EP1820079A1 - Haptische schnittstelle mit kabeln - Google Patents

Haptische schnittstelle mit kabeln

Info

Publication number
EP1820079A1
EP1820079A1 EP05819287A EP05819287A EP1820079A1 EP 1820079 A1 EP1820079 A1 EP 1820079A1 EP 05819287 A EP05819287 A EP 05819287A EP 05819287 A EP05819287 A EP 05819287A EP 1820079 A1 EP1820079 A1 EP 1820079A1
Authority
EP
European Patent Office
Prior art keywords
platform
actuator
interface according
push rod
cables
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.)
Withdrawn
Application number
EP05819287A
Other languages
English (en)
French (fr)
Inventor
Alain Riwan
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of EP1820079A1 publication Critical patent/EP1820079A1/de
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Definitions

  • the invention relates to an interface for controlling a haptic system
  • a haptic system comprising a base, a platform spaced from the base, at least two cables each having a first end attached to the platform and a second end connected to a pulling actuator capable of exerting traction on the cable, pushing means mounted on the base via a hinge and comprising a push rod having a first end in contact with the platform and a second end connected to a pushing actuator which pushes the push rod towards the platform, the actuators exerting on the platform representative forces of information relating to the system.
  • Platforms are known arranged between two bases to which they are connected by cables.
  • the platform constitutes a control organ.
  • the interface of the invention retains the advantages of simplicity and low inertia and, consequently, wide bandwidth of the platforms from Stewart.
  • the actuators whether actuators pulling cables or actuator pushing the push rod, transmit both the control signal to the system and the feedback of this system.
  • the controllable working space is extended beyond the fixing points of the cables on the base.
  • the sphere 24 is articulated to the end of a push rod 40 by a ball joint 42.
  • the center of the ball 42 coincides with the center of the sphere 24.
  • a rotation of the platform 24 results in a minimal displacement of the end of the rods 26 and therefore of each of the six cables 32.
  • the decision of the The hand of an operator who actuates the platform 24 is thus in the center of the articulation of the platform on the ball 42.
  • the rigid push rod 40 is connected to a pushing actuator whose function is to balance the pulling force exerted by the six actuators pulling 36 on the platform. 24 through each of the six cables 32.
  • the movement reversal mechanism is constituted by a bracket 48 articulated on the base 2 by means of a cardan.
  • the lower end of the stem pivots about an axis XX with respect to a structure 50 in the shape of a large U itself pivotally mounted about an axis YY on one of the long sides 4 of the base 2.
  • the axes XX and YY which are perpendicular to each other, intersect at the center of the cable guide hole 23 of the arm 20.
  • Two parallel sliding rods 52 are slidably mounted to the upper end of the stem 48. At their lower ends, the two sliding rods 52 carry an axis 53 on which is mounted a pulley 54.
  • FIG. 2 shows another position of the haptic interface of FIG. 1.
  • the platform 24 has been displaced with respect to the position it occupies in FIG. U-shaped 50 rotated around its axis YY articulation and that on the other hand, the bracket 48 has pivoted about its hinge axis XX on the support 50.
  • the platform 24 has rotated about its axis of rotation ZZ constituted by the rod thrust 40 (see Figure 3).
  • the two guide rods 52 have been moved upwards.
  • the lengths of the cables 32 connecting the ends 30 of the rods 26 to the orifices 22 of the arms 8, 10, 12, 14, 16 and 18 have varied.
  • a haptic cable interface has thus been realized with a parallel structure, in which the platform 24 constitutes both the control member and the member through which the feedback is carried out.
  • This interface has a low inertia because of the simplicity of the cable transmission mechanism, which gives it a wide bandwidth.
  • cable transmission is well suited to an application of this type in which the efforts to be transmitted are low.
  • the pulley 60 is mounted on the inner wall of a cylinder 70 which constitutes a cable jack.
  • the push rod 40 slides on a Reach 72 of the cylinder 70.
  • the actuator 44 of the push rod is mounted at the bottom of the cylinder.
  • the lower end of the jack is hinged to the base 2 via a universal joint 74 shown schematically.
  • the realization of this gimbal may be similar to that which has been described in Figures 1 and 2.
EP05819287A 2004-12-03 2005-11-30 Haptische schnittstelle mit kabeln Withdrawn EP1820079A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0452861A FR2878987B1 (fr) 2004-12-03 2004-12-03 Interface haptique a cables
PCT/FR2005/051009 WO2006059039A1 (fr) 2004-12-03 2005-11-30 Interface haptique a cables

Publications (1)

Publication Number Publication Date
EP1820079A1 true EP1820079A1 (de) 2007-08-22

Family

ID=34951375

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05819287A Withdrawn EP1820079A1 (de) 2004-12-03 2005-11-30 Haptische schnittstelle mit kabeln

Country Status (6)

Country Link
US (1) US20080184836A1 (de)
EP (1) EP1820079A1 (de)
JP (1) JP2008521733A (de)
CN (1) CN101069143A (de)
FR (1) FR2878987B1 (de)
WO (1) WO2006059039A1 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4830580B2 (ja) * 2006-03-29 2011-12-07 株式会社デンソー 操作装置
US9050527B2 (en) 2012-08-23 2015-06-09 Wms Gaming Inc. Interactive tether using tension and feedback
US9625935B2 (en) * 2013-08-02 2017-04-18 Joseph J. Olson Powered wheelchair joystick handles
KR101435189B1 (ko) 2014-01-23 2014-09-01 엘아이지넥스원 주식회사 원격 동적 제어 장치

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4666362A (en) 1985-05-07 1987-05-19 Massachusetts Institute Of Technology Parallel link manipulators
FR2712406B1 (fr) 1993-11-08 1995-12-15 Commissariat Energie Atomique Organe de commande manuelle à retour d'information tactile et/ou kinesthésique.
KR0151349B1 (ko) * 1995-12-29 1998-10-15 배순훈 운동재현기의 조작장치
FR2833367B1 (fr) * 2001-12-10 2004-01-30 Commissariat Energie Atomique Organe de commande a cables tendus

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2006059039A1 *

Also Published As

Publication number Publication date
FR2878987B1 (fr) 2007-01-12
US20080184836A1 (en) 2008-08-07
JP2008521733A (ja) 2008-06-26
WO2006059039A1 (fr) 2006-06-08
FR2878987A1 (fr) 2006-06-09
CN101069143A (zh) 2007-11-07

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