JPH09503603A - 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Info
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- JPH09503603A JPH09503603A JP7510838A JP51083895A JPH09503603A JP H09503603 A JPH09503603 A JP H09503603A JP 7510838 A JP7510838 A JP 7510838A JP 51083895 A JP51083895 A JP 51083895A JP H09503603 A JPH09503603 A JP H09503603A
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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
Description
Claims (1)
- 【特許請求の範囲】 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.該ユーザの身体部分に接続するための接続要素と、 b.該接続要素をグランドと物理的にリンクさせるリンケージ手段と、を 含み、該リンケージ手段は、 i.前記グランドに対して前記接続要素の少なくとも3つの独立フリー ダムにパワー供給するパワー手段と、 ii.前記グランドに対して前記接続要素の少なくとも1の独立フリー ダムをパワーフリーの状態で維持する維持手段と、 を含むことを特徴とする装置。 2.前記フリーダムの前記パワー手段は、非ローカル環境で発生された信号に 基づいて前記フリーダムにパワー供給することを特徴とする請求項1記載の装置 。 3.前記パワー供給されたフリーダムのうちで少なくとも1は、前記グランド に関するトランスレーションを含むことを特徴とする請求項1記載の装置。 4.パワーフリーである前記少なくとも1のフリーダムは、前記グランドに対 する回転を含むことを特徴とする請求項1記載の装置。 5.前記リンケージ手段は、前記グランドに対して前記接続要素の少なくとも 4のフリーダムにパワー供給するためのパワー手段を含むことを特徴とする請求 項1記載の装置。 6.前記リンケージ手段は、前記グランドに対して前記接続要素の少なくとも 5のフリーダムにパワー供給するためのパワー手段を含むことを特徴とする請求 項1記載の装置。 7.前記リンケージ手段は、少なくとも2つのリンクされた直交ベアリングを 含むことを特徴とする請求項1記載の装置。 8.前記リンケージ手段は、第1のリンクされた直交ベアリングと第2のリン クされた直交ベアリングと、該第1あるいは第2のベアリングのいずれかにリン クされて直交する第3つのベアリングを含むことを特徴とする請求項1記載の装 置。 9.前記リンケージ手段は、少なくとも2つのリンクされたベアリングを含む ことを特徴とする請求項1記載の装置。 10.前記リンケージ手段は、相対的に可動である1対のアクチュエータを含ん でおり、該1対のアクチュエータは自身よりも前記グランドの基部に近いリンク に対して可動であることを特徴とする請求項1記載の装置。 11.前記1対のアクチュエータは、1本のケーブルを介してグランドの基部に さらに近い前記リンクに両方とも接続されていることを特徴とする請求項10記 載の装置。 12.前記リンケージ手段は、グランドと他方とに対して可動である少なくとも 2つの質量と前記接続要素とを含んでおり、該少なくとも2つの質量と該接続要 素との重心は該接続要素のモーションにも拘らずグランドに対して実質的に静止 状態であることを特徴とする請求項1記載の装置。 13.前記質量のうち少なくとも1体は、アクチュエータを含むことを特徴とす る請求項12記載の装置。 14.前記接続手段は、5本のバーリンケージを含むことを特徴とする請求項1 記載の装置。 15.前記5本のバーリンケージの4本のバーは、1平面を定義し、該4本のバ ーは該平面に垂直な1軸周囲を回転式にグランドに接続されていることを特徴と する請求項13記載の装置。 16.前記接続要素は、シンブルを含むことを特徴とする請求項1記載の装置。 17.前記接続要素は、ロッドを含むことを特徴とする請求項1記載の装置。 18.