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1. 发明授权

US11688254B2 Illusory tactile sensation generation system and method 有权
公开(公告)号：US11688254B2
公开(公告)日：2023-06-27
申请号：US17192324
申请日：2021-03-04
申请人： Brian Schmidt
发明人： Brian Schmidt
IPC分类号： G08B6/00 , G05B19/4155
CPC分类号： G08B6/00 , G05B19/4155 , G05B2219/37396
摘要： A illusory tactile sensation generation system and method via which a moving illusory tactile sensation may be created between spaced apart points on a user's skin using as few as two points of contact by varying the intensity at each point.

2. 发明授权

US10639799B2 Robot system 有权
公开(公告)号：US10639799B2
公开(公告)日：2020-05-05
申请号：US16135753
申请日：2018-09-19
申请人： FANUC CORPORATION
发明人： Tomoki Katou , Tomoyuki Yamamoto , Takeaki Aramaki
IPC分类号： B25J13/08 , B25J1/02 , B25J9/16 , G01L5/22
CPC分类号： B25J13/085 , B25J1/02 , B25J9/1674 , G01L5/226 , G05B2219/37357 , G05B2219/37396 , G05B2219/40582
摘要： A robot system includes: a robot that is movable according to an external force applied thereto by a worker; a force detecting unit that is provided in the robot and that detects the magnitude of an external force acting on the robot; a warning part that vibrates the robot when an external force having a magnitude equal to or greater than a first predetermined threshold is detected by the force detecting unit; and a stop part that stops the robot when an external force having a magnitude equal to or greater than a second predetermined threshold that is greater than the first predetermined threshold is detected by the force detecting unit.

3. 发明授权

US09476823B2 Borescope steering adjustment system and method 有权
标题翻译：圆锥滚子转向调节系统及方法
公开(公告)号：US09476823B2
公开(公告)日：2016-10-25
申请号：US13949010
申请日：2013-07-23
申请人： General Electric Company
发明人： Thomas Charles Ward , Bryan David Maule , Melissa Rose Stancato , Matthew William Pankow , David Scott Andreasen
IPC分类号： H04N9/47 , A62B1/04 , G01N21/01 , E21B47/00 , B25J9/16 , G02B23/24 , A61B1/04 , A61B1/06 , G06F3/0482 , G06F3/0484 , G06F3/0488
CPC分类号： G01N21/01 , B25J9/1635 , E21B47/0002 , G01N2021/0112 , G01N2021/0181 , G02B23/24 , G02B23/2484 , G05B2219/23092 , G05B2219/35478 , G05B2219/37396 , G05B2219/39443 , G05B2219/45066 , G06F3/0482 , G06F3/04847 , G06F3/0488
摘要： Systems and methods provided herein. In one embodiment, a borescope system includes a probe to capture images and a display a settings menu, measurements, the images captured by the probe, or any combination thereof. In addition, the borescope system a processor programmed to display a user interface to enable a user to control movement of the probe, adjust settings, navigate menus, make selections, or any combination thereof. The processor is communicatively coupled to the probe, and the display, and is programmed to instruct the borescope to enter a live menu view when an articulation mode is selected from the settings menu. In the live menu view, the processor is programmed to instruct the display to display the images captured by the probe, and to enable a user to control the movement of the probe and adjust articulation sensitivity of the probe while viewing the images on the display.
摘要翻译：本文提供的系统和方法。在一个实施例中，管道系统包括用于捕获图像的探针和显示设置菜单，测量，由探针捕获的图像或其任何组合。此外，管道系统是处理器，其被编程为显示用户界面以使用户能够控制探针的移动，调整设置，导航菜单，选择或其任何组合。处理器通信地耦合到探针和显示器，并且被编程为当从设置菜单中选择发音模式时，指示管窥镜进入实时菜单视图。在实时菜单视图中，处理器被编程为指示显示器显示由探头拍摄的图像，并且使得用户能够在观看显示器上的图像的同时控制探头的移动并调节探头的关节灵敏度。

