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1. 发明授权

US08994643B2 Force reflecting haptic interface 有权
标题翻译：力反映触觉界面
公开(公告)号：US08994643B2
公开(公告)日：2015-03-31
申请号：US12169304
申请日：2008-07-08
申请人： Thomas H. Massie , William A. Goodwin , Elaine Chen , Deepak Kapoor , Abbe J. Cohen , Brandon Itkowitz
发明人： Thomas H. Massie , William A. Goodwin , Elaine Chen , Deepak Kapoor , Abbe J. Cohen , Brandon Itkowitz
IPC分类号： G09G5/00 , G06F3/01 , G06F1/20 , G06F3/0346
CPC分类号： G06F3/016 , G06F1/206 , G06F3/0346
摘要： A multi-function force reflecting haptic interface including various sub-assemblies is disclosed. The sub-assemblies include multiple function user interfaces, a user interface docking station for setting the interface to a home position, temperature monitoring and control systems, and various kinematic cable drive systems.
摘要翻译：公开了一种反映包括各种子组件的触觉界面的多功能力。子组件包括多功能用户接口，用于将接口设置为原始位置的用户接口坞站，温度监控和控制系统以及各种运动线驱动系统。

2. 发明授权

US07480600B2 Force reflecting haptic interface 失效
标题翻译：力反映触觉界面
公开(公告)号：US07480600B2
公开(公告)日：2009-01-20
申请号：US10990226
申请日：2004-11-16
申请人： Thomas H Massie , Kenneth Salisbury, Jr.
发明人： Thomas H Massie , Kenneth Salisbury, Jr.
IPC分类号： G06G7/48 , G05B11/01
CPC分类号： G05B11/01 , B25J9/1689 , B25J13/02 , G05B17/02 , G05B2219/23021 , G05G1/52 , G05G9/047 , G05G2009/04766 , G06F3/014 , G06F3/016 , G06F3/033 , G06F3/0346 , G06F3/0383 , G06F2203/0331 , G06G7/48
摘要： The invention is an apparatus for physically exchanging a force with a user in an environment local to the user. A connection element connects to a user's body member and a linkage between the connection element and ground. The linkage includes means for powering at least three independent freedoms of the connection element relative to ground and means for maintaining at least one independent freedom of the connection element relative to ground free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. Other aspects of the invention include a two actuator counter-balance for controlling a point on a link. The invention also includes apparatus for establishing a virtual, switch, which presents to the user the force and displacement relationship of a spring switch. Another embodiment is a virtual bristled brush, again which presents to the user the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user's changes in location.
摘要翻译：本发明是用于在用户本地的环境中与用户物理交换力的装置。连接元件连接到用户的主体部件和连接元件与接地之间的连接。连杆包括用于为连接元件相对于地面的至少三个独立自由提供动力的装置，以及用于维持连接元件相对于没有动力的地面的至少一个独立自由度的装置。连接元件最多可以保持三个独立的自由度，并且可以为多达五个独立的自由提供动力。本发明的其他方面包括用于控制链路上的点的两个致动器平衡。本发明还包括用于建立虚拟开关的装置，其向用户呈现弹簧开关的力和位移关系。另一个实施例是虚拟刷毛，再次向使用者呈现这种刷子的力和位移关系，同时还改变虚拟环境以反映用户的位置变化。

3. 发明授权

US07259761B2 Systems and methods for sculpting virtual objects in a haptic virtual reality environment 有权
标题翻译：在触觉虚拟现实环境中雕刻虚拟对象的系统和方法
公开(公告)号：US07259761B2
公开(公告)日：2007-08-21
申请号：US11487948
申请日：2006-07-17
申请人： Loren Shih , Walter A. Aviles , Thomas H. Massie , Walter C. Shannon, III
发明人： Loren Shih , Walter A. Aviles , Thomas H. Massie , Walter C. Shannon, III
IPC分类号： G06T15/00
CPC分类号： G06F3/016 , B33Y80/00 , G06F3/017 , G06F3/0346 , G06F3/03545 , G06F3/038 , G06F19/00 , G06F2203/013 , G06T19/20 , G06T2200/24 , G06T2210/28 , G06T2219/2021
摘要： A user of a virtual object or computer model uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact and modify the virtual object. The user uses the virtual tool in a sculpting mode to modify the shape of the virtual object by adding, removing, or modifying the material of the object. The user feels an interaction force from the virtual tool as it interacts with and modifies the virtual object. The designer can set geometric constraints, such as a constraint point, constraint line, or constraint surface, to limit or guide the movement of the virtual tool.
摘要翻译：虚拟对象或计算机模型的用户使用现实世界中的触觉接口设备来操纵虚拟环境中的虚拟工具来交互和修改虚拟对象。用户以雕刻模式使用虚拟工具通过添加，删除或修改对象的素材来修改虚拟对象的形状。当虚拟工具与虚拟对象交互并修改虚拟对象时，用户感觉到来自虚拟工具的交互力。设计者可以设置几何约束，例如约束点，约束线或约束表面，以限制或引导虚拟工具的移动。