前記接続要素は、ロッドを含むことを特徴とする請求項5記載の装置。 19.前記接続要素は、ロッドを含むことを特徴とする請求項6記載の装置。 20.前記接続要素は、人間の指と係合する大きさであることを特徴とする請求 項1記載の装置。 21.前記接続要素は、人間の足と係合する大きさであることを特徴とする請求 項1記載の装置。 22.前記接続要素は、人間の足、指、手、頭、尻、腕、脚、舌、及び足爪先で なる群より選択される前記ユーザの身体部と係合する大きさであることを特徴と する請求項1記載の装置。 23.前記リンケージ手段は、 a.前記パワー供給された少なくとも3つのフリーダムに関して前記グラ ンドに対する前記接続要素のモーションをトラックするトラック手段と、 b.該トラックされたモーションに基づいて信号を発生させる信号発生手 段と、 をさらに含むことを特徴とする請求項1記載の装置。 24.前記グランドは、重力界に関して前記接続要素よりも上方に配置されてい ることを特徴とする請求項1記載の装置。 25.前記リンケージ手段は、前記身体部から前記ユーザの異なる身体部へのリ ンケージのためのリンケージ手段をさらに含んでおり、前記グランドは前記ユー ザの身体部の前記異なる部分であることを特徴とする請求項1記載の装置。 26.前記接続要素は、圧力を受ける要素を含むことを特徴とする請求項1記載 の装置。 27.前記接続要素は、張力を受ける要素を含むことを特徴とする請求項1記載 の装置。 28.前記接続要素は、前記ユーザとの間で引き付け力と反発力とを交換するた めのフォース交換手段を含むことを特徴とする請求項1記載の装置。 29.第1ユーザローカル環境に存在するユーザと物理的にフォースを交換する ための装置であって、 a.前記ユーザの身体部と物理的に接続するための接続要素と、 b.該接続要素をグランドと物理的にリンクするためのリンケージ手段と 、を含んでおり、該リンケージ手段は、 i.前記グランドに対して前記接続要素の3つの独立フリーダムにパワ ー供給するパワー手段と、 ii.該グランドに対して該接続要素の3つの独立フリーダムをパワー フリーの状態で維持するための維持手段と、 を含むことを特徴とする装置。 30.ユーザ入力装置であって、 a.ユーザ接続要素と、 b.該ユーザ接続要素をグランドに接続するためのリンケージと、 を含んでおり、該リンケージは、 i.接続アセンブリ、 を含んでおり、該接続アセンブリは、 (a)第1リンクと、 (b)第1回転ベアリングと、 を含んでおり、該第1回転ベアリングの片側は前記接続要素に接続されており、 他方側は前記第1リンクの1端に接続されており、前記接続アセンブリはさらに 、 (c)第2回転ベアリング、 を含んでおり、該第2回転ベアリングの片側は前記第1リンクの第2端に接続さ れており、他方側は第2リンクに接続されており、該第2ベアリングは前記第1 ベアリングと、それらの回転軸が直交して交差するようにアレンジされており、 前記接続アセンブリはさらに、 (d)第3回転ベアリング、 を含んでおり、該第3ベアリングの片側は前記第2リンクの第2端に接続されて おり、該第3ベアリングは前記第2ベアリングと、それらの回転軸が直交して交 差するようにアレンジされており、さらに前記第1ベアリングと、それらの回転 軸が交差するようにアレンジされており、前記リンケージはさらに、 ii.第1バーと最終バーとを含んで直列にリンクされた4本のバー、 を含んでおり、該4本のバーのうち1本の延長部は前記第3ベアリングの他方側 に接続されており、前記リンケージはさらに、 iii.自身よりもグランドの基部にさらに近いリンクに関して固定さ れた回転軸、 を含んでおり、前記直列リンクの前記第1バーと前記最終バーとは該回転軸によ ってリンクされており、前記リンケージはさらに、 iv.前記直列4本バーの前記第1バーと前記リンクとの間で前記回転 軸よりもグランドの基部にさらに近く接続された第1アクチュエータと、 v.前記回転軸よりもグランドの基部にさらに近い前記リンクと、前記 第1バー以外の前記直列4本バーのうちの1本のバーとの間に接続された第2ア クチュエータと、 vi.グランドと、前記回転軸よりもグランドの基部にさらに近い前記 リンクとの間で接続された第3アクチュエータと、 を含むことを特徴とする装置。 31.前記第1アクチュエータと前記第2アクチュエータとは1本のケーブルを 介して前記回転軸よりもグランドの基部にさらに近い前記リンクに接続されてい ることを特徴とする請求項30記載の装置。 