WO2006037017A2 - Interface haptique refletant la force - Google Patents

Interface haptique refletant la force Download PDF

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Publication number
WO2006037017A2
WO2006037017A2 PCT/US2005/034748 US2005034748W WO2006037017A2 WO 2006037017 A2 WO2006037017 A2 WO 2006037017A2 US 2005034748 W US2005034748 W US 2005034748W WO 2006037017 A2 WO2006037017 A2 WO 2006037017A2
Authority
WO
WIPO (PCT)
Prior art keywords
interface
freedom
user
haptic interface
degrees
Prior art date
Application number
PCT/US2005/034748
Other languages
English (en)
Inventor
Deepak Kapoor
William Alexander Goodwin
Original Assignee
Sensable Technologies, Inc.
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 Sensable Technologies, Inc. filed Critical Sensable Technologies, Inc.
Publication of WO2006037017A2 publication Critical patent/WO2006037017A2/fr

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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
    • G06F3/03—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
    • 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
    • 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

Definitions

  • the present invention relates generally to a man/machine interface and, more specifically, to multiple degrees-of-freedom haptic interfaces and user interfaces.
  • haptic interfaces define a user reference point located, for example, proximate to or within a work volume of a user interface, such as a finger thimble or stylus configured to be donned or grasped by a user.
  • a user connection element Disposed between the user connection element and a spatial or reference ground are a series of mechanical transmission elements such as gimbals, linkages, and frames configured to permit substantially unrestricted movement of the connection element within a predetermined work volume of the haptic interface when in an unpowered state.
  • each degree of freedom may be powered and/or tracked, or free, being neither powered nor tracked.
  • a degree of freedom may be powered by a motor or other actuator so that, under appropriate conditions, the interface can resist, balance, or overcome a user input force along that degree of freedom.
  • the powered axis may be active, with force being varied as a function of system conditions, or passive, such as when a constant resistance or drag force is applied.
  • a degree of freedom can be tracked using an encoder, potentiometer, or other measurement device so that, in combination with other tracked degrees of freedom, the spatial location of the reference point within the work volume can be determined relative to ground.
  • a degree of freedom may be free, such that a user is free to move along the degree of freedom substantially without restriction and without tracking within the limits of the range of motion.
  • the interface in combination with appropriate computer hardware and software, can be used to provide haptic feedback in a virtual reality environment or link a user to an actual manipulator located, for example, in a remote or hazardous environment.
  • the haptic interface have low friction and weight balance, such that a user's movements will not be unduly resisted and the user will not become fatigued merely by moving the connection element within the work volume. It is also desirable that the haptic interface has a high degree of resolution and is highly responsive so as to replicate, as closely as possible, an actual haptic experience. Compact size, low cost, and the interchangeability of various input interfaces are also beneficial attributes from the standpoint of commercial acceptance and appeal.
  • the invention generally relates haptic interfaces and user interfaces that interact with all of a user's body members, including but not limited to the foot, arm, tongue, head, buttocks, etc.
  • the haptic and user interfaces may include combinations of powered and unpowered degrees-of-freedom.
  • a user may also have need to use an orifice, including the mouth, for instance in situations of lower limb - A - paralysis.
  • the user interfaces facilitate the interaction between point type tools (pencil, stylus, scalpel, etc.) and line-type tools (e.g. rat tail file, sword, and cane) and virtual or remote environments through the haptic interfaces.
  • the invention relates to a haptic interface.
  • the interface includes a ground element, three global degrees-of-freedom extending from the ground element, and at least four local degrees-of-freedom extending therefrom.
  • One of the at least four local degrees-of- freedom is a linear degree-of-freedom for accommodating at least one of a local extension and retraction motion.
  • the haptic interface can be adapted for use in a medical application or for other precision tasks. Other possible applications include dental, gaming, scientific, design, visualization, and assembly path planning.
  • the invention in another aspect, relates to a haptic interface including a ground element, three global degrees-of-freedom extending from the ground element, and at least five local degrees-of-freedom extending therefrom. Four of the local degrees-of-freedom are rotary and one of the local degrees-of-freedom is linear. [0013]
  • the invention relates to a precision end effector for use with a haptic interface.
  • the end effector includes three rotary degrees-of-freedom for accommodating rotational motion and a linear degree-of-freedom for accommodating at least one of an extension and a retraction motion.
  • the end effector is adapted for use with a global kinematic system.
  • the global kinematic system includes a ground element or reference frame and three global degrees-of-freedom extending therefrom, where the end effector extends from the three global degrees-of-freedom.
  • three of the local degrees-of-freedom are arranged serially in a kinematic chain and optionally include a rotary degree-of-freedom arranged beyond the linear degree-of-freedom with respect to the ground element.
  • the local degrees-of-freedom can include three rotary degrees-of-freedom.
  • the local degrees-of-freedom include a rotary degree-of-freedom for accommodating a rotational motion and/or at least two rotary degrees-of-freedom for accommodating a compound rotational motion.
  • at least two of the local degrees-of- freedom are nested and/or are disposed on a common axis.
  • the interface can be a force-reflecting haptic interface adapted to provide a force-feedback to at least one of the degrees-of-freedom.
  • At least one of the degrees-of- freedom can be powered to provide, for example, a power assist to a user.
  • the three global degrees-of-freedom and a first three of the local degrees-of-freedom are arranged serially.
  • the local degrees-of-freedom can be adapted to be oriented in parallel with a user and the ground element is adapted to be located proximate a user, such that at least some of the degrees-of-freedom mimic corresponding joints of a user (e.g., those of an arm).
  • the haptic interface could include a second similar or alternatively configured interface for combined operation.
  • the second interface includes a ground element, three global degrees-of-freedom extending from the ground element, and at least four local degrees-of-freedom extending therefrom.
  • One of the local degrees-of-freedom can be a linear degree-of-freedom for accommodating at least one of an extension and a retraction motion.
  • the local degrees-of-freedom define an action point representative of an intersection between the user interface and a virtual object to be acted upon, where the action point is substantially coincident with an intersection of at least some of the local axes of the haptic interface.
  • the interface includes an end effector, such as a stylus, a roller ball, a joystick, a mouse, a pistol grip, a steering device, an exoskeleton, a game controller, or pinch or grasp type devices.
  • the invention in another aspect, relates to a user interface for a haptic interface.
  • the user interface includes a housing, a first arm coupled to the housing, and a second arm coupled to the housing.
  • the arms are movable relative to each other and linearly movable relative to the housing along a linear axis.
  • the interface also includes at least one sensor for measuring at least one of angular relative movement or linear relative movement.
  • the interface could be coupled to a multiple degrees-of-freedom interface.
  • the arms rotate relative to each other about a point on a linear axis.
  • the interface can include at least one actuator for providing a force-feedback to a user.
  • the interface includes a first actuator for providing a rotary force feedback through at least one of the arms and a second actuator for providing a linear force feedback through at least one of the arms.
  • One of the actuators can be disposed along the linear axis.
  • the sensor includes a first sensor for measuring angular movement and a second sensor for measuring linear movement of the arms. The first arm and the second arm can be maintained in a substantially fixed position.
  • the interface can include a stop to limit a range of motion of at least one of the arms. The stop can be adjustable.
  • the invention in another aspect, relates to a user interface for a force reflecting haptic interface.
  • the user interface includes means, such as a mechanical transmission, for converting a pinch movement into a linear movement.
  • the interface could include means, such as a sensor, for measuring relative movement of at least one digit relative to a reference frame.
  • the reference frame is at least one of a housing, a stylus, a second digit, a roller ball, a joystick, a mouse, a pistol grip, a steering device, an exoskeleton, a game controller, or pinch or grasp type devices.
  • the measuring means or sensor could include structure for measuring a relative movement of two digits.
  • the interface includes means for measuring relative movement of three independent digits.
  • the user interface can be decoupled from the haptic interface.
  • the user interface includes one or more user inputs. The inputs can be customizable by a user and can be switches.
  • the invention in another aspect, relates to an adjustable zero position joint for use with a haptic interface to adjust a zero position of a downstream degree-of-freedom relative to an upstream degree-of-freedom.
  • the joint includes a first element defining a recess and a mating second element positionable therewith in at least two mating orientations.
  • the first element defines at least two recesses and the second mating element includes a detent for mating with either of the recesses.
  • the recesses can include a plurality of radial recesses disposed about a mating surface of the first element.
  • the detent can be a spring loaded plunger for engaging either of the recesses.
  • the joint could include an adjustable stop for limiting an adjustable range of the joint.
