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1. 发明授权

US06400352B1 Mechanical and force transmission for force feedback devices 有权
标题翻译：力反馈装置的机械和力传递
公开(公告)号：US06400352B1
公开(公告)日：2002-06-04
申请号：US09138304
申请日：1998-08-21
申请人： Ryan D. Bruneau , Kenneth M. Martin , Louis B. Rosenberg , David F. Moore , Bruce M. Schena
发明人： Ryan D. Bruneau , Kenneth M. Martin , Louis B. Rosenberg , David F. Moore , Bruce M. Schena
IPC分类号： G09G500
CPC分类号： G06F3/016 , A61B90/50 , A63F13/285 , A63F2300/1037 , G05G9/047 , G05G9/04737 , G05G2009/0474 , G05G2009/04766 , G06F3/03545 , G06F3/0383 , G06F2203/015 , G09B9/28 , G09B23/28
摘要： A force feedback interface device includes improvements in a mechanical linkage and drive mechanism. The force feedback device is coupled to a host computer and includes a user manipulatable object graspable by a user, at least one actuator that outputs a force on the user object, and a sensor for sensing motion of the user object. A linkage mechanism provides the user object with degrees of freedom and includes five members rotatably coupled to each other. The linkage mechanism supports the bearings of the device with protrusions rotatably coupled to central members of the linkage. The drive mechanism is preferably a belt drive that includes an idler positioned adjacent to a drive pulley and which impedes radial displacement of a belt away from the drive pulley, and thus impedes losing positive engagement of the belt, without preloading the belt. The idler can be a passive idler that does not contact the belt during operation and/or an active idler that continuously contacts the belt. Some or all portions of the linkage mechanism and the drive mechanism are preferably symmetrical, allowing low cost manufacture of the device.
摘要翻译：力反馈接口装置包括机械联动和驱动机构的改进。力反馈装置耦合到主计算机，并且包括用户可握持的用户可操纵的对象，在用户对象上输出力的至少一个致动器和用于感测用户对象的运动的传感器。连动机构向使用者物体提供自由度，并且包括彼此可旋转地联接的五个构件。连杆机构支撑具有可旋转地联接到连杆的中心构件的突起的装置的轴承。驱动机构优选地是带驱动器，其包括邻近驱动皮带轮定位的惰轮，并且阻止皮带远离驱动皮带轮的径向位移，并且因此阻止皮带的正接合而不预加载皮带。惰轮可以是在操作期间不接触皮带的被动惰轮和/或连续接触皮带的活动惰轮。联动机构和驱动机构的一些或全部部分优选是对称的，允许低成本地制造装置。

2. 发明授权

US6020875A High fidelity mechanical transmission system and interface device 失效
标题翻译：高保真机械传动系统及接口装置
公开(公告)号：US6020875A
公开(公告)日：2000-02-01
申请号：US961790
申请日：1997-10-31
申请人： David F. Moore , Kenneth M. Martin , Louis B. Rosenberg , Bruce M. Schena
发明人： David F. Moore , Kenneth M. Martin , Louis B. Rosenberg , Bruce M. Schena
IPC分类号： A63F13/02 , A63F13/06 , G06F3/01 , G06F3/033 , G09G3/02
CPC分类号： A63F13/245 , A63F13/02 , A63F13/06 , A63F13/285 , G06F3/016 , A63F13/213 , A63F13/803 , A63F2300/1037 , A63F2300/1043 , A63F2300/1062 , A63F2300/8017
摘要： A high-fidelity mechanical transmission system for transmitting forces which can be used in a human-computer force feedback interface device connected to a host computer. The transmission system includes multiple stages, including an actuator stage coupled to an actuator and one or more additional stages. The actuator stage includes a rotatable capstan pulley coupled to the actuator, a cylindrical capstan drum, and a flexible member, such as a cable, coupling the capstan pulley and drum. The cable is coupled to the capstan drum at both ends, and causes the capstan drum to rotate for multiple revolutions. The output stage is coupled to the driven object to rotate the driven object. The output stage can include a capstan pulley, capstan drum, and cable. An interface device can include the transmission system for inputting motion signals to a connected host computer and for providing force feedback to the user. The interface device includes a user manipulatable object, such a steering wheel, joystick, or the like, which is manipulated by the user to interact with the host computer.
摘要翻译：用于传输力的高保真机械传动系统，其可用于连接到主机的人机力反馈接口装置。传动系统包括多级，包括联接到致动器的致动器级和一个或多个附加级。致动器平台包括联接到致动器的可旋转主导轮，圆柱形主导轮，以及联接主导轮和滚筒的诸如电缆的柔性构件。电缆在两端连接到主导轮，并使主导轮转动多圈。输出级耦合到被驱动对象以旋转被驱动对象。输出级可包括绞盘滑轮，绞盘鼓和电缆。接口设备可以包括用于向连接的主计算机输入运动信号的传输系统和用于向用户提供力反馈。接口设备包括用户可操纵的对象，诸如方向盘，操纵杆等，其由用户操纵以与主计算机交互。

