JP2007193848A - フォース感応触覚インターフェース - Google Patents
フォース感応触覚インターフェース Download PDFInfo
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- JP2007193848A JP2007193848A JP2007114895A JP2007114895A JP2007193848A JP 2007193848 A JP2007193848 A JP 2007193848A JP 2007114895 A JP2007114895 A JP 2007114895A JP 2007114895 A JP2007114895 A JP 2007114895A JP 2007193848 A JP2007193848 A JP 2007193848A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/52—Controlling members specially adapted for actuation by other parts of the human body than hand or foot
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- 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
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- 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
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- 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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- 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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
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- 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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- 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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
- G06F3/0383—Signal control means within the pointing device
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06G—ANALOGUE COMPUTERS
- G06G7/00—Devices in which the computing operation is performed by varying electric or magnetic quantities
- G06G7/48—Analogue computers for specific processes, systems or devices, e.g. simulators
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23021—Gesture programming, camera sees hand, displays it on screen, grasp buttons
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- 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
- G05G2009/04766—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 providing feel, e.g. indexing means, means to create counterforce
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/033—Indexing scheme relating to G06F3/033
- G06F2203/0331—Finger worn pointing device
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Computer Hardware Design (AREA)
- Mathematical Physics (AREA)
- User Interface Of Digital Computer (AREA)
- Position Input By Displaying (AREA)
- Manipulator (AREA)
Abstract
【課題】第1ユーザローカル環境に存在するユーザとフォースを物理的に交換する装置を提供すること。
【解決手段】本発明は、第1ユーザローカル環境に存在するユーザとフォースを物理的に交換する装置である。この装置は、a)ユーザの身体部(2002)に接続するための接続要素(202)と、b)接続要素を基準(118)と物理的にリンクさせるリンケージ手段とを含んでおり、リンケージ手段は、i)基準(118)に対して接続要素(202)の少なくとも3つの独立自由度にパワー供給するパワー手段(120、130、140)と、ii)基準(118)に対して接続要素(202)の少なくとも2つの独立自由度をパワーが供給されない状態に維持する手段(203、205)とを含んでいることを特徴とする。
【選択図】図1
Description
ユーザは、レバー、ジョイスティック、マウス(ボタンとトラッキング機構付き)、エクソスケルトン(exoskeleton)、キーボード、タッチスクリーン、デジタルパッドまたはタブレット、ヘッドマウス等の多様な装置を介してこのような機械をコントロールし、インターアクト(interact)する。典型的には、ユーザは自身の環境にて”マスター”インプット装置を操作し、典型的には異なる環境にある”スレーブ”ロボットはユーザの指令に従って作動する。マスター装置の形態はスレーブ装置の形態に合致することもあれば、幾分かは合致しないこともある。
図示の実施例においては、これらいずれのフリーダムもトラックもパワー供給もされていない。よって、これらフリーダムを介したユーザモーションは検出も、記録も、非ローカル環境への伝達も一切されない。その環境がそれらに影響を及ぼすこともない。
この電子−機械的装置は、図1に示すシンブル202のごときダイレクトユーザ接続用または接触用の要素502を含む。(別なユーザ接続要素であるスタイラス602は図6に示されており、以下で説明する。)この実施例は3つのフリーモーションフリーダムと3つのパワード、トラックトモーションフリーダムとを有しており、ユーザ接続要素502は、フォースとポジション信号とを伝達する接続体、すなわちベアリングを介してフリージンバル500に接続されている。(一般的にはこのポイントで伝達可能であるが、このリンケージはトルク信号も角信号も伝達できない。)