  • the joint has an adjustable range of less than about 360 degrees.
  • the upstream degree-of-freedom is one of three global degrees-of- freedom and the downstream degree-of- freedom is one of three local degrees-of-freedom.
  • the invention in another aspect, relates to a user interface for a haptic interface.
  • the user interface includes a nose section and a user connection section detachably coupled to the nose section.
  • the user connection section couples to the nose section by a quick disconnect type electrical connector, optionally including a threaded retainer.
  • the nose section is adapted to receive alternative user connection sections, such as a stylus, a roller ball, a joystick, a mouse, a pistol grip, a steering device, an exoskeleton, a game controller, or pinch or grasp type devices.
  • the connector includes a plurality of contacts.
  • the user connection section is a stylus and the stylus includes means for adjusting an operational parameter of a virtual end effector controlled by the user interface.
  • the user interface includes pinch apparatus, and the nose section includes at least a portion of a sphere.
  • the user interface includes one or more user inputs.
  • the inputs can be customizable by a user and can be switches.
  • an input could include a plunger and a switch actuated thereby.
  • the haptic interface could include a yoke assembly coupled to the nose section.
  • the invention relates to a user interface for a haptic interface.
  • the user interface includes an elongate body including a conically shaped proximal end, a collar disposed about at least a portion of the proximal end of the elongate body, the collar connectable to the haptic interface, and three fingers radially disposed about the collar and adapted to impart a linear movement to the elongate body when actuated in a radially inward motion with respect to the collar.
  • the elongate body includes an adjustable stop for limiting the linear movement thereof.
  • the interface can also include a rotary element coupled to the interface, where the rotary element includes an actuator for providing a force-feedback to a user and/or an encoder for tracking a position of the elongate body.
  • the rotary element is coupled to the user interface via a capstan and cable arrangement.
  • the rotary element could be coupled to the user interface via a cam.
  • the rotary element is coupled to the haptic interface.
  • the elongate body can be detachable from the user interface and the collar can be adapted to receive alternative elongate bodies having different conically shaped proximal ends.
  • the conically shaped proximal end is detachable from the elongate body, the elongate body member adapted to receive alternative conically shaped proximal ends.
  • the fingers can be contoured to mate with a user's fingers and can be hingedly coupled to the collar.
  • Each finger can include a protuberance extending from an interior side of each finger, the protuberance for engaging the conically shaped proximal end.
  • the collar includes three free-floating, substantially spherical members disposed through a wall of the collar, the spherical members for transferring a force from at least one of the fingers to the conically shaped proximal end.
  • the elongate body can be locked in a substantially fixed position.
  • the invention in another aspect, relates to an adjustable user interface for a haptic interface.
  • the user interface can include an elongate body including an adjustable conically shaped proximal end, a collar disposed about at least a portion of the proximal end of the elongate body, the collar connectable to the haptic interface, and three fingers radially disposed about the collar and adapted to impart a linear movement to the elongate body when actuated in a radially inward motion with respect to the collar.
  • the adjustable conically shaped proximal end includes at least two flaps pivotally coupled to the elongate body and an adjustment mechanism disposed substantially coaxially with the elongate body and at least partially surrounded by the at least two flaps.
  • the adjustment mechanism is capable of pivoting the individual flaps so as to vary the angle of the conically shaped proximal end.
  • the adjustment mechanism threadedly engages the elongate body and includes a cam disposed on a threaded rod for interacting with the at least two flaps, where the cam moves along a central axis of the elongate body by turning the rod relative to the elongate body.
  • the invention in another aspect, relates to a user interface for a haptic interface.
  • the user interface includes at least two finger engagement elements and a ring, wherein the at least two finger engagement elements are disposed on and movable relative to the ring.
  • the user Interface includes at least two finger clasps, at least two rotary elements coupled to the at least two finger clasps, the at least two rotary elements mounted on a base, and a ring coupled to and extending from the base, wherein the at least two finger clasps are movably mounted to the ring.
  • the interface includes a third finger clasp and a third rotary element associated therewith. The finger clasps can be movable radially with respect to the ring.
  • each of the rotary elements includes an actuator for providing a force-feedback to a user and/or an encoder for tracking a position of each of the finger clasps.
  • the base can be adapted for mounting to at least one of a rotary degree-of- freedom and a linear degree-of-freedom on the haptic interface.
  • the at least two rotary elements can be positionable relative to the base.
  • the invention in another aspect, relates to a user interface for use with a haptic interface.
  • the user interface includes at least two finger clasps and at least two rotary elements coupled to the at least two finger clasps, the at least two rotary elements mounted on a base.
  • the interface includes a third finger clasp and a third rotary element associated therewith.
  • each finger clasp can be coupled to a rotary element via a lever arm, the lever arm coupled to the rotary element via a collar disposed on a shaft of the rotary element.
  • Each finger clasp can be pivotally coupled to one of the lever arms.
  • the relative position of each finger clasp can be adjusted by rotating the lever arm and collar about the shaft of the rotary element.
  • the rotary elements can be positionable relative to the base.
  • the invention in another aspect, relates to a user interface for a haptic interface.
  • the user interface includes at least two finger clasps, a scissors linkage coupled to the at least two finger clasps, and a translatable block, wherein a first leg of the scissors linkage is anchored to the translatable block and a second leg of the scissors linkage is coupled to a shaft slidably disposed within the block, the shaft correspondingly extendable and retractable with the extension and retraction of the scissors linkage.
  • the interface includes an actuator coupled to the shaft to provide a force feedback to a user and/or a sensor coupled to the shaft for determining a relative position thereof.
  • the invention relates to a user interface for a haptic interface.
  • the user interface includes a handle coupled to at least two rotary elements and a finger interface coupled to a third rotary element, wherein the handle and finger interface are capable of relative movement.
  • the handle is coupled to the at least two rotary elements via two lever arms, each lever arm coupled to one of the rotary elements via a collar disposed on a shaft of the rotary element. The handle can be slidable relative to the two lever arms.
  • the finger interface can be coupled to the third rotary element via a lever arm, the lever arm coupled to the third rotary element via a collar disposed on a shaft of the third rotary element.
  • the relative position of at least one of the handle and the finger interface can be adjusted by rotating at least one of the lever arms and collar about the shaft of at least one of the rotary elements.
  • the interface can be adapted for mounting to at least one of a rotary degree-of-freedom and a linear degree-of-freedom on the haptic interface.
  • the rotary elements can include an actuator for providing a force-feedback to a user and/or an encoder for tracking a position of the handle and the finger interface.
  • FIG. 1 is a schematic perspective side view of a multiple degrees-of-freedom (DOF) haptic interface in accordance with one embodiment of the invention
  • FIG. 2A is a schematic side view of the haptic interface of FIG. 1 in one possible orientation with respect to a user;
  • FIG. 2B is a schematic side view of an alternative orientation of the haptic interface of FIG. 1 with respect to the user;
  • FIGS. 3A-3C are schematic perspective views of one embodiment of the global DOF portion of the haptic interface of FIG. 1 ;
  • FIGS. 3D and 3E are schematic perspective views of alternative embodiments of a global DOF portion of a haptic interface in accordance with the invention;
  • FIG. 3F is a pictorial representation of the travel the global DOF of FIG. 3D;
  • FIG. 3G is a schematic perspective view of one of the DOFs of FIG. 3D; [00451 F ⁇ . 4 is an enlarged schematic perspective view of one embodiment of the local
  • FIGS. 5A-5C are schematic perspective views of a linear DOF and a rotary DOF of the local DOF portion shown in FIG. 4;
  • FIG. 6 is a schematic cross-sectional view of the linear DOF and the rotary DOF taken at line 6-6 of FIG. 4;
  • FIG. 7 is a pictorial representation of a user operating one embodiment of a user connection end for use with the haptic interface of FIG. 1, illustrating the linear DOF and the rotary DOF;
  • FIG. 8 is a schematic perspective view of one embodiment of a user interface for use with a haptic interface that is adapted so that a point of action is located in close proximity to a geometric centerpoint of the haptic interface;
  • FIGS. 9A and 9B are schematic perspective views of a haptic interface including a zero-shift adjustment mechanism in two possible orientations in accordance with one embodiment of the invention.
  • FIG. 10 is a schematic exploded view of the zero-shift mechanism of FIGS. 9A and
  • FIG. 11 is an enlarged schematic side view of the zero-shift mechanism of FIGS. 9A and 9B;
  • FIG. 12A is a schematic perspective view of a user interface for a haptic interface in accordance with one embodiment of the invention.