4. 发明授权

US06985133B1 Force reflecting haptic interface 有权
公开(公告)号：US06985133B1
公开(公告)日：2006-01-10
申请号：US09356289
申请日：1999-07-16
申请人： Guy Rodomista , Andrew Ziegler , William A. Goodwin , Clive Bolton , Thomas H. Massie , R. Michael Lohse
发明人： Guy Rodomista , Andrew Ziegler , William A. Goodwin , Clive Bolton , Thomas H. Massie , R. Michael Lohse
IPC分类号： G09G5/00
CPC分类号： G06F3/016
摘要： A six degree of freedom force reflecting haptic interface includes three powered axes and three free axes, all of which are tracked so that the position of a user connection element in the work volume can be determined. The interface includes cable drives with polymer composite or metallic cables, automatic cable tensioning devices, and grounded actuator capstans. A nested hub and transfer drive provide a compact, weight balanced interface. User comfort and safety features are also provided.

5. 发明授权

US06552722B1 Systems and methods for sculpting virtual objects in a haptic virtual reality environment 有权
标题翻译：在触觉虚拟现实环境中雕刻虚拟对象的系统和方法
公开(公告)号：US06552722B1
公开(公告)日：2003-04-22
申请号：US09347637
申请日：1999-07-06
申请人： Loren Shih , Walter A. Aviles , Thomas H. Massie , Walter C. Shannon, III
发明人： Loren Shih , Walter A. Aviles , Thomas H. Massie , Walter C. Shannon, III
IPC分类号： G06T1500
CPC分类号： G06F3/016 , B33Y80/00 , G06F3/017 , G06F3/0346 , G06F3/03545 , G06F3/038 , G06F19/00 , G06F2203/013 , G06T19/20 , G06T2200/24 , G06T2210/28 , G06T2219/2021
摘要： A user of a virtual object or computer model uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact and modify the virtual object. The user uses the virtual tool in a sculpting mode to modify the shape of the virtual object by adding, removing, or modifying the material of the object. The user feels an interaction force from the virtual tool as it interacts with and modifies the virtual object. The designer can set geometric constraints, such as a constraint point, constraint line, or constraint surface, to limit or guide the movement of the virtual tool.
摘要翻译：虚拟对象或计算机模型的用户使用现实世界中的触觉接口设备来操纵虚拟环境中的虚拟工具来交互和修改虚拟对象。用户以雕刻模式使用虚拟工具通过添加，删除或修改对象的素材来修改虚拟对象的形状。当虚拟工具与虚拟对象交互并修改虚拟对象时，用户感觉到来自虚拟工具的交互力。设计者可以设置几何约束，例如约束点，约束线或约束表面，以限制或引导虚拟工具的移动。

