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51. 发明申请

US20150212510A1 APPARATUS AND METHOD FOR PROVIDING FEEDBACK FORCE AND MACHINE TOOL SYSTEM 审中-公开
标题翻译：提供反馈力和机床工具系统的装置和方法
公开(公告)号：US20150212510A1
公开(公告)日：2015-07-30
申请号：US14560408
申请日：2014-12-04
申请人： Industrial Technology Research Institute
发明人： Chih-Yuan Hsu , Shuo-Peng Liang , Jui-Ming Chang
IPC分类号： G05B19/401 , B23Q17/00
CPC分类号： G05B19/401 , G05B2219/23379 , G05B2219/37396
摘要： An apparatus for providing a feedback force includes a calculating unit and a force feedback displacement controller. The calculating unit receives relative position information of a first object and a second object and geometric information of the first object and the second object. If the first object and the second object are not in contact, the calculating unit calculates a force feedback value based on the relative position information and the geometric information. The force feedback displacement controller outputs a displacement command, and receives the force feedback value. The displacement command allows the first object to move with respect to the second object. The force feedback displacement controller includes a displacement unit that generates the displacement command based on an operation of a user, and a force feedback unit that provides a feedback force to the displacement unit based on the force feedback value.
摘要翻译：用于提供反馈力的装置包括计算单元和力反馈位移控制器。计算单元接收第一对象和第二对象的相对位置信息以及第一对象和第二对象的几何信息。如果第一物体和第二物体不接触，则计算单元基于相对位置信息和几何信息来计算力反馈值。力反馈位移控制器输出位移指令，并接收力反馈值。位移命令允许第一对象相对于第二对象移动。力反馈位移控制器包括基于用户的操作产生位移命令的位移单元和基于力反馈值向位移单元提供反馈力的力反馈单元。

52. 发明申请

US20090298024A1 WELDING TRAINING SYSTEM 有权
标题翻译：焊接培训系统
公开(公告)号：US20090298024A1
公开(公告)日：2009-12-03
申请号：US12473392
申请日：2009-05-28
申请人： Todd Batzler , Bruce Albrecht , William J. Becker
发明人： Todd Batzler , Bruce Albrecht , William J. Becker
IPC分类号： G09B25/02 , B23K9/32
CPC分类号： G09B19/003 , B23K9/095 , B23K9/32 , B23K37/00 , G05B2219/37396 , G09B5/00 , G09B9/00 , G09B19/24
摘要： A welding training system includes one or more welding operator device which provides positional feedback relevant to a quality weld. The positional feedback is analyzed and, when the positional feedback is outside of a predetermined range, a signal is provided to the welding operator. In one embodiment, tactile feedback is provided in a welding gun.
摘要翻译：焊接训练系统包括提供与质量焊缝相关的位置反馈的一个或多个焊接操作装置。分析位置反馈，并且当位置反馈超出预定范围时，向焊接操作者提供信号。在一个实施例中，在焊枪中提供触觉反馈。

53. 发明授权

US07345672B2 Force feedback system and actuator power management 失效
标题翻译：力反馈系统和执行器电源管理
公开(公告)号：US07345672B2
公开(公告)日：2008-03-18
申请号：US10788538
申请日：2004-02-27
申请人： Charles J. Jacobus , Alan J. Riggs , Mark J. Taylor
发明人： Charles J. Jacobus , Alan J. Riggs , Mark J. Taylor
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , B25J9/1689 , G05B2219/35416 , G05B2219/37396 , G05G9/04737 , G05G2009/04766 , G06F3/011 , G06F2203/015
摘要： A system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs, which provide gravity compensation so that the manipulator effectively floats.
摘要翻译：存在用于向用户提供触觉虚拟现实的系统和方法。用户的位置和方位用于产生虚拟现实力场。作为该力场的函数的用户又产生力。提出了一种六轴操纵器，用于向这种系统提供用户界面。该机械手提供了一个独特的运动学结构，具有两个恒力弹簧，它们提供重力补偿，使机械手有效浮动。