  • FIG. 12B is a schematic plan view of the user interface of FIG. 12A including a pinch type switch;
  • FIG. 13A is a schematic partial cross-sectional side view of the interconnection of a user connection end and the user interface of FIG. 12;
  • FIG. 13B is a schematic partial cross-sectional side view of the interconnection of a user connection end and the user interface of FIG. 12;
  • FIG. 13C is a partially exploded perspective view of the interconnection of FIG. 13A;
  • FIG. 14A is a schematic perspective view of a portion of a pinch type user connection end in accordance with one embodiment of the invention.
  • FIG. 14B is a schematic plan view of the user connection end of FIG. 14A;
  • FIG. 14C is a schematic perspective view of an elongate member for use with the user connection end
  • FIG. 15 is a schematic perspective view of portion of an alternative embodiment of a user connection end in accordance with the invention.
  • FIG. 16 is a schematic plan view of an alternative embodiment of a user connection end in accordance with the invention.
  • FIG. 17A is a schematic perspective view of a three point pinch/grasp end effector device, in accordance with one embodiment of the invention.
  • FIG. 17B is an alternative schematic perspective view of the three point pinch/grasp end effector device shown in FIG. 17A;
  • FIG. 17C is a cross-sectional view of the three point pinch/grasp end effector device shown in FIG. 17A;
  • FIG. 17D is a schematic perspective view of an alternative three point pinch/grasp end effector device cooperating with a cam-based rotary element;
  • FIG. 18A is a schematic perspective view of a three point pinch/grasp device with a wound capstan and grounded cable mechanisms, in accordance with one embodiment of the invention;
  • FIG. 18B is a schematic perspective view of the three point pinch/grasp device of 18A, illustrating the motion of the pinching mechanism
  • FIG. 18C is a schematic perspective view of a single pinch sector mount for the three point pinch/grasp device of FIG. 18A;
  • FIG. 18D is a schematic perspective view of an adjustable three point pinch/grasp device with lever arm mechanisms, in accordance with one embodiment of the invention.
  • FIG. 18E is a schematic perspective view of a single pinch sector mount for the adjustable three point pinch/grasp device of FIG. 18D;
  • FIG. 18F is a schematic view of a rotary element mount bracket with pin and slot motion range limiter for the three point pinch/grasp device with lever arm mechanisms;
  • FIG. 18G is a schematic view of the adjustable three point pinch/grasp device of FIG. 18D, illustrating radial adjustment of the pinch sectors for desired finger positioning;
  • FIG. 19A is a schematic perspective view of an adjustable conical proximal end assembly for a three point pinch/grasp end effector device in accordance with one embodiment of the invention.
  • FIG. 19B is an enlarged schematic perspective view of the adjustable conical proximal end assembly of FIG. 19A;
  • FIG. 2OA is a schematic perspective view of a telescopic pinch device in accordance with one embodiment of the invention.
  • FIG. 2OB is an alternative schematic perspective view of the telescopic pinch device of FIG. 2OA with the pinch device in a retracted configuration
  • FIG. 21 A is a schematic perspective view of a cradle and handle grasp device in accordance with one embodiment of the invention.
  • FIG. 2 IB is an additional schematic perspective view of the cradle and handle grasp device of FIG. 2 IA. DETAILED DESCRIPTION
  • FIG. 1 depicts one embodiment of a multiple DOF haptic interface 10 in accordance with the invention.
  • the haptic interface 10 shown includes three global DOF 12, 14, 16 (collectively global DOF 1 1) and five local DOF 18, 20, 22, 24, 26 (collectively local DOF 13).
  • the global DOF 1 1 could be of the type disclosed in U.S. Patent Nos. 5,587,937 and 6,417,638, and U.S. Patent Publication No. 2005/0093821, the entire disclosure of which is hereby incorporated herein by reference.
  • Various features and functions of the inventions can be utilized, with advantage, in interfaces with different configurations, different kinematics, and greater or fewer degrees of freedom.
  • the haptic interface 10 is shown mounted on a base 28 that acts as a reference element or ground; however, the haptic interface 10 could include a self- supporting housing for placement on a desktop. In one embodiment, the housing can define a reference ground.
  • the global DOF 1 1 extends from the base 28 and the local DOF 13 extends from the global DOF 11.
  • the haptic interface 10 shown includes eight DOF or articulations, of which any combination could be powered (e.g., controlled by a motor), free, and/or tracked.
  • the articulations are arranged serially to form a kinematic chain.
  • each DOF is mounted to and extends from a preceding DOF.
  • each DOF has an axis that intersects with or aligns with an axis of the preceding DOF.
  • the chain begins with a first rotary DOF/articulation 12 that is supported by the base 28 and has an axis of rotation "Gl" having a substantially vertical orientation.
  • a second rotary DOF/articulation 14 is mounted on the first rotary DOF/articulation 12 and has an axis of rotation "G2" having a substantially perpendicular orientation relative to the first axis, Gl.
  • a third rotary DOF/articulation 16 is mounted on a generally outwardly radially disposed cantilevered extension 17 of the second DOF/articulation 14 and has an axis of rotation "G3" that is substantially parallel to the second axis, G2.
  • a fourth rotary DOF/articulation 18 is mounted on a generally outwardly radially disposed extension 102 of the third DOF/articulation 16 and has an axis of rotation "Ll" that is substantially perpendicular to the third axis, G3.
  • a fifth rotary DOF/articulation 20 is mounted on a housing 42 that extends from the fourth DOF/articulation 18 and has an axis of rotation "L2" that is substantially perpendicular to the fourth axis, Ll .
  • a sixth rotary DOF/articulation 22 is mounted perpendicularly to the fifth DOF/articulation on the housing 42 extending from the fourth DOF/articulation 18.
  • the sixth DOF/articulation 22 has an axis of rotation "L3" that is substantially perpendicular to the fifth axis, L2.
  • a seventh DOF/articulation 24, which is a linear articulation that moves along axis "L4,” is substantially parallel to and aligned with the sixth axis, L3.
  • the haptic interface 10 can include an eighth rotary DOF/articulation 26 that extends from the housing 42.
  • the eighth articulation 26 has an axis of rotation "L5" that is substantially parallel to and aligned with the sixth axis L3.
  • the sixth, seventh, and optionally the eighth articulations 20, 22, 24 typically form a user interface for interacting with the haptic interface.
  • the haptic interface 10 can be enclosed in a housing that protects the various components from damage and contaminants.
  • the base 28 is mounted on a workstation 30, for example a personal computer.
  • the workstation 30 can accommodate any necessary control circuitry and electrical connections for operating the haptic interface 10 and interfacing with any other electrical components, including a host computer. An example of control circuitry and connections can be found in U.S. Patent Publication No. 2005/0093821.
  • the base 28 can be attached to a floor, wall, or other grounded structure by a clamp, bolts, or other permanent or temporary securement.
  • FIGS. 2 A and 2B depict two of a variety of user orientations with respect to the haptic interface 10 of FIG. 1.
  • the user 50 is oriented towards the haptic interface 10 and uses the haptic interface 10 while facing the interface 10.
  • the global DOF can be positioned and then held steady, while the user manipulates the local DOF with, for example, their hand and wrist.
  • FIG. 2B depicts the user 50 oriented parallel to the haptic interface 10, where the interface 50 matches the human kinematics.
  • the haptic interface 10 mimics the actual position and operation of the user's body, without the necessity of a structural exoskeleton arrangement.
  • the ground element corresponds to the user's torso 50A and the various articulations mimic corresponding joints/limbs of the user 50.
  • the global DOF 11 correspond to the user's shoulder 5OB and elbow 5OC
  • the local DOF 13 correspond to the user's wrist 5OD, hand 5OE, and fingers 5OF.
  • the first DOF/articulation 12 and the second DOF/articulation 14 correspond to the user's shoulder 5OB
  • the third DOF/articulation 16 corresponds to the user's elbow/arm 50C.
  • the parallel orientation is desirable, because it most closely mimics the actual position and operation of the user's hands, etc. right down to the fine movements of the user's fingers, as opposed to manipulating virtual or remote tools. Such an arrangement is particularly useful for precise work requiring fine manipulation movements, for example, telescopic surgery, bomb defusing, and lock picking.
  • the parallel orientation of the haptic interface in accordance with the invention allows a user 50 to work precisely within a very small space or work volume as found, for example, during neurosurgery.
  • the parallel orientation can assist the user 50 during certain types of tasks.
  • the haptic interface could include force feedback to support the user's arm, to provide dither to the interface to help the user 50 to maintain focus when staring at small objects for long periods of time, and to lock one or more of the articulations to hold the interface steady and/or to isolate the fine finger movements of, for example, pinch and retraction/extension.
