating of athletes.
摘要翻译：公开了一种用于准确检测和记录运动表现的通用运动能力评定系统和相关运动表现测量系统。运动能力评估系统评估个体运动员采取普遍，标准化的运动表现测试。每个运动员进行运动测试，并且他们在单独测试中的分数被输入到标准化计算中以产生单个运动成绩。相关的性能测量系统优选地是确定快速，容易和准确地收集运动事件时间相关数据的定时系统，而不需要运动员佩戴任何特殊的检测装置等。在优选实施例中，性能测量系统与评级系统集成，以提供对运动员的无缝运动数据收集和评级。

59. 发明申请

US20090289779A1 Force feedback system including multi-tasking graphical host environment 有权
标题翻译：强制反馈系统包括多任务图形主机环境
公开(公告)号：US20090289779A1
公开(公告)日：2009-11-26
申请号：US11824593
申请日：2007-06-28
申请人： Adam C. Braun , Jonathan L. Beamer , Dean C. Chang
发明人： Adam C. Braun , Jonathan L. Beamer , Dean C. Chang
IPC分类号： G08B6/00
CPC分类号： G06F3/016 , G06F3/03543 , G06F3/0481 , G06F3/04812 , G06F2203/014
摘要： A force feedback system provides components for use in a force feedback system including a host computer and a force feedback interface device. An architecture for a host computer allows multi-tasking application programs to interface with the force feedback device without conflicts. One embodiment of a force feedback device provides both relative position reporting and absolute position reporting to allow great flexibility. A different device embodiment provides relative position reporting device allowing maximum compatibility with existing software. Information such as ballistic parameters and screen size sent from the host to the force feedback device allow accurate mouse positions and graphical object positions to be determined in the force feedback environment. Force feedback effects and structures are further described, such as events and enclosures.
摘要翻译：力反馈系统提供用于包括主计算机和力反馈接口装置的力反馈系统中的组件。用于主计算机的架构允许多任务应用程序与力反馈装置进行接口而没有冲突。力反馈装置的一个实施例提供相对位置报告和绝对位置报告以允许很大的灵活性。不同的设备实施例提供相对位置报告设备，允许与现有软件的最大兼容性。从主机发送到力反馈装置的诸如弹道参数和屏幕尺寸的信息允许在力反馈环境中确定精确的鼠标位置和图形对象位置。进一步描述力反馈效应和结构，例如事件和机箱。

60. 发明授权

US06715045B2 Host cache for haptic feedback effects 有权
标题翻译：主机缓存用于触觉反馈效果
公开(公告)号：US06715045B2
公开(公告)日：2004-03-30
申请号：US10060472
申请日：2002-01-29
申请人： Adam C. Braun , Jonathan L. Beamer , Dean C. Chang
发明人： Adam C. Braun , Jonathan L. Beamer , Dean C. Chang
IPC分类号： G06F1200
CPC分类号： G06F3/016 , G05B19/00 , G06F3/011 , G06F3/03543 , G06F3/03548 , G06F2203/013 , G06F2203/014 , G06F2203/0333 , H04L67/02 , H04L67/36 , H04L69/329
摘要： Methods and apparatus for efficient management of memory in a haptic feedback system including a host computer and a haptic feedback device. A representation of device memory is maintained on the host computer to allow the host computer knowledge of force effects stored in the device memory. A host cache for force effects is provided to allow larger numbers of force effects to be created for the device, where force effects not able to fit in device memory can be stored in the host cache.
摘要翻译：用于在包括主计算机和触觉反馈装置的触觉反馈系统中有效地管理存储器的方法和装置。在主计算机上维护设备存储器的表示，以允许主计算机知道存储在设备存储器中的力效应。提供用于强制效果的主机缓存，以允许为设备创建更大数量的强制效果，其中不能适应设备内存的强制效果可以存储在主机高速缓存中。

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