32.非ローカル環境との信号の交信をするための、ローカル環境のユーザのた めの装置であって、 a.該ユーザの身体部に物理的に接続するための接続要素と、 b.該接続要素をグランドに物理的にリンクするためのリンク手段と、 を含んでおり、該リンク手段は、 i.前記非ローカル環境からの信号に基づいた程度に、前記グランドに 対して前記接続要素の少なくとも3つの独立フリーダムにパワー供給するための パワー手段と、 ii.該少なくとも3つのパワー供給された独立フリーダムをトラック するためのトラック手段と、 iii.該トラックされた少なくとも3つのフリーダムに基づいてマス ター信号を発生させる信号発生手段と、 iv.前記グランドに対して前記接続要素の少なくとも1の独立フリー ダムをパワーフリーの状態で維持する維持手段と、 を含んでおり、本装置はさらに、 c.前記トラック手段からの前記マスター信号を前記非ローカル環境に伝 達するための伝達手段と、 d.該非ローカル環境からの前記非ローカル信号を前記パワー手段に伝達 する伝達手段と、 を含むことを特徴とする装置。 33.少なくとも3つの独立フリーダムにパワー供給する前記パワー手段は、前 記非ローカル信号に基づいた程度に該フリーダムにパワー供給することを特徴と する請求項32記載の装置。 34.前記リンク手段は、前記グランドに対して前記接続要素の3つの独立フリ ーダムをパワーフリーの状態に維持するための維持手段を含むことを特徴とする 請求項33記載の装置。 35.前記リンク手段は、前記グランドに対して前記接続要素の少なくとも2の 独立フリーダムをパワーフリーの状態に維持するための維持手段を含むことを特 徴とする請求項33記載の装置。 36.前記リンク手段は、少なくとも2つのリンクされた直交ベアリングを含む ことを特徴とする請求項32記載の装置。 37.前記リンク手段は、他方に対して可動である1対のアクチュエータと、該 アクチュエータよりも前記グランドの基部にさらに近いリンクとを含むことを特 徴とする請求項32記載の装置。 38.特定ポイントにおいて信号を発生させるための装置であって、 a.ケーブルを介してグランドに接続された第1アクチュエータと、 b.該ケーブルを介して該グランドに接続された第2アクチュエータと、 c.前記第1アクチュエータを前記特定ポイントに運動的に接続ための接 続手段と、 d.前記21アクチュエータを前記特定ポイントに運動的に接続ための接 続手段と、 を含むことを特徴とする装置。 39.前記特定ポイントに前記第1アクチュエータを接続する接続手段は、5本 バーリンケージの第1バーを含むことを特徴とする請求項38記載の装置。 40.前記特定ポイントに前記第2アクチュエータを接続する接続手段は、前記 5本バーリンケージの第2バーを含むことを特徴とする請求項39記載の装置 41.前記5本バーリンケージのバーは、前記アクチュエータと、該バーと、前 記特定ポイントとの重心が、それらの相対的な動きにも拘らず実質的に静止状態 であるような長さと質量とを有していることを特徴とする請求項40記載の装置 。 42.フォースを表す信号を発生させる装置であって、 a.ユーザ基準フレームに対するユーザ基準ポイントの位置を表す信号を 受信する受信機と、 b.i.非ローカル基準フレームと、 ii.該非ローカル基準フレームに対するユーザ基準フレームと、 iii.該非ローカル基準フレームに対する、スイッチタイプ/スプ リングタイプ要素を含む非ローカル環境の形態と、 の表現体を保存するためのジオメトリモデルレジデンスと、 c.該非ローカル環境に対するユーザ基準ポイントの位置を比較するため のコンパレータと、 d.該非ローカル環境に対するユーザ基準ポイントの位置と、一連のフォ ースルールとに基づいてフォースを表す信号を発生させるためのフォース発生機 と、 を含んでおり、該フォースルールは、前記スプリングタイプ要素の歪んだ形態を 表す前記ユーザ基準ポイントの位置信号に応じてスイッチ出力フォース信号を特 定するスプリングフォースルールを含んでおり、該スイッチ出力フォース信号は 非リニア関数によって特定されることを特徴とする装置。 43.フォースを表す前記信号と、前記一連のフォースルールとに基づいて前記 非ローカル環境の形態の表現体に変化を生じさせる非ローカル環境反応計算機を さらに含むことを特徴とする請求項42記載の装置。 44.