  • the interface may provide a force to offset the weight of the user's arm to assist the user by, for example, canceling the weight of the user's arm to reduce or prevent fatigue and/or stabilizing the user's arm.
  • one of the local DOF can be locked to mimic clamping of, for example, a locked forceps.
  • the user 50 can utilize two haptic interfaces 10 in tandem operation, one with each hand.
  • the user 50 can use one haptic interface 10 for virtual grasping and the other haptic interface 10 for virtual cutting, for example.
  • the first haptic interface 10 includes a local DOF adapted to enable a pinch type movement that can be used to hold, for example, virtual human tissue.
  • the virtual tissue can be held by locking the DOF with the force feedback feature of the haptic interface 10.
  • the second haptic interface 10 can include a local DOF adapted to enable a linear motion that can mimic cutting movement of a virtual knife, which could be used to cut the virtual tissue.
  • tandem interfaces 10 could mimic holding a virtual wire with a pair of virtual pliers and using a virtual screwdriver to disconnect the virtual wire from a virtual screw-type connector, as may be applicable to diffusing a bomb.
  • more than two interfaces 50 can be used in conjunction with multiple users.
  • two users can each be operating an interface 50 in tandem, such as two surgeons working on a single patient or with a single tool.
  • Other applications include one person, two hands operation, two persons, two hands operation, teleoperation, master/slave arrangement, and remote operation, for example where two remotely located users interact in a single environment, real or virtual.
  • FIGS. 3A-3C depict one possible embodiment of three global DOF for use with the haptic interface 10 of FIG. 1 in greater detail.
  • the local DOF 13 are supported freely rotationally upon link 102 about fourth axis, Ll.
  • the link 102 is hinged to a pair of parallel links 104, 106.
  • the hinges 108, 1 10 joining the link 102 to the parallel links 104, 106, respectively, are substantially frictionless.
  • the two links 104, 106 are connected to a disk 112 through a mechanism that is shown partially in phantom and is explained in more detail below.
  • the disk 112 is supported through a frame 1 14 from a base 1 16, which itself is supported by the base 28.
  • the base 116 and frame 114 are fixed to each other so that they rotate together about axis Gl.
  • a bearing is provided to rotatably support both, but is not visible in FIG. 3A. This bearing is also substantially frictionless.
  • the ground element such as base 28 or similar structure to which the base 28 is secured, is the item which serves as a frame of reference, relative to which all motions and positions of the local DOF 13 are measured. In many applications, the ground is fixed relative to the earth, or the user's local environment. Thus, it may be fixed to the floor, or a wall, or furniture; however, this is not required.
  • ground Another portion of the user may, in fact, be the ground.
  • the ground may itself be observably "floating,” such as a buoy in a body of water, a floating balloon, or a moving vehicle. What is important is that the ground is the reference frame with respect to which motion and position of the local DOF are measured.
  • the connection to the base 28 through the frame 1 14 and the base 1 16 permits motion of the local DOF about the axis Gl . Because the joints 108 and 110 are hinged, it is also possible to move the local DOF in a straight line, rather than along an arc.
  • an actuator 120 which can actively control motion around this axis.
  • Actuator is used in this specification to refer to a unit that is a motor, or otherwise exerts a force or a torque.
  • the actuator is often equipped with an encoder also, although it need not be.
  • the actuator 120 has a body portion 122 and an axle upon which is mounted a capstan 124. If current is provided to the actuator (through wires not shown), the capstan 124 spins on the axis relative to the body portion 122.
  • the body portion 122 is rotationally fixed by a support 125, which is fixed to the grounded support 118, so the capstan 124 rotates relative to ground and the body portion remains fixed.
  • a cable 126 is wrapped around the capstan and is anchored at either end 128 to the base 1 16. The cable is routed such that when the capstan 124 rotates, it pulls the cable 126 around it, thus causing the base 1 16 to rotate. Consequently, the frame 114 and the entire assembly described above also rotate about axis Gl . Thus, a torque can be applied to the base 1 16.
  • FIG. 3C shows in detail a single actuator having an encoder 441, a body portion 442, and a capstan 444 connected to a disk 412 through a cable 436.
  • This actuator and disk is similar in principal to the three actuators 120, 130, and 140 and their respective disks, as shown in FIG. 3 A.
  • the actuator 120 may also provide a position sensing capability.
  • the actuator 120 includes a conventional position encoder 121 that keeps track of the relative rotary position between the capstan 124 and the body portion 122.
  • the position of the base 116 about the axis Gl can be determined and a signal representative thereof can be generated by the encoder.
  • any suitable position transducer may be used, such as a potentiometer, a resolver, a hall effect sensor, etc.
  • an additional actuator 140 is arranged to exert torque on the link 106 around the axis G2 that passes through the center of the disk 112.
  • the body 142 and capstan 144 of the additional actuator 140 is connected through a cable 136 to the disk 1 12 and also includes an encoder, not shown, to keep track of the position of the actuator about the axis G2.
  • a third actuator 130 is also connected to the disk 112 through the same cable 136 and is arranged to exert torque on the link 356 around the axis G2.
  • the actuator 130 also includes an encoder 131 to keep track of the rotational position of another hinge joint 352 (see FIG. 3B) with respect to the axis G2. Because of the geometry of the links 106, 104, 356 and the portion 101 of the link 102 that is between the hinge joints 108, 1 10, keeping track of this position of the hinge joint 352 relative to the axis G2 is equivalent to keeping track of the position of the hinge joint 108 with respect to the axis G3.
  • the links 106 and 356 both rotate around an axle bar 354, which is connected to ground by being connected to the disk 112 and the frame 1 14, which is connected to the base 28. Moving any one link constrains the motion of the other four; however, the motions of the links would not be constrained with respect to ground, but for the axle 354.
  • the linkage is a five bar linkage; however, other types of linkages and/or rotary elements can be used to perform similarly.
  • the axle 354 can be fixed to one of either links 106 or 356 and can be connected to the disk 1 12 through a rotary bearing.
  • the actuators 130 and 140 are both connected to the disk 112 through a single cable 136.
  • the disk 112 is mounted through the frame 1 14, such that it cannot rotate about the axis G2.
  • Each actuator 130 and 140 is mounted to a respective link 356, 106, such that the body portion of the actuator cannot rotate relative to the link. If current is provided to the actuator, a relative rotation is induced between the body portion and the respective capstan, for instance the body portion 132 and capstan 134.
  • the cable 136 is wrapped around the capstan and anchored to the disk 1 12 at both ends such that when the capstan rotates, it pulls the actuator around the disk, toward one or the other of the cable endpoints.
  • the actuator 130 it is connected to a relatively short arm 356 which is part of a box frame 355 that pivots around the axle 354 that passes through the center of the disk 112 along the axis G2.
  • the short link 356 extends beyond the center, to a hinged joint 352, at which the link 356 is hinged to the longer link 104.
  • the link 356 includes a portion 301 that extends from the axle 354 to the hinged joint 352.
  • the link 104 is connected to the link 102 from which the local DOF 13 is suspended. Additional details of this one possible arrangement of a global DOF 11 can be found in U.S. Patent Nos. 5,587,937 and 6,417,638.
  • Certain embodiments discussed in the patents above employ linkages that result in three powered, tracked DOFs and three free (unpowered and untracked) DOFs.
  • a powered freedom of motion it is meant that the mechanism can provide a resistance (or assistance) to the user's attempts to exercise that DOF or freedom of motion.
  • the powered freedoms are also "tracked," meaning that the interface mechanism can also keep track of the user's position with respect to that freedom.
  • a powered freedom can be either tracked or untracked, although it is typically not beneficial to have an untracked, powered freedom.
  • a tracked freedom can be either powered or unpowered.
  • the powered freedoms are governed by the three actuators 120, 130 and 140, which include both motors and encoders. Considering a stationary reference frame as the ground, the three powered freedoms can be considered to relate to the position of the user interface in a three dimensional space.
  • FIGS. 3D and 3E depict alternative embodiments of a global DOF portion of a haptic interface in accordance with the invention (mechanism 11).
  • the mechanism 1 1 is a parallel arrangement of linkages that uses three stationary (or grounded) rotary elements 120, 132, 140 (e.g., encoders or sensors) to resolve the position of the mechanism's endpoint 97.
  • the rotary elements 120, 132, 140 can be back-driven by the user at the mechanism's endpoint 97.
  • the stationary rotary elements 120, 132, 140 include actuators
  • the mechanism 11 is capable of producing a single-point force in any direction at the mechanism's endpoint 97.