54. 发明授权

US06879880B2 Grip strength with tactile feedback for robotic surgery 有权
标题翻译：握力与机器人手术的触觉反馈
公开(公告)号：US06879880B2
公开(公告)日：2005-04-12
申请号：US10437771
申请日：2003-05-13
申请人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
发明人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
IPC分类号： A61B19/00 , B25J9/16 , G06F19/00 , G05B15/00 , G05B19/00
CPC分类号： A61B34/76 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G05B2219/40146 , G05B2219/45169 , G06F19/00 , G16H50/50
摘要： Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
摘要翻译：手术机器人和其他远程呈现系统具有增强的手柄致动，用于操纵具有小尺寸的组织和物体。使用主/从系统，其中当夹持构件接近关闭构造时，错误信号或增益被人为改变。

55. 发明授权

US06433771B1 Haptic device attribute control 失效
标题翻译：触觉设备属性控制
公开(公告)号：US06433771B1
公开(公告)日：2002-08-13
申请号：US08859157
申请日：1997-05-20
申请人： Todd Yocum , Thomas M. Peurach
发明人： Todd Yocum , Thomas M. Peurach
IPC分类号： G09G500
CPC分类号： G06F3/016 , B25J9/1689 , G05B2219/35416 , G05B2219/37396 , G05G9/04737 , G05G2009/04766 , G06F3/011 , G06F2203/015
摘要： In a force-reflection system wherein a basic force pattern including a plurality of behavioral attributes is applied to a user-moveable member, apparatus and methods are disclosed for altering one or more of the behavioral attributes without changing the basic force pattern. The invention may be used to adjust attributes such as amplitude maximum and average, play-out rate, and play-out lead/lag in conjunction with any type of user-manipulable member, including a joystick, wheel, yoke, or non-contact arrangement. The invention may be implemented at a high or low level, and arrays of haptic controls or equivalent graphical user interface (GUI) elements may be used to define haptic force temporal sequences for replay.
摘要翻译：在其中将包括多个行为属性的基本力图案应用于用户可移动构件的力反射系统中，公开了用于在不改变基本力模式的情况下改变一个或多个行为属性的装置和方法。本发明可以用于调整属性，例如振幅最大值和平均值，播放速率以及播放引导/延迟，以及任何类型的用户可操纵构件，包括操纵杆，车轮，轭或非接触安排。本发明可以在高或低水平上实现，并且可以使用触觉控件或等效图形用户界面（GUI）元件阵列来定义用于重放的触觉力时间序列。

56. 发明授权

US6131097A Haptic authoring 失效
公开(公告)号：US6131097A
公开(公告)日：2000-10-10
申请号：US859877
申请日：1997-05-21
申请人： Thomas M. Peurach , Todd Yocum , Douglas Haanpaa , Charles J. Jacobus
发明人： Thomas M. Peurach , Todd Yocum , Douglas Haanpaa , Charles J. Jacobus
IPC分类号： B25J9/16 , G05G9/047 , G06F3/00 , G06F3/01 , G06F17/30
CPC分类号： G06F3/016 , B25J9/1689 , G05G9/04737 , G06F3/011 , G05B2219/35416 , G05B2219/37396 , G05G2009/04766 , G06F2203/015 , Y10S707/99943 , Y10S707/99945
摘要： Methods are presented for authoring geometrical databases which incorporate touch or haptic feedback. In particular, a database of geometrical elements incorporates attributes necessary to support haptic interactions such as stiffness, hardness, friction, and so forth. Users may instantiate objects designed through CAD/CAM environments or attach haptic or touch attributes to subcomponents such as surfaces or solid sub-objects. The resulting haptic/visual databases or world-describing models can then be viewed and touched using a haptic browser or other appropriate user interface.

57. 发明授权

US5459382B1 Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor 失效
标题翻译：提供触觉虚拟现实和操纵器的方法和系统，用于定义其接口装置
公开(公告)号：US5459382B1
公开(公告)日：1998-06-09
申请号：US25707094
申请日：1994-06-09
申请人： CYBERNET SYSTEMS CORP
发明人： JACOBUS CHARLES J , RIGGS ALAN J , TAYLOR MARK J
IPC分类号： B25J9/16 , G05G9/047 , G06F3/00 , G06F3/01 , G05B5/00 , G05B19/25
CPC分类号： G06F3/016 , B25J9/1689 , G05B2219/35416 , G05B2219/37396 , G05G9/04737 , G05G2009/04766 , G06F3/011 , G06F2203/015