4. 发明申请

US20150029500A1 BORESCOPE STEERING ADJUSTMENT SYSTEM AND METHOD 有权
标题翻译： BORESCOPE转向调整系统和方法
公开(公告)号：US20150029500A1
公开(公告)日：2015-01-29
申请号：US13949010
申请日：2013-07-23
申请人： General Electric Company
发明人： Thomas Charles Ward , Bryan David Maule , Melissa Rose Stancato , Matthew William Pankow , David Scott Andreasen
IPC分类号： G01N21/01 , G06F3/0484 , G06F3/0482 , E21B47/00
CPC分类号： G01N21/01 , B25J9/1635 , E21B47/0002 , G01N2021/0112 , G01N2021/0181 , G02B23/24 , G02B23/2484 , G05B2219/23092 , G05B2219/35478 , G05B2219/37396 , G05B2219/39443 , G05B2219/45066 , G06F3/0482 , G06F3/04847 , G06F3/0488
摘要： Systems and methods provided herein. In one embodiment, a borescope system includes a probe to capture images and a display a settings menu, measurements, the images captured by the probe, or any combination thereof. In addition, the borescope system a processor programmed to display a user interface to enable a user to control movement of the probe, adjust settings, navigate menus, make selections, or any combination thereof. The processor is communicatively coupled to the probe, and the display, and is programmed to instruct the borescope to enter a live menu view when an articulation mode is selected from the settings menu. In the live menu view, the processor is programmed to instruct the display to display the images captured by the probe, and to enable a user to control the movement of the probe and adjust articulation sensitivity of the probe while viewing the images on the display.
摘要翻译：本文提供的系统和方法。在一个实施例中，管道系统包括用于捕获图像的探针和显示设置菜单，测量，由探针捕获的图像或其任何组合。此外，管道系统是处理器，其被编程为显示用户界面以使用户能够控制探针的移动，调整设置，导航菜单，选择或其任何组合。处理器通信地耦合到探针和显示器，并且被编程为当从设置菜单中选择发音模式时，指示管窥镜进入实时菜单视图。在实时菜单视图中，处理器被编程为指示显示器显示由探头拍摄的图像，并且使得用户能够在观看显示器上的图像的同时控制探头的移动并调节探头的关节灵敏度。

5. 发明授权

US07373219B2 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：US07373219B2
公开(公告)日：2008-05-13
申请号：US11074372
申请日：2005-03-07
申请人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Tom G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
发明人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Tom G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
IPC分类号： G06F19/00
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。

6. 发明申请

US20030195664A1 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：US20030195664A1
公开(公告)日：2003-10-16
申请号：US10437771
申请日：2003-05-13
申请人： Intuitive Surgical, Inc.
发明人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Tom G. Cooper , Craig Gerbi , Stephen J. Blumenkranz , Dean F. Hoornaert
IPC分类号： G05B019/00 , G06F019/00
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。

