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    • 2. 发明授权
    • Master controller having redundant degrees of freedom and added forces to create internal motion
    • 主控制器具有冗余的自由度和增加的力量来创建内部运动
    • US08271130B2
    • 2012-09-18
    • US12406004
    • 2009-03-17
    • Arjang Hourtash
    • Arjang Hourtash
    • G06F19/00
    • B25J13/02A61B34/30A61B2090/067G05G2009/04714
    • An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.
    • 输入装置包括通过联动件联接到基座的手柄。 手柄可相对于基座手动移动以提供位置输入。 连杆具有多个连杆,包括允许连杆的内部运动的冗余连杆,使得连杆可以移动而不使手柄相对于基座移动。 当手柄和手柄停止位置之间的距离小于阈值距离时,手柄停止将第一负载施加到手柄。 驱动系统响应于第一负载而向冗余连接器施加第二负载以产生联动装置的内部运动,其增大手柄与手柄停止位置之间的距离。 第二负载可以与手柄运动轴线和冗余连杆运动轴线之间的角度的余弦成正比。
    • 3. 发明申请
    • Master Controller Having Redundant Degrees of Freedom and Added Forces to Create Internal Motion
    • 具有冗余自由度的主控制器和添加力创建内部运动
    • US20100228266A1
    • 2010-09-09
    • US12406004
    • 2009-03-17
    • Arjang Hourtash
    • Arjang Hourtash
    • A61B19/00G06F19/00B25J9/16B25J3/00B25J13/02
    • B25J13/02A61B34/30A61B2090/067G05G2009/04714
    • An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.
    • 输入装置包括通过联动件联接到基座的手柄。 手柄可相对于基座手动移动以提供位置输入。 连杆具有多个连杆,包括允许连杆的内部运动的冗余连杆,使得连杆可以移动而不使手柄相对于基座移动。 当手柄和手柄停止位置之间的距离小于阈值距离时,手柄停止将第一负载施加到手柄。 驱动系统响应于第一负载而向冗余连接器施加第二负载以产生联动装置的内部运动,其增大手柄与手柄停止位置之间的距离。 第二负载可以与手柄运动轴线和冗余连杆运动轴线之间的角度的余弦成正比。