6. 发明授权

US06421048B1 Systems and methods for interacting with virtual objects in a haptic virtual reality environment 有权
标题翻译：在触觉虚拟现实环境中与虚拟对象交互的系统和方法
公开(公告)号：US06421048B1
公开(公告)日：2002-07-16
申请号：US09340875
申请日：1999-06-28
申请人： Loren Shih , Walter A. Aviles , Thomas H. Massie , Christopher M. Tarr
发明人： Loren Shih , Walter A. Aviles , Thomas H. Massie , Christopher M. Tarr
IPC分类号： G06T1500
CPC分类号： G06T15/00 , B33Y50/00 , B33Y80/00 , G06F3/016 , G06F3/0346 , G06F3/03545 , G06F2203/013 , G06T19/20 , G06T2200/24 , G06T2210/21 , G06T2210/28 , G06T2219/2016
摘要： A user of a modeling application uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact with a virtual object. The user can use the tool to evaluate the shape of the virtual object and navigate its virtual surface, based on an interactive force feedback approach. When the user attempts to penetrate the virtual object with the virtual tool, a modeling application limits the movement of the virtual tool depending on the geometry of the surface, the position of the virtual tool, and a haptic interface location in the virtual environment, which represents the physical location of the haptic interface device in the real world. The user can evaluate different geometries of the virtual surface, including an edge geometry, such as occurs when the virtual tool is touching or moving along an edge of the virtual object.
摘要翻译：建模应用的用户使用现实世界中的触觉接口设备来操纵虚拟环境中的虚拟工具以与虚拟对象交互。基于交互式力反馈方法，用户可以使用该工具来评估虚拟对象的形状并导航其虚拟表面。当用户尝试使用虚拟工具渗透虚拟对象时，建模应用程序根据表面的几何形状，虚拟工具的位置和虚拟环境中的触觉界面位置来限制虚拟工具的移动，其中表示触觉界面设备在现实世界中的物理位置。用户可以评估虚拟表面的不同几何，包括边缘几何，例如当虚拟工具沿虚拟对象的边缘触摸或移动时发生。

7. 发明授权

US5898599A Force reflecting haptic interface 失效
标题翻译：力反映触觉界面
公开(公告)号：US5898599A
公开(公告)日：1999-04-27
申请号：US771484
申请日：1996-12-23
申请人： Thomas H Massie , J. Kenneth Salisbury, Jr.
发明人： Thomas H Massie , J. Kenneth Salisbury, Jr.
IPC分类号： B25J9/16 , B25J13/02 , G05B11/01 , G05G1/52 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/033 , G06F3/038 , G06G7/48 , G09G5/00
CPC分类号： G06F3/014 , B25J13/02 , B25J9/1689 , G05B17/02 , G05G1/52 , G05G9/047 , G06F3/016 , G06F3/033 , G06F3/0346 , G06F3/0383 , G05B2219/23021 , G05G2009/04766 , G06F2203/0331
摘要： An apparatus and method for physically exchanging a force with a user in a user-local environment. The apparatus includes a user connection element and a linkage physically linking the user connection element to a reference. The linkage provides at least six independent degrees of freedom to the user connection element. The linkage has an actuator system which powers at least three degrees of freedom of the user connection element, while at least three degrees of freedom remain unpowered. The method includes providing an apparatus which includes a user connection element and a linkage physically linking the user connection element to a reference, the linkage providing at least six independent degrees of freedom to the user connection element. The linkage of the apparatus provided has an actuator system which powers at least three of the six independent degrees of freedom relative to the reference. The method further includes connecting the user connection element to a body member of a user and powering at least three of the six independent degrees of freedom.
摘要翻译：一种在用户本地环境中与用户物理交换力的装置和方法。该装置包括用户连接元件和将用户连接元件物理地链接到引用的链接。该连接为用户连接元件提供至少六个独立的自由度。连杆具有致动器系统，该致动器系统为用户连接元件的至少三个自由度供电，而至少三个自由度保持不起动作。该方法包括提供一种装置，其包括用户连接元件和物理地将用户连接元件与参考连接的连杆，所述连接为用户连接元件提供至少六个独立的自由度。所提供的装置的连接具有致动器系统，该致动器系统相对于基准来提供六个独立的自由度中的至少三个。该方法还包括将用户连接元件连接到用户的身体成员并为六个独立自由度中的至少三个提供动力。