前記スプリングフォースルールは、前記スイッチタイプ要素の歪んだ形態 を表す前記ユーザ基準ポイントの位置信号に応じて、前記非ローカル環境の形態 の表現体における変化を特定することを特徴とする請求項43記載の装置。 45.前記非ローカル環境の形態における前記変化は、前記スイッチタイプ要素 の表現体の形態における変化を含むことを特徴とする請求項44記載の装置。 46.前記スイッチタイプ要素は、少なくとも2のポジションを有したスイッチ を含んでおり、前記スイッチタイプ要素の表現体の形態における前記変化は該少 なくとも2のポジションの1ポジションから別ポジションへの変化を含むことを 特徴とする請求項45記載の装置。 47.フォースを表す信号を発生させるための装置であって、 a.ユーザ基準フレームに対するユーザ基準ポイントの位置を表す信号を 受信する受信機と、 b.i.非ローカル基準フレームと、 ii.該非ローカル基準フレームに対するユーザ基準フレームと、 iii.該非ローカル基準フレームに対する、ダイアゴナルタイプ/ スプリングタイプ要素を含む非ローカル環境の形態と、 の表現体を保存するためのジオメトリモデルレジデンスと、 c.該非ローカル環境に対するユーザ基準ポイントの位置を比較するため のコンパレータと、 d.該非ローカル環境に対するユーザ基準ポイントの位置と、一連のフォ ースルールとに基づいてフォースを表す信号を発生させるためのフォース発生機 と、 を含んでおり、該フォースルールは、前記ダイアゴナルタイプ要素の歪んだ形態 を表す前記ユーザ基準ポイントの位置信号に応じてダイアゴナル要素出力フォー ス信号を特定するスプリングフォースルールを含んでおり、本装置はさらに、 e.フォースを表す信号と前記一連のフォースルールとに基づいて前記非 ローカル環境の形態の表現体に変化を生じさせる非ローカル環境反応計算機、 を含んでおり、前記ダイアゴナル要素スプリングタイプルールは前記ダイアゴナ ルタイプ要素の選択領域の断面積の表現体における変化を特定することを特徴と する装置。 48.前記非ローカル環境は、前記ダイアゴナルタイプ要素の前記選択領域の断 面積の表示をさらに含むことを特徴とする請求項47記載の装置。 49.前記ジオメトリモデルレジデンスは、時間と共に変化する前記ダイアゴナ ルタイプ要素の断面積の前記表示の表現体を保存するための保存手段をさらに含 むことを特徴とする請求項48記載の装置。 50.前記一連のフォースルールは、ダイアゴナル要素出力フォース信号を特定 する複数の選択可能な異なるスプリングフォースルールを含んでおり、前記スプ リングフォース出力信号と、前記ダイアゴナルタイプ要素の歪んだ形態を表す前 記ユーザ基準ポイントの位置との間の複数の関係式を提供することを特徴とする 請求項47記載の装置。 51.前記フォース発生機は、前記非ローカル環境に対する前記ユーザ基準ポイ ントの位置の時間経緯と一連のフォースルールとに基づいてさらにフォースを発 生させ、該一連のフォースルールは、時間の経過によるポジションの変化を表す 前記ユーザ基準ポイントの位置信号の時間経緯に対応してフリクション出力フォ ース信号を特定するフリクションタイプルールを含むことを特徴とする請求項4 7記載の装置。 52.フォースを表す信号を発生させる装置であって、 a.ユーザ基準フレームに対するユーザ基準ポイントの位置を表す信号を 受信する受信機と、 b.i.非ローカル基準フレームと、 ii.該非ローカル基準フレームに対するユーザ基準フレームと、 iii.該非ローカル基準フレームに対する、作図用基材タイプ要素 を含む非ローカル環境の形態と、 の表現体を保存するためのジオメトリモデルレジデンスと、 c.該非ローカル環境に対するユーザ基準ポイントの位置を比較するため のコンパレータと、 d.該非ローカル環境に対するユーザ基準ポイントの位置と、一連のフォ ースルールとに基づいてフォースを表す信号を発生させるためのフォース発生機 と、 を含んでおり、該フォースルールは、前記作図用基材タイプ要素の歪んだ形態を 表す前記ユーザ基準ポイントの位置信号に応じて作図用基材出力フォース信号を 特定する作図用基材フォースルールを含んでおり、本装置はさらに、 e.フォースを表す前記信号と前記一連のフォースルールとに基づいて前 記非ローカル環境の形態の表現体に変化を生じさせる非ローカル環境反応計算機 、を含んでおり、前記作図用基材タイプ要素ルールは前記作図用基材タイプ要素 の選択領域の表面形状の表現体における変化を特定することを特徴とする装置。 