3. 发明授权

US07233313B2 Control knob with multiple degrees of freedom and force feedback 有权
公开(公告)号：US07233313B2
公开(公告)日：2007-06-19
申请号：US10712199
申请日：2003-11-13
申请人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
发明人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
IPC分类号： G09G5/00 , G09G5/08
CPC分类号： G06F3/016 , A63F2300/1037 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10S715/974 , Y10T74/20201
摘要： The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.

4. 发明授权

US06686911B1 Control knob with control modes and force feedback 有权
标题翻译：控制旋钮带有控制模式和力反馈
公开(公告)号：US06686911B1
公开(公告)日：2004-02-03
申请号：US09680408
申请日：2000-10-02
申请人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
发明人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
IPC分类号： G09G500
CPC分类号： G06F3/016 , A63F2300/1037 , G05G9/047 , G05G2009/0477 , G06F3/0219 , G06F3/0354 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10S715/974 , Y10T74/20201
摘要： The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.
摘要翻译：本发明提供了一种设备上的控制旋钮，其允许用户控制设备的功能。在一个实施例中，旋钮可以旋转自由度旋转，并且在大致垂直于轴线的至少一个横向方向上可移动。致动器联接到旋钮以输出围绕轴线的旋转自由度的力，从而提供力反馈。在不同的实施例中，旋钮以关于轴线的旋转自由度提供力反馈，并且还可以在大致平行于轴线的线性自由度中移动，从而允许使用者推动和/或拉动旋钮。由旋钮控制的设备可以是各种类型的设备，诸如音频设备，视频设备等。设备还可以包括提供响应于旋钮的操纵而更新的图像的显示器。可以通过在旋钮的旋转自由度中重叠和调整紧密间隔的棘爪的范围来为旋钮提供限位力。

5. 发明授权

US07489309B2 Control knob with multiple degrees of freedom and force feedback 有权
标题翻译：控制旋钮具有多个自由度和力反馈
公开(公告)号：US07489309B2
公开(公告)日：2009-02-10
申请号：US11603294
申请日：2006-11-21
申请人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
发明人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
IPC分类号： G09G5/00 , G06F3/033
CPC分类号： G06F3/016
摘要： The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.
摘要翻译：本发明提供了一种设备上的控制旋钮，其允许用户控制设备的功能。在一个实施例中，旋钮可以旋转自由度旋转，并且在大致垂直于轴线的至少一个横向方向上可移动。致动器联接到旋钮以输出围绕轴线的旋转自由度的力，从而提供力反馈。在不同的实施例中，旋钮以关于轴线的旋转自由度提供力反馈，并且还可以在大致平行于轴线的线性自由度中移动，从而允许使用者推动和/或拉动旋钮。由旋钮控制的设备可以是各种类型的设备，诸如音频设备，视频设备等。设备还可以包括提供响应于旋钮的操纵而更新的图像的显示器。可以通过在旋钮的旋转自由度中重叠和调整紧密间隔的棘爪的范围来为旋钮提供限位力。

