Computer graphics processing and selective visual display system – Display peripheral interface input device
Reexamination Certificate
2000-01-19
2003-07-15
Saras, Steven (Department: 2675)
Computer graphics processing and selective visual display system
Display peripheral interface input device
C345S161000
Reexamination Certificate
active
06593907
ABSTRACT:
FIELD OF THE INVENTION
This invention relates to force feedback hand controllers, particularly to six degree of freedom hand controllers with three degree of freedom rotational handles.
BACKGROUND—DISCUSSION OF PRIOR ART
Many attempts have been made to design a realistic force-reflecting master hand controller. These may be organized into serial devices, parallel devices, and hybrid constructions.
The present invention falls under the class of serial device; known examples are listed here:
Serial master devices are produced by Sarcos Research Corporation and CyberNet, among others. The Sarcos device is described by Jacobsen et al (1989) as a ten degree of freedom exoskeleton designed to match the user's arm. It is primarily used to control a slave arm that is kinematically similar to the master arm.
CyberNet's PERforce device is described in Burdea [1996]. It has six linkages connected by rotational joints, terminating in an aircraft style joystick. McAffee et al [1993] describe the CyberNet system as a force reflecting hand controller composed of connected linkages—a group of three for translation, carrying a group of three for rotation. This system makes use of cables and pulleys to transmit forces to the joints, and to carry joint position information to sensors at the base. Sensors arrayed in this manner can lead to instabilities because of delays in sensor signal transmission, owing to stretching of the cables and axial movement on the pulleys.
CyberNet personnel later invented a different system [Jacobus et al, 1995]. This hand controller consists of a three-axis prismatic base translation stage, surmounted by a three-axis rotary stage. Springs are positioned to counteract earth's gravity, allowing the translation stage to float. Low-ratio gears assemblies connect each axis to DC motors mounted in the stage supporting that axis. Back-drivability—the ability to push the handle against the supporting, driving mechanism—is reduced by the presence of gears.
Yokoi et al [1994] also presents a hand controller using three prismatic actuators for translation surmounted by three rotary actuators for orientation.
Massie and Salisbury [1994] describe their PHANToM device, which consists of instrumented gimbals mounted on a balanced four-bar mechanism. The four-bar is motorized, whereas the gimbals are a passive assembly. The PHANToM differs from the other serial devices just described in that only three of the six axes are motorized.
Likewise, Rosenberg et al [1996] outline a three-degree of freedom device that makes use of springs or counterweights to balance against gravity, and a force generator to present forces to the user.
Parallel devices are as follows:
Cleary and Brooks [1993] present a 6-DOF device combining three 2-DOF linkages. Iwata [1990] built a 9-DOF device that provides 6-DOF motion to the hand and 1 -DOF motion to 3 sets of fingers. Iwata [1 993] also experimented with a 6-DOF haptic pen positioned by two 3-DOF manipulators. Long and Collins [1992] report a 6-DOF joystick with three parallel pantograph linkages. Millman and Colgate [1991] describe a haptic probe with three active translational degrees of freedom and three passive rotational degrees of freedom. A 4-DOF device using only rotary actuators is presented in Kotoku et al [1992]. Millman et al [1993] describe a 4-DOF (3 translation, 1 rotation) joystick. A 2-DOF five-bar linkage with a horizontal planar workspace is optimized in Hayward et al [1994]. Kelley and Salcudean [1994] present a 2-DOF planar positioning device actuated by linear voice coils. Finally, Vertut [1977] presents an historical survey of earlier hand controllers, articulated arms, and exoskeletons.
A hybrid serial parallel device is described by Stocco and Salcudean (1996). This device, the Twin Elbow, makes use of two five-bar linkages to drive either end of a platform, with a motorized serial linkage to rotate the platform around an axis defined by its endpoints. Hayward et al [1997] describe a parallel device installed in the distal stage of a six degree of freedom hand controller, carried by a balanced serial translation stage.
REFERENCES FOR DESCRIPTION OF PRIOR ART
Burdea, G. C. [1996]. Force and Touch Feedback for Virtual Reality. John Wiley & Sons. New York, p. 82.