  • Such a mechanism can be used actively as a force-feedback or robotic interface by using sensors and actuators, or passively as an input for sensing position of an object in space.
  • the additional linkages depicted in the mechanism 1 1 shown in FIGS. 3D and 3E in part, compensate for the rotary elements 120, 132, 140 being stationary or grounded, as opposed to the arrangement described with respect to FIG. 3 A (where the rotary elements 120, 132, 140 are not grounded).
  • the mechanism 11 uses three rotary elements 120, 132, 140 that can drive or be driven by a number of linkages connected through the revolute joints (FIG. 3D) terminating at the endpoint 97.
  • the basis of the mechanism 11 is a four bar linkage.
  • Two rotary elements 132, 140 drive the rotations of adjoining sides of the four bar linkage, which can position the endpoint 97 (at the far corner of the driven rotary joints) anywhere within the plane of the linkage.
  • the third actuator 120 can drive the four bar linkage about an axis Gl that lies on the plane of the four-bar linkage and passes through the driven joint, effectively rotating the plane of the four bar linkage.
  • the rotary elements 120, 132, 140 can move the endpoint 97 anywhere within a spherical region.
  • the endpoint can backdrive the linkages resulting in rotations at the rotary elements.
  • the rotary elements 120, 132, 140 can change the position of the endpoint 97 in three dimensions as follows.
  • the method by which movement of the endpoint 97 affects the position of the stationary rotary elements is the reverse and will not be described.
  • the disc-shaped elements represent revolute joints (bearings or bushings) 93, 94, 95, 96 and the cylinders represent the rotary elements (actuators and/or sensors) 120, 132, 140 connected to a common ground or reference frame 98.
  • the mechanism 11 utilizes prismatic joints.
  • the two double disc-shaped elements 96A, 96B are double revolute joints that lie on perpendicular planes and share a common center.
  • the five revolute joints 94 associated with the third rotary element 120 are the corners of the four bar linkage.
  • the intersection of the three axis lines (X, Y, Z) at the center of the two parallel joints 94D, 94E is the center of rotation 100 for the four bar linkage.
  • First rotary element 132 and second rotary element 140 drive the top and back bars, which move the endpoint 97 within the plane of the four bar linkage (currently shown as the YZ plane).
  • the third rotary element 120 rotates the four bar linkage about the Y-axis (Gl) which, in combination with the movements of the first and second actuators 132, 140, can position the endpoint 97 anywhere in the spherical workspace.
  • FIG. 3G The basic arrangement of this mechanism 1 1 is shown in FIG. 3G; it is this set of linkages that lets the first and second rotary elements 132, 140 drive the four bar linkage without having to move. Two of these linkages are combined to create the 3 DOF device.
  • the two linkages are oriented with one of the linkages in a substantially horizontal plane and the second linkage in a substantially vertical plane.
  • the third rotary element 120 drives the endpoint 97 left-right in the view and the first rotary element 132 drives the endpoint 97 up and down.
  • FIG. 3F illustrates how the first and second rotary elements 132, 140 move the endpoint 97 along the plane of the four bar linkage.
  • the first rotary element 132 moves the top linkage about circle 1 while the second rotary element 140 moves the endpoint 97 about circle 2, which has its center at the tip of the upper linkage.
  • the third rotary element 120 simply rotates this four bar linkage in and out of the plane achieving control of the endpoint 97 in any position in space.
  • the mechanism depicted in FIG. 3E operates similarly with respect to FIG. 3D, except the mechanism 11 in FIG. 3E uses prismatic joints 93, 95 that are oriented perpendicular to one another.
  • the mechanism 11 also includes hubs 103 coupled to the stationary rotary elements 120, 132, 140.
  • the hubs 103 may be coupled to the rotary elements 120, 132, 140 via cable and capstan arrangements, for example as disclosed in U.S. Patent Publication No. 2005/0093821, or other mechanical means.
  • the mechanism 11 described with respect to FIGS. 3D and 3E may include the following features and advantages: symmetric linkages that drive the four bar linkage, a small unique part count since many parts are used in multiple places, linkages that cannot cross or hit each other while moving within a work volume, a compact design generally only limited by bearing size (other, similar mechanisms must be large enough such that the linkages do not cross or hit each other), a double bearing design on the two driven spans of the four bar linkage, straight link sections (no linkages make turns, thereby reducing the cost of the parts), a mechanism through which two motors drive a rod (use of a double bearing), and direct drive rotary elements that result in no moving wires. Additionally, the drive mechanisms can use, for example, cables, gears, and gimbals.
  • FIGS. 4, 5A-5C, and 6 depict the local DOF portion 13 of the haptic interface 10 in greater detail.
  • the local DOF portion 13 extends from the third DOF/articulation 16 and includes the fourth through seventh local DOF/articulations 18, 20, 22, 24.
  • the interface includes an optional eighth DOF/articulation 26.
  • the fourth DOF 18 includes a rod 34 that runs within the tubular link 102 and rides on a set of low friction bearings 36 located at opposite ends within the tubular link 102.
  • an actuator 38 is located at one end of the fourth DOF 18 and coupled to the rod 34 either directly or indirectly by a shaft coupling, cables, gears, or other mechanical means.
  • the actuator 38 can be used to supply force feedback to the fourth articulation 18. Additionally or alternatively, an encoder could be included to sense the position of the fourth articulation and/or track the angular displacement of the fourth DOF 18. Alternatively, the fourth articulation 18 could be free, i.e., unpowered, and either tracked or not. [0108] Located downstream of the fourth DOF/articulation 18 is a bracket 40 that may be coupled to the rod 34 or integrally formed therewith. The remaining DOF extend either directly or indirectly from the bracket 40. As shown in FIG. 4, the bracket 40 includes an offset 37. The offset 37 can be used to vary the alignment of the later DOF relative to the fourth DOF/articulation 18.
  • the fifth DOF/articulation 20 Disposed at an end of the bracket 40 is the fifth DOF/articulation 20, which provides a rotary motion between the sixth-eighth DOF 22, 24, 26 and the fourth DOF/articulation 18.
  • a housing 42 coupled to the bracket 40 upon which the sixth-eighth DOF 22, 24, 26 are coupled.
  • the fifth DOF/articulation 20 allows the housing 42 to rotate relative to the bracket 40.
  • the fifth DOF/articulation 20 can include an actuator 44 and/or encoder for powering and/or tracking the fifth DOF/articulation 20, or the fifth
  • DOF/articulation 20 could be free.
  • the housing 42 is mounted to a shaft extending from the actuator 44.
  • the housing 42 could be directly coupled to the shaft via a low friction rotary bearing.
  • the housing 42 could be coupled to the fifth DOF/articulation 20 via a cable, gears, or other mechanical means.
  • the sixth DOF/articulation 22 is coupled to the seventh DOF/articulation 24 and eighth DOF/articulation 26 via a two or four bar linkage 58 located within the housing 42 (see FIG. 6).
  • the sixth DOF/articulation 22 can include an actuator 46 and/or encoder for powering and/or tracking the sixth DOF/articulation 22, or the sixth DOF/articulation 22 could be free, as can all of the DOF described herein.
  • the seventh DOF/articulation 24 is a linear DOF that, in one example, corresponds to a fine linear movement of a user's fingers, for example during a local extension or retraction movement.
  • the linear DOF 24 is coupled to the interface by the linkage 58 and a combination rotary and linear bearing 68.
  • the linear motion can be imparted on the seventh DOF/articulation 24, including force feedback and position tracking, via an actuator driven rack and pinion type gear or cable drive arrangement.
  • the seventh DOF/articulation 24 includes an actuator 60 mounted to the housing 42, where a capstan 62 disposed on a shaft of the actuator 60 is disposed within the housing 42.
  • the actuator 60 is mounted substantially parallel to the fifth actuator 44; however, other orientations are contemplated and within the scope of the invention.
  • the capstan 62 shown includes a series of grooves with a cable 64 residing therein. The cable 64 is wrapped about the capstan 62 several revolutions and the opposing ends are coupled to a rack or rod 66 slidably coupled to the housing 42 (see FIG. 5A). Rotation of the capstan 62 by the actuator 60 is converted into the linear motion of the seventh DOF/articulation 24.
  • the seventh DOF/articulation 24 transmits linear movement to the eighth DOF/articulation 26 located downstream of the seventh DOF/articulation 24.
  • the rod 66 of the seventh DOF/articulation 24 includes a pin 70 that engages a bearing surface 68.
  • the bearing 68 includes two spaced disks 69, 71 that are secured to a shaft 74.