7. 发明申请

US20020072814A1 Interface device with tactile responsiveness 失效
标题翻译：接口设备具有触觉反应能力
公开(公告)号：US20020072814A1
公开(公告)日：2002-06-13
申请号：US10072728
申请日：2002-02-07
申请人： Immersion Corporation
发明人： Chester L. Schuler , Seth M. Haberman
IPC分类号： G05B019/18
CPC分类号： G06F3/016 , G05B19/108 , G05B19/231 , G05B2219/23053 , G05B2219/35459 , G05B2219/37396 , G05B2219/43186 , G05B2219/45184 , G06F3/011 , G06F3/03543 , G06F3/03549 , G06F3/0362 , G06F2203/014 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , H01H2003/008
摘要： A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. A user interface device effects positioning of a cursor within a limited area, such as on a display screen, with limits imposed by controllable tactile responsiveness. Programmable force-position characteristics relate the tactile responsiveness of the interface device to the position of the cursor within the limited area or on the display screen. In a described embodiment, the interface device includes at least two sets of wheels that move as the interface device is actuated. The at least two sets of wheels are aligned on mutually orthogonal axes. A servo motor is attached to each of the at least two sets of wheels. A position encoder is associated with each servo motor and outputs position information to a controller that has access to force-position relation information that is a function of a screen display on which the cursor is manipulated. The controller outputs a digital signal, in accordance with the force-display position relation information. The digital signal is converted to an analog current signal applied to the servo motor(s) to generate force in the servo motor. The force, presenting a tactile response to a human interacting with the user interface device, is perceived as a resistance, tactile pressure or lack thereof, or as a positive, assisted motion which is indicative of position on a screen display.
摘要翻译：实现可灵活编程的具有电子可控触觉响应性的用户界面装置（例如鼠标或轨迹球）的方法和装置。用户界面设备在受限的区域（例如在显示屏幕上）影响光标的定位，具有由可控的触觉响应性所限制的限制。可编程力位置特性将接口装置的触觉响应性与限制区域内或显示屏上光标的位置相关联。在所描述的实施例中，接口装置包括随着接口装置被致动而移动的至少两组轮。至少两组车轮在相互正交的轴上对齐。伺服电动机附接到至少两组车轮中的每一个。位置编码器与每个伺服电动机相关联，并且将位置信息输出到控制器，该控制器可以访问作为操纵光标的屏幕显示的功能的力位置关系信息。控制器根据力显示位置关系信息输出数字信号。数字信号转换为施加到伺服电机的模拟电流信号，以在伺服电机中产生力。对与人体界面装置相互作用的人表现出触觉反应的力被认为是阻力，触觉压力或缺乏力，或作为指示屏幕显示位置的正的辅助运动。

8. 发明授权

US5889670A Method and apparatus for tactilely responsive user interface 失效
标题翻译：用于触觉响应的用户界面的方法和装置
公开(公告)号：US5889670A
公开(公告)日：1999-03-30
申请号：US585198
申请日：1996-01-11
申请人： Chester L. Schuler , Seth M. Haberman
发明人： Chester L. Schuler , Seth M. Haberman
IPC分类号： G05B19/10 , G05B19/23 , G06F3/00 , G06F3/01 , G06F3/033 , G06F3/038 , G06F3/048 , G11B27/02 , G11B27/028 , G11B27/031 , G11B27/034 , G11B27/34 , G05B19/29
CPC分类号： G06F3/016 , G05B19/108 , G05B19/231 , G06F3/011 , G06F3/03543 , G06F3/03549 , G06F3/0362 , G11B27/02 , G11B27/028 , G11B27/034 , G11B27/34 , G05B2219/23053 , G05B2219/35459 , G05B2219/37396 , G05B2219/43186 , G05B2219/45184 , G06F2203/014 , G11B27/031 , H01H2003/008
摘要： A method and apparatus implementing a user interface device, such as a mouse or trackball, having electronically controllable tactile responsiveness which is flexibly programmable. A user interface device effects positioning of a cursor within a limited area, such as on a display screen, with limits imposed by controllable tactile responsiveness. Programmable force-position characteristics relate the tactile responsiveness of the interface device to the position of the cursor within the limited area or on the display screen. In a described embodiment, the interface device includes at least two sets of wheels that move as the interface device is actuated. The at least two sets of wheels are aligned on mutually orthogonal axes. A servo motor is attached to each of the at least two sets of wheels. A position encoder is associated with each servo motor and outputs position information to a controller that has access to force-position relation information that is a function of a screen display on which the cursor is manipulated. The controller outputs a digital signal, in accordance with the force-display position relation information. The digital signal is converted to an analog current signal applied to the servo motor(s) to generate force in the servo motor. The force, presenting a tactile response to a human interacting with the user interface device, is perceived as a resistance, tactile pressure or lack thereof, or as a positive, assisted motion which is indicative of position on a screen display.
摘要翻译：实现可灵活编程的具有电子可控触觉响应性的用户界面装置（例如鼠标或轨迹球）的方法和装置。用户界面设备在受限的区域（例如在显示屏幕上）影响光标的定位，具有由可控的触觉响应性所限制的限制。可编程力位置特性将接口装置的触觉响应性与限制区域内或显示屏上光标的位置相关联。在所描述的实施例中，接口装置包括随着接口装置被致动而移动的至少两组轮。至少两组车轮在相互正交的轴上对齐。伺服电动机附接到至少两组车轮中的每一个。位置编码器与每个伺服电动机相关联，并且将位置信息输出到控制器，该控制器可以访问作为操纵光标的屏幕显示的功能的力位置关系信息。控制器根据力显示位置关系信息输出数字信号。数字信号转换为施加到伺服电机的模拟电流信号，以在伺服电机中产生力。对与人体界面装置相互作用的人表现出触觉反应的力被认为是阻力，触觉压力或缺乏力，或作为指示屏幕显示位置的正的辅助运动。

