Data processing: structural design – modeling – simulation – and em – Modeling by mathematical expression
Reexamination Certificate
2006-04-11
2006-04-11
Frejd, Russell (Department: 2128)
Data processing: structural design, modeling, simulation, and em
Modeling by mathematical expression
C703S007000, C700S245000, C715S701000
Reexamination Certificate
active
07027965
ABSTRACT:
Methods are provided for stabilizing a haptic interface of a computer-controlled one-port virtual-reality system or a two-port teleoperation system comprising a robot manipulator. “Stabilizing” means to reduce the sense of vibration in a haptic interface. A Passivity Observer is computed to measure the amount of energy produced at the haptic interface, and a Passivity Controller is calculated to damp or absorb excess energy which causes the sense of vibration. This invention also provides a “filter,” i.e. a threshold function which returns zero velocity if the computed estimated velocity is less than a small predetermined value, which may be applied to estimated velocities determined in impedance-based methods of this invention so as to remove noise in the velocity estimate. To improve speed of reaction of the systems, this invention also provides methods for resetting the Passivity Observer to zero when it has been too positive for too long a period of time. Systems implementing these methods are also provided.
REFERENCES:
patent: 5576727 (1996-11-01), Rosenberg et al.
patent: 5625576 (1997-04-01), Massie et al.
patent: 5642469 (1997-06-01), Hannaford et al.
patent: 5754023 (1998-05-01), Roston et al.
patent: 5802353 (1998-09-01), Avila et al.
patent: 5880714 (1999-03-01), Rosenberg et al.
patent: 5898599 (1999-04-01), Massie et al.
patent: 5987454 (1999-11-01), Hobbs
patent: 6005551 (1999-12-01), Osborne et al.
patent: 6046563 (2000-04-01), Moreyra
patent: 6046727 (2000-04-01), Rosenberg et al.
patent: 6075475 (2000-06-01), Ellis et al.
patent: 6084587 (2000-07-01), Tarr et al.
patent: 6111577 (2000-08-01), Zilles et al.
patent: 6131097 (2000-10-01), Peurach et al.
patent: 6283859 (2001-09-01), Carlson et al.
Maneewam et al., T. Haptic Feedback of Kinematic Conditioning for Telerobotic Applicatioons, 1988 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, Oct. 1998, pp. 1260-1265.
Hannaford et al., B. Time Domain Passivity Control of Haptic Interfaces, Proceedings 2001 ICRA, IEEE International Conference on Robotics and Automation, vol. 2, 2001, pp. 1863-1869.
Kim et al., Y.S. Some Practical Issues in Time Domain Passivity Control of Haptic Interfaces, 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 3, Oct.-Nov. 2001, pp. 1744-1750.
Adams et al., R.J. Stable Haptic Interaction with Virtual Environments, IEEE Transactions on Robotics and Automation, vol. 15, No. 3, Jun. 1999, pp. 465-474.
Adams, R.J. et al., “Excalibur, A Three-Axis Force Display,” (Nov. 1999) Proc. ASME International Mechanical Engineering Congress and Exhibition, Nashville, TN, pp. 1-8.
Adams, R.J. et al., “Stable Haptic Interaction Using the Excalibur Force Display,” (Apr. 2000)IEEE Int. Conf. on Robotics and Automation, vol. 15, No. 3, pp. 465-474.
Adams, R.J. and Hannaford, B., “A Two-Port Framework for the Design of Unconditionally Stable Haptic Interfaces,” (1998)Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1254-1259.
Buttolo, P. et al., “Architectures for Shared Haptic Virtual Environments,” (1997)Architectures for Shared Haptic Virtual Environments, Computer&Graphics, pp. 1-10.
Buttolo, P. and Hannaford, B., “Pen-Based Force Display for Precision Manipulation in Virtual Environments,” (Mar. 1995)Proc. IEEE Virtual Reality Ann. Int. Symp., pp. 217-224.
Kim, Y.S. and Hannaford, B., “Some Practical Issues in Time Domain Passivity Control of Haptic Interfaces,” (Oct. 2001),Proc. IROS 2001, Maui, Hawaii, abstract only.
Maneewarn, T. et al., “Haptic Rendering for Internal Content of an Implicit Object,” (Nov. 1998)ASME Winter Annual Meeting Symposium.
Miller, B.E. et al., “Environment Delay in Haptic Systems,” (Apr. 2000)Proc. 2000 IEEE Int. Conf. on Robotics&Automation, pp. 2434-2439.
Raju, G.J. et al., “Design Issues in 2-port Network Models of Bilateral Remote Manipulation,” (1989)IEEE, pp. 1316-1321.
Yokokohji, Y. et al., “Bilateral Control with Energy Balance Monitoring under Time-Varying Communication Delay,” (Apr. 2000)Proc. 2000 IEEE Int. Conf. on Robotics&Automation, pp. 2684-2689.
Hannaford Blake
Ryu Jee-Hwan
Frejd Russell
Greenlee Winner and Sullivan P.C.
The University of Washington
LandOfFree
Time domain passivity control of haptic interfaces does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Time domain passivity control of haptic interfaces, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Time domain passivity control of haptic interfaces will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-3528854