  • the shaft 74 could be coupled to or form a part of a user interface.
  • the shaft 74 could be part of the optional eighth DOF 26.
  • the pin 70 resides in a space between the disks 69, 71. As the rod 66 moves linearly, the pin 70 pushes or pulls on the disks 69, 71 , thereby transmitting linear movement to the shaft 74. Linear movements and forces can be exchanged between a user and the seventh DOF/articulation 24 via this arrangement.
  • the rod 66 includes a pin 90 that runs within a channel 92 to prevent rotation of the rod 66 (see FIG. 5C). This arrangement prevents the rod 66 from rotating as it travels linearly.
  • the eighth DOF/articulation 26 is a rotary articulation that, in one example, corresponds to the fine motion of a user's fingers, for example to mimic a squeezing or pinch motion.
  • the eighth DOF/articulation 26 includes a housing 54 mounted to the housing 42 along a common axis as the sixth DOF/articulation 22. Coupled to the housing 54 at one end thereof are a first arm 76 and a second arm 78. The arms 76, 78 are actuated by a user to mimic a fine pinch motion.
  • the shaft 74 that extends through the bearing 68 and is coupled to the linkage 58. Rotary motion is transferred to the eighth
  • DOF/articulation 26 via the sixth DOF/articulation 22 and linear motion is transferred to the eighth DOF/articulation 26 via the seventh DOF/articulation 24.
  • the housing 54 of the eighth DOF/articulation 26 houses a rotary element 52.
  • the rotary element 52 could be an actuator and/or an encoder to provide force feedback and position sensing.
  • the eighth DOF/articulation 26 is shown in greater detail in FIG. 5B.
  • the eighth DOF/articulation 26 includes a relative ground 56, in this case a disc and stand ⁇ off arrangement that is mounted to the housing 54.
  • the first arm 76 is coupled to the ground 56.
  • the second arm 78 is coupled to a shaft 86 of the rotary element 52 that extends through and runs coaxially with the ground 56.
  • the second arm 78 allows the second arm 78 to move relative to the first arm 76 about a common point or axis (L3), which mimics a pinching motion of a user's fingers (see FIG. 7).
  • the first arm 76 could be coupled to a sleeve that is rotatable disposed about the shaft 86, such that the first arm 76 and the second arm 78 are both movable relative to one another about the common axis.
  • the second arm 78 is coupled to a disc 80 that is coupled to the shaft 86.
  • the disc 80 is disposed coaxially with the disc portion of the ground 56.
  • the disc 80 includes an arcuate slot 82 disposed radially inwardly of a circumference of the disc 80.
  • FIG. 7 is a pictorial representation of a user's fingers 50F during a pinch motion.
  • the fingers 50F rotate toward or away from each other about a common point (X), which is represented by articulation L5.
  • articulation L5 a common point
  • the local DOF 13 can be oriented such that the last DOF corresponds to an action point within a remote or virtual environment that is substantially coincident with the geometric centerpoint of the haptic interface, which is desirable for precision tasks.
  • a local DOF portion 213 of a haptic interface is shown in FIG. 8.
  • the local DOF is similar to that described hereinabove with respect to FIGS. 4, 5A-5C, and 6.
  • the action point is the point of contact between a remote or virtual end effector and the object the end effector is acting upon, whether in a remote or virtual environment.
  • the wrist centerpoint B is defined by the intersection of axes Ll, L2, and L3. As can be seen in FIG.
  • the final DOF is a pinch type rotary articulation L5 with a point of operation of a user interface that is located in close proximity to the centerpoint B and is generally colinear with at least one axis (Ll in FIG. 8).
  • the haptic interface of the present invention achieves this goal without the use of linkages by, for example, repositioning the eighth DOF with respect to the preceding DOF.
  • the pinch housing 254 is no longer aligned with the seventh DOF along axis L3.
  • a shaft 274 extends through the housing 242 and a combination rotary and linear bearing, as described hereinabove.
  • the pinch housing 254 is coupled to the shaft 274 at an angle and along a point such that the arms 276, 278 are substantially aligned with and in close proximity to the centerpoint B.
  • FIGS. 9A, 9B, 10, and 11 depict one embodiment of a zero adjust mechanism 150 in accordance with the invention to mechanically reorient a downstream DOF from an upstream DOF.
  • the mechanism 150 is disposed between two DOF such that a starting or zero point can be adjusted, in one embodiment, up to about 360 degrees.
  • local DOF 152 are located downstream of the mechanism 150 and can be reoriented relative to the remaining upstream portion of the haptic interface.
  • the local DOF 152 is shown in FIG. 9B rotated 90 degrees from its position shown in FIG. 9A.
  • the mechanism 150 is shown in greater detail in FIGS. 10 and 1 1.
  • FIG. 10 is an exploded view of the mechanism 150
  • FIG. 1 1 is an enlarged view of the mechanism 150.
  • the mechanism, or joint 150 includes a first element 154 and a mating second element 156.
  • the first element 154 defines one or more recesses 158, 159.
  • the first element 154 is a disk disposed about a rod 176 that, in part, makes up a fourth DOF/articulation (similar to rod 34 in FIG. 4).
  • the second element 156 is, similarly, a disk or cylindrical body disposed about the rod 176.
  • the second element 156 includes one or more detents 160 for engaging the one or more recesses 158, 159, for maintaining the relative position of the first element 154 and the second element 154.
  • the recesses 158, 159 can be holes 158 extending through the first element 154 or a series of radial cuts 159 formed in a mating surface 155 of the first element 154.
  • the recesses 158, 159 are sized and shaped to accept the detent 160 located on the second element 156.
  • the recesses 158, 159 can be disposed radially about the mating surface 155 of the first element to correspond to possible orientations of, for example, the local DOF 152.
  • the recesses 159 are disposed at 90 degree intervals about the mating surface 155 of the first element 154. Multiple recesses allow the local DOF 152 to be oriented into multiple new nominal positions.
  • the detent 160 is a spring loaded ball plunger type mechanism 162.
  • the spring loaded ball plunger 162 is disposed in a slot or opening within the second element 156.
  • the spring force extends the ball into engagement with one of the recesses 158, 159 of the first element 154.
  • the second element 156 rests upon a compression spring 170 that biases the second element 156 into engagement with the first element 154.
  • the user disengages the second element 156 from the first element 154 by applying a downward force to the second element 156 sufficient to overcome the force of the spring 170 and turn, for example, the local DOF 152 to a new orientation.
  • the user can pull the second element 156 downwards against the spring force by a knurled ring 172 located on the second element 156.
  • the joint 150 may include a stop to limit the rotational range of the joint 150, such as in the case where multiple wires run through the joint 150 that could be damaged due to multiple-turn twisting.
  • the second element 156 includes a stop pin 166 disposed on a bottom surface 157 thereof.
  • the second element 156 sits on a bracket 174, a top surface 175 of which includes a protrusion or stop 168.
  • the stop 168 is arcuate in shape and corresponds to an internal diameter of a recess 161 located in the bottom surface 157 of the second element 156.
  • the stop pin 166 will engage the stop 168 to limit the rotational travel of the joint 150 and the local DOF 152.
  • the stop pin 166 can be angularly repositioned within a range equivalent to its circumferential extent, so that the local DOF 152 can have a range of reorientation equivalent to about 360° of travel.
  • FIG. 12A depicts a user interface 560 for use with a haptic interface.
  • the user interface 560 consists of a nose end 534 and a user connection section 540, such as a stylus.
  • the housing of both the nose 534 and stylus 540 are of split construction, for both ease of assembly and component construction, although a single housing component for either the nose 534 and/or the connection section 540 is contemplated.
  • Basic details of interchangeable user interfaces are disclosed in U.S. Patent Publication No. 2005/0093821.
  • the rear portion of the connection section 540 includes an adjustment 542 for varying a performance characteristic of the user interface 560.
  • the adjustment 542 could be a rotary potentiometer for adjusting a tool, for example the spring force of a pair of virtual tweezers.
  • the connection section 540 includes two user inputs 566A, 566B, which in this embodiment are shown as buttons; however, switches, toggles, rollers, or other devices may be used. The inputs 566 allow the user to control various functions of the connection section 540 and associated haptic interface.
  • connection section 540 can include a pinch type interface 544 that can accommodate two fingers that can actuate a switch (see FIG. 12B) or otherwise simulate a pinching or grasping motion.
  • the connection section 540 includes two finger elements 546 A, 546B (one on each side of the connection section 540) that are similar to leaf springs, in that the elements 546 can be flexed against the side of the connection section 540. In the embodiment shown, the elements 546 are biased away from the connection section 540.
