Title:
METHOD, APPARATUS, AND ARTICLE FOR FORCE FEEDBACK BASED ON TENSION CONTROL AND TRACKING THROUGH CABLES
Document Type and Number:
WIPO Patent Application WO2004088467
Kind Code:
A3
Abstract:
A haptic device (20) for human/computer interface includes a user interface tool (160,180) coupled via cables (11-14) to first (120), second (130), third (140), and fourth (150) cable control units, each positioned at a vertex of a tetrahedron. Each of the cable control units includes a spool (126) and an encoder (125) configured to provide a signal corresponding to rotation of the respective spool. The cables are wound onto the spool of a respective one of the cable control units. The encoders provide signals corresponding to rotation of the respective spools to track the length of each cable. As the cables wind onto the spools, variations in spool diameter are compensated for. The absolute length of each cable is determined during initialization by retracting each cable In turn to a zero length position. A sensor array (170) coupled to the tool detects rotation around one or more axes.
Inventors:
BERKLEY JEFFREY J (US)
KIM SEAHAK (KR)
HONG SUNGKWAN (JP)
KIM SEAHAK (KR)
HONG SUNGKWAN (JP)
Application Number:
PCT/US2004/009295
Publication Date:
April 07, 2005
Filing Date:
March 26, 2004
Export Citation:
Assignee:
MIMIC TECHNOLOGIES INC (US)
BERKLEY JEFFREY J (US)
KIM SEAHAK (KR)
HONG SUNGKWAN (JP)
BERKLEY JEFFREY J (US)
KIM SEAHAK (KR)
HONG SUNGKWAN (JP)
International Classes:
B25J15/00; B25J15/02; B25J15/08; F16D31/02; G05B11/01; G06F3/01; G06F3/038; G09G5/00; G09G5/08; G06F; (IPC1-7): G09G5/00; G09G5/08; B25J15/00; B25J15/02; G06F19/00
Foreign References:
US5248960A | 1993-09-28 | |||
US6385509B2 | 2002-05-07 | |||
US5305429A | 1994-04-19 | |||
US6394998B1 | 2002-05-28 |
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