53.前記作図用基材タイプ要素の前記形態の前記表現体は、表面素材の表現体 を含むことを特徴とする請求項52記載の装置。 54.装置と第1ユーザローカル環境に存在するユーザとの間でフォースを物理 的に交換するための方法であって、 a.i.該ユーザの身体部に物理的に接続するための接続要素と、 ii.該接続要素をグランドに物理的にリンクさせるためのリンク手 段と、 を含んだ装置を提供するステップ、 を含んでおり、該リンク手段は、 (a)前記グランドに対して前記接続要素の少なくとも3つの独立フ リーダムにパワー供給するためのパワー手段と、 (b)該グランドに対して該接続要素の少なくとも1の独立フリーダ ムをパワーフリーの状態で維持するための維持手段と、 を含んでおり、本方法はさらに、 b.前記接続要素を前記ユーザの身体部に接続するステップと、 c.該接続要素の前記少なくとも3つの独立フリーダムにパワー供給する ステップと、 を含むことを特徴とする方法。 55.前記フリーダムにパワー供給する前記ステップは、非ローカル環境にて信 号を発生させ、該非ローカル信号に基づいて該フリーダムにパワー供給するステ ップを含むことを特徴とする請求項54記載の方法。 56.フォースを表す信号を発生させる方法であって、 a.ユーザ基準フレームに対するユーザ基準ポイントの位置を表す信号を 受信するステップと、 b.i.非ローカル基準フレームと、 ii.該非ローカル基準フレームに対するユーザ基準フレームと、 iii.該非ローカル基準フレームに対する、ダイアゴナルタイプ/ スプリングタイプ要素を含む非ローカル環境の形態と、 の表現体を保存するステップと、 c.該非ローカル環境に対するユーザ基準ポイントの位置を比較するステ ップと、 d.該非ローカル環境に対するユーザ基準ポイントの位置と、一連のフォ ースルールとに基づいてフォースを表す信号を発生させるステップと、 を含んでおり、該フォースルールは前記ダイアゴナルタイプ要素の歪んだ形態を 表す前記ユーザ基準ポイントの位置信号に応じてダイアゴナル要素出力フォース 信号を特定するスプリングフォースルールを含んでおり、本装置はさらに、 e.フォースを表す前記信号と前記一連のフォースルールとに基づいて前 記非ローカル環境の形態の表現体を変化させるステップ、 を含んでおり、前記ダイアゴナル要素スプリングタイプルールは前記ダイアゴナ ルタイプ要素の選択領域の断面積の表現体における変化を特定することを特徴と する方法。 57.前記非ローカル環境の前記表現体の中に、前記ダイアゴナルタイプ要素の 前記選択領域の断面積の表示を維持するステップをさらに含むことを特徴とする 請求項56記載の方法。 58.時間と共に変化する前記ダイアゴナルタイプ要素の断面積の前記表示の表 現体を保存するステップをさらに含むことを特徴とする請求項57記載の方法。 59.時間と共に変化する前記ダイアゴナルタイプ要素の断面積の前記表示の表 現体を表示するステップをさらに含むことを特徴とする請求項58記載の方法。 60.前記各ベアリングは、回転軸を有しており、該3回転軸はユーザ基準ポイ ントで一致することを特徴とする請求項8記載の装置。 61.前記接続要素は、前記身体部が挿入されるシンブルを含んでおり、該シン ブルは、前記身体部が該シンブルに接続されたとき前記ユーザ基準ポイントが該 身体部内となるようにアレンジされていることを特徴とする請求項60記載の装 置。 62.前記身体部は、指を含むことを特徴とする請求項61記載の装置。
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1993
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-
1994
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- 1994-09-22 JP JP51083895A patent/JP4550945B2/ja not_active Expired - Lifetime
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- 1994-09-22 DE DE69430751T patent/DE69430751T2/de not_active Expired - Lifetime