6. 发明申请

US20090079712A1 Control Knob With Multiple Degrees of Freedom and Force Feedback 有权
标题翻译：控制旋钮具有多重自由度和力反馈
公开(公告)号：US20090079712A1
公开(公告)日：2009-03-26
申请号：US12326405
申请日：2008-12-02
申请人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
发明人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
IPC分类号： G09G5/00
CPC分类号： G06F3/016 , G05G9/047 , G05G2009/0477 , G06F3/0354 , G06F3/03543 , G06F3/0362 , G06F3/0395 , H01H2003/008
摘要： The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.
摘要翻译：本发明提供了一种设备上的控制旋钮，其允许用户控制设备的功能。在一个实施例中，旋钮可以旋转自由度旋转，并且在大致垂直于轴线的至少一个横向方向上可移动。致动器联接到旋钮以输出围绕轴线的旋转自由度的力，从而提供力反馈。在不同的实施例中，旋钮以关于轴线的旋转自由度提供力反馈，并且还可以在大致平行于轴线的线性自由度中移动，从而允许使用者推动和/或拉动旋钮。由旋钮控制的设备可以是各种类型的设备，诸如音频设备，视频设备等。设备还可以包括提供响应于旋钮的操纵而更新的图像的显示器。可以通过在旋钮的旋转自由度中重叠和调整紧密间隔的棘爪的范围来为旋钮提供限位力。

7. 发明授权

US6154201A Control knob with multiple degrees of freedom and force feedback 有权
公开(公告)号：US6154201A
公开(公告)日：2000-11-28
申请号：US179382
申请日：1998-10-26
申请人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
发明人： Michael D. Levin , Kenneth M. Martin , Bruce M. Schena , Adam C. Braun , Louis B. Rosenberg
IPC分类号： G01C21/36 , G05G9/047 , G06F3/00 , G06F3/01 , G06F3/023 , G06F3/039 , G09G5/00 , G05G11/00
CPC分类号： G06F3/016 , G01C21/3664 , G05G9/047 , G06F3/0219 , G06F3/0354 , G06F3/03543 , G06F3/03548 , G06F3/0362 , G06F3/0395 , G06F3/0482 , G06F3/0485 , A63F2300/1037 , G05G2009/0477 , G06F2203/013 , G06F2203/014 , H01H2003/008 , Y10S715/97 , Y10T74/20262
摘要： The present invention provides a control knob on a device that allows a user to control functions of the device. In one embodiment, the knob is rotatable in a rotary degree of freedom and moveable in at least one transverse direction approximately perpendicular to the axis. An actuator is coupled to the knob to output a force in the rotary degree of freedom about the axis, thus providing force feedback. In a different embodiment, the knob is provided with force feedback in a rotary degree of freedom about an axis and is also moveable in a linear degree of freedom approximately parallel to the axis, allowing the knob to be pushed and/or pulled by the user. The device controlled by the knob can be a variety of types of devices, such as an audio device, video device, etc. The device can also include a display providing an image updated in response to manipulation of the knob. Detent forces can be provided for the knob by overlapping and adjusting ranges of closely-spaced detents in the rotary degree of freedom of the knob.

8. 发明授权

US07561142B2 Vibrotactile haptic feedback devices 有权
标题翻译：振动触觉触觉反馈装置
公开(公告)号：US07561142B2
公开(公告)日：2009-07-14
申请号：US10838332
申请日：2004-05-05
申请人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
发明人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
IPC分类号： G09G5/00
CPC分类号： G06F3/016
摘要： Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a variable compliance. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal.
摘要翻译：用于控制触觉反馈装置的振动触觉感觉的幅度和频率的方法和装置。诸如游戏手柄控制器，鼠标，遥控器等的触觉反馈装置包括壳体，联接到壳体的致动器和质量块。在一些实施例中，质量可以由致动器振荡，并且致动器和质量块之间或者质量块和壳体之间的联接具有可变的顺应性。改变合规性允许输出给定的驱动信号具有不同幅度的振动触觉。在其他实施例中，致动器是旋转致动器，并且质量块是由致动器围绕旋转轴线旋转的偏心质量块。偏心质量具有在质量旋转时可相对于旋转轴线变化的偏心度。改变偏心度使给定驱动信号具有不同幅度的振动触觉。