ジンバル500は機械式リンケージ506とケーブルトランスミッション536とを介してアクチュエータ540に接続されており、それら両方でフォース及びポジション信号(並びに恐らくはトルク及び角信号)をトルクと角信号のみに変換する。逆方向において、機械式リンケージ506とケーブルトランスミッション536も共同でアクチュエータからのトルクと角信号とを、ジンバル500に提供されるフォースとポジション信号(及び恐らくはトルクと角信号)に変換する。
Claims (1)
- 第1ユーザローカル環境に存在するユーザとフォースを物理的に交換する装置であって、
a)該ユーザの身体部(2002)に接続するための接続要素(202)と、
b)該接続要素を基準(118)と物理的にリンクさせるリンケージ手段と、
を含んでおり、該リンケージ手段は、
i)該基準(118)に対して該接続要素(202)の少なくとも3つの独立自由度にパワー供給するパワー手段(120、130、140)と、
ii)前記基準(118)に対して前記接続要素(202)の少なくとも2つの独立自由度をパワーが供給されない状態に維持する手段(203、205)と、
を含んでいることを特徴とする装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/130,639 US5625576A (en) | 1993-10-01 | 1993-10-01 | Force reflecting haptic interface |
US08/130,639 | 1993-10-01 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP51083895A Division JP4550945B2 (ja) | 1993-10-01 | 1994-09-22 | フォース感応触覚インターフェース |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009048525A Division JP2009148888A (ja) | 1993-10-01 | 2009-03-02 | フォース感応触覚インターフェース |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007193848A true JP2007193848A (ja) | 2007-08-02 |
JP4705928B2 JP4705928B2 (ja) | 2011-06-22 |
Family
ID=22445632
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP51083895A Expired - Lifetime JP4550945B2 (ja) | 1993-10-01 | 1994-09-22 | フォース感応触覚インターフェース |
JP2007114895A Expired - Lifetime JP4705928B2 (ja) | 1993-10-01 | 2007-04-24 | フォース感応触覚インターフェース |
JP2009048525A Withdrawn JP2009148888A (ja) | 1993-10-01 | 2009-03-02 | フォース感応触覚インターフェース |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP51083895A Expired - Lifetime JP4550945B2 (ja) | 1993-10-01 | 1994-09-22 | フォース感応触覚インターフェース |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009048525A Withdrawn JP2009148888A (ja) | 1993-10-01 | 2009-03-02 | フォース感応触覚インターフェース |
Country Status (6)
Country | Link |
---|---|
US (7) | US5625576A (ja) |
EP (1) | EP0721615B1 (ja) |
JP (3) | JP4550945B2 (ja) |
CA (1) | CA2172825C (ja) |
DE (1) | DE69430751T2 (ja) |
WO (1) | WO1995010080A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8716973B1 (en) | 2011-02-28 | 2014-05-06 | Moog Inc. | Haptic user interface |
Families Citing this family (462)
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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US8716973B1 (en) | 2011-02-28 | 2014-05-06 | Moog Inc. | Haptic user interface |
US9383832B1 (en) | 2011-02-28 | 2016-07-05 | Moog Inc. | Haptic user interface |
Also Published As
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US6405158B1 (en) | 2002-06-11 |
US6853965B2 (en) | 2005-02-08 |
DE69430751T2 (de) | 2003-03-06 |
US5587937A (en) | 1996-12-24 |
US7480600B2 (en) | 2009-01-20 |
EP0721615A1 (en) | 1996-07-17 |
CA2172825C (en) | 2003-07-22 |
JP2009148888A (ja) | 2009-07-09 |
WO1995010080A1 (en) | 1995-04-13 |
US20030034994A1 (en) | 2003-02-20 |
JPH09503603A (ja) | 1997-04-08 |
DE69430751D1 (de) | 2002-07-11 |
CA2172825A1 (en) | 1995-04-13 |
EP0721615A4 (en) | 1998-10-14 |
US20050222830A1 (en) | 2005-10-06 |
US5625576A (en) | 1997-04-29 |
JP4705928B2 (ja) | 2011-06-22 |
EP0721615B1 (en) | 2002-06-05 |
US20080046226A1 (en) | 2008-02-21 |
US5898599A (en) | 1999-04-27 |
JP4550945B2 (ja) | 2010-09-22 |
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