58. 发明授权

US5629594A Force feedback system 失效
标题翻译：力反馈系统
公开(公告)号：US5629594A
公开(公告)日：1997-05-13
申请号：US543606
申请日：1995-10-16
申请人： Charles J. Jacobus , Alan J. Riggs , Mark J. Taylor
发明人： Charles J. Jacobus , Alan J. Riggs , Mark J. Taylor
IPC分类号： B25J9/16 , B25J9/18 , G05G9/047 , G06F3/00 , G06F3/01 , F16D31/02 , G05G9/02
CPC分类号： G06F3/016 , B25J9/1689 , G05G9/04737 , G06F3/011 , A63B2071/0666 , G05B2219/35416 , G05B2219/37396 , G05G2009/04766 , G06F2203/012 , G06F2203/015
摘要： A system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.
摘要翻译：存在用于向用户提供触觉虚拟现实的系统和方法。用户的位置和方位用于产生虚拟现实力场。作为该力场的函数的用户又产生力。提出了一种六轴操纵器，用于向这种系统提供用户界面。该操纵器提供了一个独特的运动学结构，具有两个恒力弹簧，它们提供重力补偿，从而使操纵器有效浮动。

59. 发明授权

US5389865A Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor 失效
公开(公告)号：US5389865A
公开(公告)日：1995-02-14
申请号：US984324
申请日：1992-12-02
申请人： Charles J. Jacobus , Alan J. Riggs , Mark J. Taylor
发明人： Charles J. Jacobus , Alan J. Riggs , Mark J. Taylor
IPC分类号： B25J9/16 , G05G9/047 , G06F3/00 , G06F3/01 , F16D31/02 , G05G9/02
CPC分类号： G06F3/016 , B25J9/1689 , G05G9/04737 , G06F3/011 , G05B2219/35416 , G05B2219/37396 , G05G2009/04766 , G06F2203/015
摘要： An system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.

60. 发明授权

US5257178A Method of optimally operating a computer numerical control milling machine to mill optimal high density interconnect substrates 失效
标题翻译：最佳地操作计算机数控铣床以研磨最佳高密度互连基板的方法
公开(公告)号：US5257178A
公开(公告)日：1993-10-26
申请号：US810793
申请日：1991-12-19
申请人： William T. Hatfield , William W. Rohling , Wolfgang Daum , Carl L. Chalek
发明人： William T. Hatfield , William W. Rohling , Wolfgang Daum , Carl L. Chalek
IPC分类号： G05B19/4099 , G05B19/18
CPC分类号： G05B19/4099 , G05B2219/36214 , G05B2219/37396 , Y10T29/4913
摘要： A method for optimally operating a computer numerical control (CNC) milling machine to form cavities in a ceramic substrate for receiving IC chips and other components of a high density interconnect structure electrically interconnected by a multi-layer interconnect (HDI) structure. Generation of the CNC program instructions is based on locations and dimensions of the components which, through a set of design rules, provide locations and dimensions for an initial set of cavities corresponding to the components on a one-for-one basis. Depending upon the particular arrangement of the components, specific neighboring cavities of the initial set may either overlap or be separated by walls. A representation of the location and dimensions of each of the cavities of the initial set is formed, and the representation is enhanced by a "combine pockets" step and by a "remove borders" step to represent locations and dimensions of cavities of an optimized set. CNC program instructions for the milling machine are then generated for forming the cavities of the optimized set.
摘要翻译：一种用于最佳地操作计算机数控铣床的方法，用于在陶瓷基板中形成用于接收IC芯片和通过多层互连（HDI）结构电互连的高密度互连结构的其它部件的空腔。 CNC程序指令的生成基于组件的位置和尺寸，其通过一组设计规则为一对一地提供对应于组件的初始组的空腔的位置和尺寸。根据组件的具体布置，初始组合的特定相邻腔可以与壁重叠或分开。形成初始集合的每个空腔的位置和尺寸的表示，并且通过“组合袋”步骤和通过“移除边界”步骤增强表示，以表示优化集合的空腔的位置和尺寸。然后生成用于铣床的CNC程序指令，用于形成优化组的腔。

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