  • connection section 540 Disposed on the connection section 540 inside of the elements 546 and located at approximately the point where the elements 546 contact the connection section 540 when depressed, are two input devices 548A, 548B, such as push button switches.
  • the input devices 548 are actuated by depressing one or both of the finger elements 546 and contacting the input devices 548A, 548B.
  • the inputs 548 can be actuated individually or in combination.
  • each input device 548A, 548B can correspond to a different function.
  • the finger elements 546 could slide with respect to the connection section 540.
  • the finger elements 546 could function as a pinch type interface as described hereinabove with respect to FIGS. 4-6.
  • FIG. 13A depicts a yoke arm assembly 550 of a haptic interface.
  • the yoke arm 550 rotatably connects to the nose 534 of the user interface 560.
  • the yoke 550 is of split construction, for ease of assembly and component construction.
  • the yoke 550 includes two branches 552 for housing a rotary bearing 556 in each (see FIG. 13C). The use of the split construction allows the bearings 556 to be clamped with positive pressure at all times to eliminate play and backlash in the device.
  • the nose 534 includes two opposing projections 554 that mate with the bearings 556 within the yoke arms 552.
  • the bearings 556 provide low-friction rotational movement of the projections 554 within each branch of the yoke 550.
  • forces are transferred to the nose 534, causing the projections 554 to rotate within the bearings 556 of the yoke 550.
  • the nose 534 is substantially spherically shaped and includes a threaded recess 558 for connecting with the connection section 540.
  • Disposed between the nose 534 and the connection section 540 is a multi-pin electrical connector 560.
  • the recess 558 accepts the multi-pin electrical connector 560, which connects the various inputs on the connection section 540 to the haptic interface.
  • the connector 560 is an Amphenol ® type connector available from Bunker Ramo Corporation.
  • the connection section 540 includes an externally threaded ring 562 for securing to the nose 534.
  • FIG. 14A depicts an alternative connection section or user interface 600 for a haptic interface in accordance with the invention.
  • the interface 600 is a pinch type interface that includes multiple movable finger elements 602, as opposed to the stylus shown in FIGS. 12A and 12B.
  • the embodiment shown in FIG. 14A includes two movable finger elements 602; however additional movable elements are contemplated.
  • One example of the finger element 602 is shown in FIG. 14C.
  • the finger element 602 includes a connection section 614 that can be attached to a base 616 of the interface 600 (see FIG. 14A) to enable pivoting or flexing with respect thereto.
  • the interface 600 includes a third stationary finger element 604 disposed below the movable finger elements 602, on which can be located one or more input devices 606. [0131]
  • the finger elements 602 of the interface 600 can be squeezed together, as shown by arrows 618 in FIG. 14B.
  • the finger elements 602 flex a spring element 608 that is attached therebetween.
  • the spring element 608 is flexed forward, as shown by arrow 620 in FIG. 14B, until it contacts an input device 610.
  • the input device 610 can be a switch that is activated by the contact force of the spring element 608. In one embodiment, the input device 610 can measure the force applied thereto by the spring element 608 to relay a corresponding force to an object being acted upon by the user interface 600 in a remote or virtual environment. Alternatively or additionally, the input device 610 can be used to measure a distance that the finger elements 602 travel to convert, for example, the pinch movement to a linear movement. Additionally, force feedback could be provided to a user through the input device 610. In another example, the input device 610 can be used to measure relative movement of at least one of the finger elements 602 relative to a local ground or reference frame. In one embodiment, the interface 600 includes a cover 612 to protect the input device 610.
  • FIG. 15 depicts an alternative pinch type connection section or interface 700, similar to the interface 600 described with respect to FIGS. 14A-14C.
  • the interface 700 includes two movable finger elements 702 and a third stationary finger element 704 disposed above the two movable finger elements 702.
  • the interface 700 includes a similar input device as the device 610 described hereinabove.
  • FIG. 16 is a plan view of an alternative embodiment of a connection section or user interface 800.
  • the interface 800 includes a movable finger element 802 and a stationary finger element 803.
  • the movable finger element 802 includes a tapered projection 808 extending perpendicular thereto. As the finger 802 is pinched, the projection 808 contacts an input device 810. As the finger element 802 is pinched further, the projection 808 further actuates the input device 810.
  • Such an arrangement could be used to convert the pinch movement to a linear movement and accompanying force.
  • any of the interfaces 600, 700, 800 described with respect to FIGS. 14-16 can be provided in conjunction with a stylus type connection section 540, as shown in FIG. 12 A.
  • FIGS. 17A and 17B depict an end effector device 900 for use with a haptic interface.
  • the end effector device 900 is driven by a pinch/grasp force applied to multiple fingers 902 of the device 900 by a user's fingers and optionally the thumb.
  • the fingers 902 interact with floating spheres 904, disposed in a mounting collar 906 to induce a force on a conical proximal end 908.
  • This force induces a linear motion in an attached elongated body 910.
  • control of the induced motion on the elongated body 910 is achieved through a system connecting the elongated body to a rotary element 912.
  • This system consists of a rotary element 912 attached to a mounting bracket 914 which mounts onto the haptic device.
  • the rotary element 912 drives a cable 916 that connects through a self-tensioning device 918 and an associated non-rotating clutch post 920 to a pin 922 mounted on the elongated body 910.
  • the motion of the rotary element is indicated by arrow 907.
  • the fingers 902 of the effector device 900 can be pinched together, as indicated by arrows 901 in FIG. 17C.
  • the fingers 902 depress the floating spheres 904 disposed in the mounting collar 906, again as indicated by arrows 903 in FIG. 17C.
  • the fingers 902 may be depressed by varying degrees over their range of movement either simultaneously or individually to provide varying force to the floating spheres 904.
  • the motion of the floating spheres 904 applies force to the conical proximal end 908 and attached elongated body 910. This force drives the conical proximal end 908 and elongated body 910 as indicated by the arrows 905 in FIG. 17C.
  • the conical proximal end 908 based on the angle of the cone, mechanically amplifies/reduces the motion transfer from the fingers 902 to the elongated body 910.
  • a spring or other biasing element may be employed to return the elongated body 910 to a neutral position when the fingers 902 are released.
  • pin 922 can act as a stop to limit rearward travel of the elongated body 910.
  • FIG. 17D depicts an alternative rotary element system to control the effector device 900 described in FIGS. 17A - 17C.
  • the elongated body 910 impinges upon a cam 924, which is connected to a rotary element 926.
  • the cam 924 may induce a linear force upon the end of the elongated body 910 of the effector device 900.
  • the force imparted on the elongated body 910 by the cam 924 can vary with the linear displacement of the elongated body 910, based on the curvature of the cam 924 and the angle at which it impinges upon the elongated body 910.
  • FIG. 18A depicts a three-point pinch/grasp device 930 for use with a haptic interface.
  • the pinch/grasp device 930 is controlled by a user through three finger clasps 932.
  • the finger clasps 932 are held in position by a circular frame 936.
  • Each finger clasp 932 is attached by a cable 934 to a wound capstan 938, which is in turn connected to a rotary element 940.
  • Each rotary element 940 is held by a rotary element mount 942 that is attached to a pinch sector mount 944.
  • FIG. 18C shows an individual pinch sector mount 944 and attached components.
  • the three pinch sector mounts 944 are linked and mounted to the circular frame 936 by frame connector rods 946, with the frame 936 providing slots for the cables 934 to pass through, thus providing positioning for each finger clasp 932.
  • the finger clasps 932 can be pinched together as indicated by the arrows 933 in FIG. 18B.
  • each finger clasp 932 is free to move in any axis around its pivot location on frame 936, and individually extend inwards towards the radial center of the frame 936.
  • a wide range of positioning for each finger clasp 932 may be obtained within the bounds of the frame 936.
  • Each finger clasp is attached to the cable 934 that is in turn wound around and attached, by anchoring, soldering, or other method, to the capstan 938.
  • the capstan 938 is then connected to the rotary element 940, allowing a force to be applied individually to each finger clasp 932 through the connecting cables 934.
  • the motion of the cable 934 and capstan 938, as a result of an applied force to the finger clasps 932, can be seen by arrows 935 and 937 in FIG. 18B.
  • the ring 945 at the base of the three pinch sector mounts 944 allows the assembly to be fitted to a rotary element on the haptic device and rotated about its central axis, thus allowing the finger clasps to both grasp and rotate or twist around the central axis of the assembly.
  • FIGS. 18D to 18G depict an alternative linkage for a three point pinch/grasp device.
