DE69840264D1 - Kraftrückkopplungsschinittstellenvorrichtung für die hand - Google Patents

Kraftrückkopplungsschinittstellenvorrichtung für die hand

Info

Publication number
DE69840264D1
DE69840264D1 DE69840264T DE69840264T DE69840264D1 DE 69840264 D1 DE69840264 D1 DE 69840264D1 DE 69840264 T DE69840264 T DE 69840264T DE 69840264 T DE69840264 T DE 69840264T DE 69840264 D1 DE69840264 D1 DE 69840264D1
Authority
DE
Germany
Prior art keywords
force
glove
feedback system
hand
coupled
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE69840264T
Other languages
English (en)
Inventor
James F Kramer
Mark H Yim
Marc R Tremblay
Daniel H Gomez
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Immersion Corp
Original Assignee
Immersion Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Immersion Corp filed Critical Immersion Corp
Application granted granted Critical
Publication of DE69840264D1 publication Critical patent/DE69840264D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/741—Glove like input devices, e.g. "data gloves"
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
  • Surgical Instruments (AREA)
  • Handcart (AREA)
DE69840264T 1997-05-12 1998-05-12 Kraftrückkopplungsschinittstellenvorrichtung für die hand Expired - Lifetime DE69840264D1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US4618597P 1997-05-12 1997-05-12
US5465497P 1997-08-04 1997-08-04
PCT/US1998/009677 WO1998051451A2 (en) 1997-05-12 1998-05-12 Force-feedback interface device for the hand

Publications (1)

Publication Number Publication Date
DE69840264D1 true DE69840264D1 (de) 2009-01-08

Family

ID=26723648

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69840264T Expired - Lifetime DE69840264D1 (de) 1997-05-12 1998-05-12 Kraftrückkopplungsschinittstellenvorrichtung für die hand

Country Status (6)

Country Link
EP (3) EP0981423B1 (de)
AT (1) ATE415652T1 (de)
AU (1) AU7482298A (de)
CA (1) CA2294414A1 (de)
DE (1) DE69840264D1 (de)
WO (1) WO1998051451A2 (de)

Families Citing this family (38)

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Publication number Priority date Publication date Assignee Title
EP2385518A3 (de) * 2000-05-24 2012-02-15 Immersion Medical, Inc. Haptische Vorrichtungen mit elektroaktiven Polymeren
NL1018874C2 (nl) 2001-09-03 2003-03-05 Michel Petronella Hub Vleugels Chirurgisch instrument.
ES2356615T3 (es) 2003-01-07 2011-04-11 Universite Des Sciences Et Technologies De Lille Interfaz háptica de tipo ground-based y que consta al menos de dos efectores digitales rotativos separados.
ITTO20030426A1 (it) * 2003-06-06 2004-12-07 Galileo Avionica Spa Apparato di gestione missione e veicolo equipaggiato con tale apparato di gestione missione
US8543240B2 (en) 2009-11-13 2013-09-24 Intuitive Surgical Operations, Inc. Master finger tracking device and method of use in a minimally invasive surgical system
US8682489B2 (en) 2009-11-13 2014-03-25 Intuitive Sugical Operations, Inc. Method and system for hand control of a teleoperated minimally invasive slave surgical instrument
US8996173B2 (en) 2010-09-21 2015-03-31 Intuitive Surgical Operations, Inc. Method and apparatus for hand gesture control in a minimally invasive surgical system
US8935003B2 (en) 2010-09-21 2015-01-13 Intuitive Surgical Operations Method and system for hand presence detection in a minimally invasive surgical system
US8521331B2 (en) 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
CN101719002B (zh) * 2009-11-19 2012-02-01 北京航空航天大学 两自由度力觉交互设备
CN101853319A (zh) * 2010-05-14 2010-10-06 中国人民解放军军械工程学院 一种支持虚拟维修仿真的维修动素集的建立方法
GB2499019A (en) * 2012-02-03 2013-08-07 Univ Southampton A pressure applying haptic device for a finger
CN102929393B (zh) * 2012-10-11 2015-07-22 北京理工大学 虚拟手自动手势选择方法
CN103207673A (zh) * 2013-03-15 2013-07-17 江苏省电力公司 一种震动手套
KR102306959B1 (ko) 2013-09-04 2021-10-01 삼성전자주식회사 수술 로봇 및 수술 로봇 제어 방법
GB2519993B (en) * 2013-11-04 2017-05-10 The Shadow Robot Company Ltd Robotic hand
WO2015095459A1 (en) * 2013-12-18 2015-06-25 Board Of Regents, The University Of Texas System Robotic finger exoskeleton
KR102237597B1 (ko) * 2014-02-18 2021-04-07 삼성전자주식회사 수술 로봇용 마스터 장치 및 그 제어 방법
US10817056B2 (en) 2014-07-21 2020-10-27 Shenzhen Dexta Robotics Co. Ltd. Hand exoskeleton force feedback system
CN104076929B (zh) * 2014-07-21 2017-04-12 谷逍驰 带有力反馈的利用机械结构实现的手部动作捕获装置
US10423227B2 (en) 2014-07-21 2019-09-24 Dexta Robotics Hand exoskeleton force feedback system
FR3040803B1 (fr) * 2015-09-08 2017-09-01 Commissariat Energie Atomique Gant pour la manipulation virtuelle ou a distance et systeme de manipulation virtuelle ou a distance associe
NL2017228B1 (en) 2016-07-25 2018-01-31 Univ Delft Tech Exoskeleton glove
US11036295B2 (en) 2016-11-23 2021-06-15 Microsoft Technology Licensing, Llc Electrostatic slide clutch
CN108201497B (zh) * 2016-12-20 2020-10-02 富伯生医科技股份有限公司 穿戴式手部复健辅具系统
CN108687743A (zh) * 2017-04-08 2018-10-23 金子楗 基于振动和气动结合的触觉反馈外骨骼装置
CN107432816B (zh) * 2017-09-21 2019-07-16 哈尔滨工业大学 一种拇指功能康复的外骨骼机器人
US11023047B2 (en) 2018-05-01 2021-06-01 Microsoft Technology Licensing, Llc Electrostatic slide clutch with bidirectional drive circuit
NL2020941B1 (en) * 2018-05-16 2019-11-25 Univ Delft Tech Exoskeleton glove
US10852825B2 (en) 2018-09-06 2020-12-01 Microsoft Technology Licensing, Llc Selective restriction of skeletal joint motion
CN109669532B (zh) * 2018-11-01 2020-06-16 深圳岱仕科技有限公司 手部机械外骨骼力反馈的控制方法及系统
CN110091328B (zh) * 2019-04-19 2021-05-11 航天时代电子技术股份有限公司 一种可穿戴的轮式止动力反馈关节及力反馈操控装置
US10860102B2 (en) 2019-05-08 2020-12-08 Microsoft Technology Licensing, Llc Guide for supporting flexible articulating structure
US11061476B2 (en) 2019-05-24 2021-07-13 Microsoft Technology Licensing, Llc Haptic feedback apparatus
US11054905B2 (en) 2019-05-24 2021-07-06 Microsoft Technology Licensing, Llc Motion-restricting apparatus with common base electrode
DE102020108513B4 (de) 2020-03-27 2023-06-07 J. Schmalz Gmbh Mensch-Roboter-Kollaborations-Anlage
US12115612B2 (en) 2021-05-21 2024-10-15 Gryp Technologies Inc. Method and system for cueing a user of a tool
WO2023230726A1 (en) * 2022-06-02 2023-12-07 B-Temia Inc. Compact, full-range of motion and multi-degree of freedom structure for supporting orthotic devices