9. 发明申请

US20090295552A1 Vibrotactile Haptic Feedback Devices 有权
标题翻译：振动触觉触觉反馈装置
公开(公告)号：US20090295552A1
公开(公告)日：2009-12-03
申请号：US12480577
申请日：2009-06-08
申请人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
发明人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
IPC分类号： G06F3/00
CPC分类号： G06F3/016
摘要： Vibrotactile haptic feedback devices are disclosed. For example, in one embodiment, a device includes: a mass, an actuator configured to vibrate the mass, and a coupling disposed between the actuator and the mass or between the mass and a housing, the coupling having a first configuration with a compliance and a second configuration with a compliance, the compliance of the coupling in the first configuration being different from the compliance of the coupling in the second configuration, the actuator being configured to output haptic feedback associated with the first configuration of the coupling and haptic feedback associated with the second configuration of the coupling, the haptic feedback associated with the first configuration of the coupling being different from the haptic feedback associated with the second configuration of the coupling.
摘要翻译：公开了振动触觉触觉反馈装置。例如，在一个实施例中，一种装置包括：质量块，构造成使质量块振动的致动器，以及设置在致动器与质量块之间或物质与壳体之间的联接器，联接器具有第一配置，具有顺从性的第二配置，所述联接在所述第一配置中的顺应性不同于所述第二配置中的联接的顺应性，所述致动器被配置为输出与所述耦合的第一配置和与所述耦合的触觉反馈相关联的触觉反馈耦合的第二配置，与耦合的第一配置相关联的触觉反馈不同于与耦合的第二配置相关联的触觉反馈。

10. 发明授权

US06693622B1 Vibrotactile haptic feedback devices 有权
标题翻译：振动触觉触觉反馈装置
公开(公告)号：US06693622B1
公开(公告)日：2004-02-17
申请号：US09643898
申请日：2000-08-18
申请人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
发明人： Erik J. Shahoian , Kenneth M. Martin , Bruce M. Schena , David F. Moore
IPC分类号： G09G500
CPC分类号： G06F3/016
摘要： Method and apparatus for controlling magnitude and frequency of vibrotactile sensations for haptic feedback devices. A haptic feedback device, such as a gamepad controller, mouse, remote control, etc., includes a housing grasped by the user, an actuator coupled to the housing, and a mass. In some embodiments, the mass can be oscillated by the actuator and a coupling between the actuator and the mass or between the mass and the housing has a compliance that can be varied. Varying the compliance allows vibrotactile sensations having different magnitudes for a given drive signal to be output to the user grasping the housing. In other embodiments, the actuator is a rotary actuator and the mass is an eccentric mass rotatable by the actuator about an axis of rotation. The eccentric mass has an eccentricity that can be varied relative to the axis of rotation while the mass is rotating. Varying the eccentricity allows vibrotactile sensations having different magnitudes for a given drive signal to be output to the user grasping the housing.
摘要翻译：用于控制触觉反馈装置的振动触觉感觉的幅度和频率的方法和装置。诸如游戏手柄控制器，鼠标，遥控器等的触觉反馈装置包括由用户掌握的壳体，联接到壳体的致动器和质量块。在一些实施例中，质量可以由致动器振荡，并且致动器和质量块之间或者质量块和壳体之间的联接具有可以改变的柔量。改变顺应性允许对于给定的驱动信号具有不同幅度的振动触觉感觉被输出到抓握壳体的使用者。在其他实施例中，致动器是旋转致动器，并且质量块是由致动器围绕旋转轴线旋转的偏心质量块。偏心质量具有在质量旋转时可相对于旋转轴线变化的偏心度。改变偏心度使得给定驱动信号具有不同幅度的振动触觉感觉被输出到抓握壳体的使用者。

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