9. 发明授权

US5072361A Force-reflective teleoperation control system 失效
标题翻译：反思电视控制系统
公开(公告)号：US5072361A
公开(公告)日：1991-12-10
申请号：US473575
申请日：1990-02-01
申请人： Clark C. Davis , Edwin K. Iversen , Stephen C. Jacobsen , Klaus B. Biggers
发明人： Clark C. Davis , Edwin K. Iversen , Stephen C. Jacobsen , Klaus B. Biggers
IPC分类号： B25J3/00 , G05B19/427 , G05D3/12
CPC分类号： G05B19/427 , G05B2219/37396
摘要： A teleoperation system includes a master station having a manually operable master link coupled to a master actuator which provides force resistance to operation and movement of the master link, and a slave station having a slave link moveable by a slave actuator in response to command signals. The system also includes a control unit for producing command signals in response to movement of the master link, such control unit having a position transducer for producing signals representing the position of the master link, a force transducer for producing signals representing the force applied to the master actuator by operation of the master link, a second force transducer for producing signals representing force applied to the slave link by the slave actuator, a second position transducer for producing signals representing position of the slave link, and a force controller responsive to the master link position signal, the master actuator force signal, the slave actuator force signal and the slave link position signal for producing a force command signal for supply to the slave actuator to cause the slave actuator to move the slave link in substantially faithful imitation of movement of the master link.

10. 发明授权

US4950116A Manipulator controlling apparatus 失效
标题翻译：机械手控制装置
公开(公告)号：US4950116A
公开(公告)日：1990-08-21
申请号：US395721
申请日：1989-08-18
申请人： Shinichiro Nishida
发明人： Shinichiro Nishida
IPC分类号： B25J13/02 , G01L5/22 , G05B19/427
CPC分类号： G01L5/226 , B25J13/02 , G05B19/427 , G05B2219/33263 , G05B2219/37357 , G05B2219/37396 , G05B2219/40195
摘要： Apparatus for controlling a manipulator employs a control device, first to third detectors, a producing device and a driving device. The first detector detects an operating force/torque generated by the control device and the second detector detects a deflecting amount of the control device from a reference position. The third detector detects an end force applied on an end portion of the manipulator and reaction signals are generated by the producing device. The reaction signal corresponds to a function of the deflecting amount and the end force. A force/torque corresponding to the difference between output signals from the first detector and the producing device are generated by the driving device and applied on the control device.
摘要翻译：用于控制机械手的装置采用控制装置，第一至第三检测器，制造装置和驱动装置。第一检测器检测由控制装置产生的操作力/转矩，第二检测器从参考位置检测控制装置的偏转量。第三检测器检测施加在操纵器的端部上的端力，并且由生成装置产生反作用信号。反应信号对应于偏转量和端部力的函数。对应于来自第一检测器和生产装置的输出信号之差的力/转矩由驱动装置产生并施加在控制装置上。

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