8. 发明授权

US5625576A Force reflecting haptic interface 失效
标题翻译：力反映触觉界面
公开(公告)号：US5625576A
公开(公告)日：1997-04-29
申请号：US130639
申请日：1993-10-01
申请人： Thomas H. Massie , J. Kenneth Salisbury, Jr.
发明人： Thomas H. Massie , J. Kenneth Salisbury, Jr.
IPC分类号： B25J9/16 , B25J13/02 , G05B11/01 , G05G1/52 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/033 , G06F3/038 , G06G7/48 , G09G5/00
CPC分类号： G06F3/014 , B25J13/02 , B25J9/1689 , G05B17/02 , G05G1/52 , G05G9/047 , G06F3/016 , G06F3/033 , G06F3/0346 , G06F3/0383 , G05B2219/23021 , G05G2009/04766 , G06F2203/0331
摘要： A connection element such as a thimble connects to a user's body member and, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable. Signal processing equipment powers the actuators to deliver a signal at the connection element that represents a virtual situation generated by a programmed computer, or physical conditions in a remote environment. A virtual switch presents to the user the force and displacement relationship of a spring switch. A virtual bristled brush presents the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user's changes in location.
摘要翻译：诸如套管的连接元件连接到使用者的身体部件，并通过连杆机构连接到地面参考。设备在用户本地的环境中与用户物理交换力。连接能够使连接元件相对于参考的至少三个独立的自由。它还保持连接元件相对于无功率的参考的至少一个独立的自由度。连接元件最多可以保持三个独立的自由度，并且可以为多达五个独立的自由提供动力。万向节连接万向节与连杆。零，一个或两个万向轴可以通电。五杆连接将连接元件连接到还包括两个执行器的平衡。第三个执行器将五个杆连杆与参考连接。平衡的两个致动器可以通过单个电缆连接到链中的下一个链路到参考。信号处理设备为执行器供电，以在连接元件处传递代表由编程的计算机产生的虚拟情况或远程环境中的物理条件的信号。虚拟开关向用户呈现弹簧开关的力和位移关系。一个虚拟的刷毛显示了这样的刷子的力和位移关系，同时也改变了虚拟环境，以反映用户的位置变化。

9. 发明申请

US20210274748A1 Autonomous Self-Moving Animal Corral System and Device 有权
公开(公告)号：US20210274748A1
公开(公告)日：2021-09-09
申请号：US17193677
申请日：2021-03-05
申请人： Thomas H. Massie , Rhonda K. Massie , Hans D. Høeg
发明人： Thomas H. Massie , Rhonda K. Massie , Hans D. Høeg
IPC分类号： A01K5/02 , A01K3/00 , A01K7/02 , G05B15/02
摘要： Method, means, and system for a mobile, self-moving, automated animal corral or confinement system.

10. 发明申请

US20110202856A1 Systems and methods for interfacing with a virtual object in a haptic virtual environment 有权
标题翻译：用于在触觉虚拟环境中与虚拟对象进行接口的系统和方法
公开(公告)号：US20110202856A1
公开(公告)日：2011-08-18
申请号：US12983553
申请日：2011-01-03
申请人： Joshua Handley , Marc Midura , Bradley Payne , Walter A. Aviles , Thomas H. Massie , Walter C. Shannon, III
发明人： Joshua Handley , Marc Midura , Bradley Payne , Walter A. Aviles , Thomas H. Massie , Walter C. Shannon, III
IPC分类号： G06F3/048
CPC分类号： G06T15/00 , B33Y50/00 , B33Y80/00 , G06F3/016 , G06F3/0346 , G06F3/03545 , G06F2203/013 , G06T19/20 , G06T2200/24 , G06T2210/21 , G06T2210/28 , G06T2219/2016
摘要： A user of a modeling application modifies an initial virtual object using a sketch drawn on one or more construction planes. Typically, construction planes are connected by an axis that intersects the virtual object. The user can draw a sketch on each construction plane, and the modeling application interpolates a shape along the axis between the sketches to determine what material in the virtual object is to be removed from it. In this manner, material may be removed to create a recess or hole in the virtual object or otherwise to slice away material from the object. A user can use two or more axes and construction planes to produce complex shapes from the initial virtual object. A user can also select a portion of a virtual object and mirror the selected portion. Modifications that the user makes in the selected portion are made correspondingly in the mirrored portion.
摘要翻译：建模应用程序的用户使用在一个或多个构造平面上绘制的草图来修改初始虚拟对象。通常，构造平面通过与虚拟对象相交的轴连接。用户可以在每个施工平面上绘制草图，并且建模应用程序沿着草图之间的轴插入一个形状，以确定要从中移除虚拟对象中的哪些材质。以这种方式，可以去除材料以在虚拟物体中产生凹陷或孔，或以其他方式将材料从物体上分离开。用户可以使用两个或多个轴和构造平面来从初始虚拟对象产生复杂的形状。用户还可以选择虚拟对象的一部分并镜像所选部分。用户在所选部分中进行的修改在镜像部分中相应地进行。

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