-
1995
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-
1996
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-
1999
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-
2001
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-
2004
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2007
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2009
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH10512983A (ja) * | 1995-01-18 | 1998-12-08 | イマージョン ヒューマン インターフェイス コーポレイション | コンピュータ・システムのための高帯域及び低ノイズを有する機械的入出力を提供する方法及び装置 |
US6555248B1 (en) | 1997-03-28 | 2003-04-29 | Migaku Takahashi | Magnetic recording medium |
JP2004515369A (ja) * | 2000-05-18 | 2004-05-27 | コミツサリア タ レネルジー アトミーク | 制御アーム |
JP2007520793A (ja) * | 2003-12-15 | 2007-07-26 | コミツサリア タ レネルジー アトミーク | アクチュエーションブロック及び連結セグメント列を有するマニュアルインタフェース |
US8716973B1 (en) | 2011-02-28 | 2014-05-06 | Moog Inc. | Haptic user interface |
US10035265B2 (en) | 2015-12-28 | 2018-07-31 | Kabushiki Kaisha Toshiba | Manipulator |
JP2022508669A (ja) * | 2019-10-22 | 2022-01-19 | シーエムアール・サージカル・リミテッド | ロボットマニピュレータを制御するためのコンソール |
Also Published As
Publication number | Publication date |
---|---|
WO1995010080A1 (en) | 1995-04-13 |
JP2009148888A (ja) | 2009-07-09 |
US6405158B1 (en) | 2002-06-11 |
JP2007193848A (ja) | 2007-08-02 |
US6853965B2 (en) | 2005-02-08 |
US5898599A (en) | 1999-04-27 |
US5587937A (en) | 1996-12-24 |
CA2172825C (en) | 2003-07-22 |
JP4705928B2 (ja) | 2011-06-22 |
EP0721615B1 (en) | 2002-06-05 |
US7480600B2 (en) | 2009-01-20 |
EP0721615A4 (en) | 1998-10-14 |
US20050222830A1 (en) | 2005-10-06 |
DE69430751T2 (de) | 2003-03-06 |
US20030034994A1 (en) | 2003-02-20 |
JP4550945B2 (ja) | 2010-09-22 |
CA2172825A1 (en) | 1995-04-13 |
EP0721615A1 (en) | 1996-07-17 |
US20080046226A1 (en) | 2008-02-21 |
DE69430751D1 (de) | 2002-07-11 |
US5625576A (en) | 1997-04-29 |
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