Cleary K. & Brooks T. [1993], “Kinematic Analysis of a Novel 6-DOF Parallel Manipulator”, IEEE International Conference on Robotics and Automation, Atlanta, Ga., pp. 708-713, 1993.
Hayward, V. [1994], J. Choksi, G. Lanvin, C. Ramstein, “Design and multi-objective optimization of a linkage for a haptic interface”, Proc. ARK '94, 4th Int. Workshop on Advances in Robot Kinematics (Ljubliana, Slovenia), June 1994.
Hayward V., Gregario P, Astley O., Greenish S., Doyon M., Lessard L., McDougall J., Sinclair I., Boelen S., Chen X. Demers J.-P. and Poulin J. “Freedom 7: A High Fidelity Seven Axis Haptic Device with Application to Surgical Training”, ISER'97, Barcelona, Spain, Jun. 15-18, 1997.
Iwata H. [1990], “Artificial Reality with Force-feedback: Development of Desktop Virtual Space with Compact Master Manipulator”, SIGGRAPH, Dallas, Tex., Vol. 24, No. 4, pp. 165-170, Aug. 6-10, 1990.
Iwata H. [1993], “Pen-based Haptic Virtual Environment”, IEEE International Symposium Conference on Robotics and Automation, 1993.
Jacobsen S, Iversen E., Davis C., Poter D., and McLain T. [1989]. “Design of a multiple degree of freedom, force-reflective hand master/slave with a high mobility wrist”. Proc. ANS/IEEE/SMC 3rd Topical Meeting on Robotics and Remote Systems, ANSI, New York, March 1989.
Jacobus, C. J, Riggs A. J., and Taylor, M. J. Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor, U.S. Pat. No. 5,459,382, issued Oct. 17, 1995.
Kelley A. J. and Salcudean S. E. [1994], “The Development of a Force-Feedback Mouse and its Integration into a Graphical User Interface”, Proc. Int. Mech. Eng. Congress & Exposition, Chicago, Ill., DSC-Vol 55-1, pp. 287-294, Nov. 6-11, 1994.
Kotoku T., Komoriya K. and Tanie K. [1992]. “A force display system for virtual environments and its evaluation”, IEEE Int. Workshop on Robot and Human Commun., Tokyo, Japan., pp. 246-251, Sep. 1-3, 1992.
Long G. & Collings C. [1992], “A Pantograph Linkage Parallel Platform Master Hand Controller for Force-Reflection”, IEEE International Conference on Robotics and Automation, 1992.
Massie T. and Salisbury K. [1994], “The PHANToM Haptic Interface: a Device for Probing Virtual Objects”, ASME Winter Annual Meeting, DSC-Vol 55-1, ASME, New York, pp. 295-300.
McAffee D. A., Snow E. R., Townsend W. T. [1993]. “Force reflecting hand controller”, U.S. Pat. No. 5,193,963, issued Mar. 16, 1993.
Millman P, Stanley M. & Colgate J. [1993], “Design of a High Performance Haptic Interface to Virtual Environments”, IEEE International Conference on Robotics and Automation, 1993.
Millman, P. A. and J. E. Colgate [1991], “Design of a four degree-of-freedom force-reflecting manipulandum with a specified force/torque workspace”, Proc. IEEE Int. conf. Robotics & Auto. (Sacramento, Calif., pp. 1488-1493, Apr. 9-11, 1991.
Rosenberg, L. B. and Jackson, B. G. Electromechanical human-computer interface with force feedback, U.S. Pat. No. 5,576,727, issued Nov. 19, 1996.
Stocco, L and Salcudean, S. E. “A Coarse-Fine Approach to Force-Reflecting Hand Controller design”. IEEE International Conference on Robotics and Automation, Minneapolis, Minn. Apr. 22, 1996.
Vertut, J. [1977]. “Control of master slave manipulators and force feedback”, Proc. 1977 Joint Auto. Control Conf., 1997.
Yokoi H. [1994], Yamashita J., Fukui Y. & Shimoho M., “Development of 3D-Input Device for Virtual Surface Manipulation”, IEEE International Workshop on Robot and Human Commun
Boelen Johannes M. A.
Demers Jean-Guy
(Ogilvy Renault)
Houle Guy J.
MPB Technologies Inc.
Saras Steven
Spencer William
LandOfFree
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