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    • 2. 发明授权
    • Force reflecting haptic interface
    • 力反映触觉界面
    • US07480600B2
    • 2009-01-20
    • US10990226
    • 2004-11-16
    • Thomas H MassieKenneth Salisbury, Jr.
    • Thomas H MassieKenneth Salisbury, Jr.
    • G06G7/48G05B11/01
    • G05B11/01B25J9/1689B25J13/02G05B17/02G05B2219/23021G05G1/52G05G9/047G05G2009/04766G06F3/014G06F3/016G06F3/033G06F3/0346G06F3/0383G06F2203/0331G06G7/48
    • 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.
    • 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。
    • 7. 发明授权
    • Force reflecting haptic interface
    • 力反映触觉界面
    • US5898599A
    • 1999-04-27
    • US771484
    • 1996-12-23
    • Thomas H MassieJ. Kenneth Salisbury, Jr.
    • Thomas H MassieJ. Kenneth Salisbury, Jr.
    • B25J9/16B25J13/02G05B11/01G05G1/52G05G9/047G06F3/00G06F3/01G06F3/033G06F3/038G06G7/48G09G5/00
    • G06F3/014B25J13/02B25J9/1689G05B17/02G05G1/52G05G9/047G06F3/016G06F3/033G06F3/0346G06F3/0383G05B2219/23021G05G2009/04766G06F2203/0331
    • 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.
    • 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
    • Force reflecting haptic interface
    • 力反映触觉界面
    • US5625576A
    • 1997-04-29
    • US130639
    • 1993-10-01
    • Thomas H. MassieJ. Kenneth Salisbury, Jr.
    • Thomas H. MassieJ. Kenneth Salisbury, Jr.
    • B25J9/16B25J13/02G05B11/01G05G1/52G05G9/047G06F3/00G06F3/01G06F3/033G06F3/038G06G7/48G09G5/00
    • G06F3/014B25J13/02B25J9/1689G05B17/02G05G1/52G05G9/047G06F3/016G06F3/033G06F3/0346G06F3/0383G05B2219/23021G05G2009/04766G06F2203/0331
    • 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.
    • 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。