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2411603A2 (fr) * 1977-12-19 1979-07-13 Zarudiansky Alain Dispositif et procede d'enregistrement de restitution et de synthese de sensations tactiles
FR2416094A1 (fr) * 1978-02-01 1979-08-31 Zarudiansky Alain Dispositif de manipulation a distance
US4618597A (en) 1983-12-20 1986-10-21 Exxon Research And Engineering Company High surface area dual promoted iron/managanese spinel compositions
US5047952A (en) 1988-10-14 1991-09-10 The Board Of Trustee Of The Leland Stanford Junior University Communication system for deaf, deaf-blind, or non-vocal individuals using instrumented glove
US5184319A (en) * 1990-02-02 1993-02-02 Kramer James F Force feedback and textures simulating interface device
US5631861A (en) 1990-02-02 1997-05-20 Virtual Technologies, Inc. Force feedback and texture simulating interface device
JPH0458748U (de) * 1990-09-27 1992-05-20
US5143505A (en) * 1991-02-26 1992-09-01 Rutgers University Actuator system for providing force feedback to a dextrous master glove
JP3583777B2 (ja) * 1992-01-21 2004-11-04 エス・アール・アイ・インターナシヨナル テレオペレータシステムとテレプレゼンス法
JP3199130B2 (ja) * 1992-03-31 2001-08-13 パイオニア株式会社 ３次元座標入力装置
WO1994001042A1 (en) 1992-07-06 1994-01-20 Kramer James F Determination of kinematically constrained multi-articulated structures
US5625576A (en) * 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
IT1264718B1 (it) * 1993-10-08 1996-10-04 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant Anna Dispositivo atto a fornire una retroazione di forza ad un'unita' fisiologica, da utilizzarsi in particolare come interfaccia avanzata
GB9321086D0 (en) * 1993-10-13 1993-12-01 Univ Alberta Hand stimulator
JPH07204233A (ja) * 1994-01-19 1995-08-08 Kazuhiro Kawada 身体補助装置
US5465497A (en) 1994-02-22 1995-11-14 General Electric Company Control rod drive uncoupling tool gage

Also Published As

Publication number Publication date
EP2080595A2 (de) 2009-07-22
EP0981423A2 (de) 2000-03-01
ATE415652T1 (de) 2008-12-15
EP2345951A3 (de) 2013-11-06
EP2080595A3 (de) 2017-08-30
EP0981423A4 (de) 2001-05-16
EP0981423B1 (de) 2008-11-26
CA2294414A1 (en) 1998-11-19
AU7482298A (en) 1998-12-08
WO1998051451A3 (en) 1999-02-04
WO1998051451A2 (en) 1998-11-19
EP2345951A2 (de) 2011-07-20

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Legal Events

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8364 No opposition during term of opposition