  • each pinned finger clasp 948 is linked directly to a rotary element 940 by a lever arm 950.
  • the rotary element 940 is attached to a pinch sector mount 944 by an adjustable rotary element mount 952.
  • An individual pinch sector mount 944 and associated components can be seen in FIG. 18E, with the rotational motion of the lever arm 950 indicated by arrows 949.
  • the three pinch sector mounts 944 are connected at their base and may be radially adjusted to suit the desired finger settings of a user. The adjustment of the pinch sector mounts 944 is indicated by arrow 951 in FIGS. 18D and 18G.
  • the three pinned finger clasps 948 may be pinched together as indicated by the three linear arrows 953 in FIG. 18D.
  • Each pinned finger clasp 948 can be moved individually to allow the grasping of complex geometric shapes, and may exchange forces independently of the other pinned finger clasps 948 by its attached rotary element 940.
  • the motion range of each lever arm 950 and attached pinned finger clasp 948 can be adjusted and limited by a pin and slot arrangement on the adjustable rotary element mount 952, as shown in FIG. 18F. In this arrangement a slot pin 954 attached to the lever arm 950 is inserted into a kidney shaped slot 956 in the adjustable rotary element mount 952.
  • FIGS. 19A and 19B depict an alternative embodiment of the end effector device 900 described in FIGS. 17A - 17C.
  • an adjustable conical proximal end 958 is employed to vary the force transfer from the fingers 902 to the elongated body 910.
  • the adjustable conical proximal end 958 is made up of a number of lifting flaps 960 hinged at their base by pivot pins 962 imbedded in the elongated body 910.
  • the number of lifting flaps 960 will match the number of fingers 902 and floating spheres 904.
  • the heads of the lifting flaps 960 rest on a spherical or egg-shaped cam 964 that can move linearly along the central axis 971 of the elongated body 910.
  • the positioning of the cam 964 raises and lowers the heads of the lifting flaps 960, as indicated by arrow 965, effectively changing the angle of the adjustable conical proximal end 958 and, thus, varying the motion transfer between the fingers 902 and the elongated body 910.
  • the cam 964 is located on a rod 966 with a screw head 968 at its outer end and a threaded base 970 engaged with a hollow core of the elongated body 910.
  • the base 970 is threaded and moves in and out along the elongated body 910, as shown by arrow 969, as the screw head 968 is turned, as shown by arrow 967.
  • the cam 964 is positioned a set distance along the rod 966 and rides in and out along the axis 971 of the elongated body 910 as the screw head 968 is turned.
  • the rod 966 and cam 964 are threaded while the base 970 is set a fixed distance along the elongated body 910.
  • the cam 964 may ride in and out along the threaded rod 966 as the screw head is rotated.
  • the adjustment of the cam 964 location could be motorized. In each configuration, by varying the pitch of the thread the fineness or coarseness of the adjustment with a single rotation of the screw head 968 can be controlled.
  • the motion transfer from the fingers 902 to the elongated body 910 may be varied by installing a conical proximal end 908 of a different angle. This can be achieved by either allowing conical proximal ends 908 of various angles to be threaded or otherwise attached to the elongated body 910 dependant upon the required motion transfer, or by replacing the entire conical proximal end 908 and elongated body 910 assembly with a separate assembly encompassing a conical proximal end 908 of differing angle.
  • FIGS. 2OA and 2OB depict a telescopic pinch device 972 for use with a haptic interface.
  • the user interface consists of two pinch rings 974 or other ergonomically shaped cradles to be held by two fingers or a finger and thumb.
  • the pinch rings 974 are held on a telescopic arm 976 that extends and contracts (arrow 973) as the pinch rings 974 are pinched together or spread apart (arrow 975).
  • the telescopic arm 976 is anchored at its distal end to a block 982 by a fixed pivot 978 and a sliding pivot 980, with the sliding pivot 980 free to move towards and away from the fixed pivot 978 along a slot cut in the block 982, as the telescopic arm 976 extends and contracts.
  • the block 982 is free to slide along a shaft 984 (arrow 977) that links with the haptic interface.
  • the telescopic pinch 972 allows for positioning of the pinch rings 974 through axial translation of the telescopic arm 976 (arrow 973), transverse translation of the shaft 984 as it slides within the block 982 (arrow 977), and rotation of the block 982 and telescopic arm 976 around the center of the shaft 984 (arrow 979).
  • the positioning of the pinch rings 974 could be mechanized through the use of gears, clutch mechanisms, cams or other prime movers attached to the sliding pivot 980 and shaft 984.
  • the telescopic pinch 972 could be mounted onto a rotary degree of freedom on the haptic interface to enable rotating or turning of the device.
  • FIGS. 21A and 21B depict an alternative embodiment of the three point pinch/grasp device shown in FIGS. 18D to 18G.
  • a cradle and handle grasp device 986 consists of a grasp handle 988 mounted on two lever arms 950 and a digit cradle 990 mounted on a third lever arm 950.
  • Each lever arm 950 is connected to a rotary element 940 that is held by an adjustable rotary element mount 952 onto a pinch sector mount 944.
  • the three pinch sector mounts 944 are connected at their bases and may be rotated and positioned at the required angle to correctly position the grasp handle 988 and digit cradle 990 for a given user.
  • the grasp handle 988 is located on the two lever arms 950, which are connected to the grasp handle 988 on sliding mounts 992, which ride in a slot along an inner radius of the grasp handle 988.
  • Each sliding mount 992 moves independently, allowing a wide range of positioning for the grasp handle 988.
  • a digit cradle 990 is fixed on a swiveling mount to a third lever arm 950 and may be shaped to accept a thumb or any other digit. As in the three point pinch/grasp device described in FIGS.
  • the user interface can exchange force with a user through the three independent rotary elements 940 connected to the three lever arms 950.
  • the motion of these lever arms 950 can be controlled and limited by mounting the rotary elements 940 on adjustable rotary element mounts 952 with a slot pin 954 and kidney shaped slot 956 arrangement.
  • the shape of the grasp handle 988 can be relatively flat to enable support of an intermediate digit while a user's thumb supplies a force, as found, for example, in operating a paper stapler.
  • All of the aforementioned end effectors/interface devices could be used alone or in conjunction with a haptic interface, such as the haptic interfaces described hereinabove.
  • a pinch type end effector could be mounted on a linear degree of freedom for enabling a push/pull motion of the end effector.
  • the grasp type end effector could be mounted on a rotary degree of freedom for enabling a turning or twisting motion along with the grasping, as found, for example, when trying to remove a lid from ajar.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne généralement des interfaces haptiques et des interfaces utilisateurs, qui interagissent avec tous les membres du corps d'un usager, y compris, mais pas exclusivement, la main, le pied, le bras, la langue, la tête, les fesses, etc. Les interfaces haptiques et les interfaces utilisateurs peuvent comprendre des combinaisons de degrés de liberté motorisés ou non motorisés. L'invention concerne en outre des interfaces utilisateurs destinées à réproduire des mouvements complexes tels que, par exemple, le pincement, la prise, la torsion, l'allongement et la rétraction, et le roulement. Les interfaces utilisateurs facilitent l'interaction entre des outils de type à pointe (crayon, stylet, scalpel, etc.) et des outils linéaires (lime queue-de-rat, épée, canne) et des environnements virtuels ou éloignés, par l'intermédiaire des interfaces haptiques.
PCT/US2005/034748 2004-09-27 2005-09-27 Interface haptique refletant la force WO2006037017A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US61355004P 2004-09-27 2004-09-27
US60/613,550 2004-09-27

Publications (1)

Publication Number Publication Date
WO2006037017A2 true WO2006037017A2 (fr) 2006-04-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2005/034748 WO2006037017A2 (fr) 2004-09-27 2005-09-27 Interface haptique refletant la force

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WO (1) WO2006037017A2 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1933284A2 (fr) * 2006-12-11 2008-06-18 Kabushiki Kaisha Square Enix (also trading as Square Enix Co., Ltd.) Dispositif de jeu, procédé d'avancement dans le jeu, programme, et support d'enregistrement
WO2008074081A1 (fr) * 2006-12-19 2008-06-26 Deakin University Procédé et appareil de commande haptique
WO2019195020A1 (fr) * 2018-04-02 2019-10-10 Microsoft Technology Licensing, Llc Dispositif haptique basé sur une résistance
WO2021195264A1 (fr) * 2020-03-26 2021-09-30 Intuitive Surgical Operations, Inc. Géométrie de liaison de cardan incurvée

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1933284A2 (fr) * 2006-12-11 2008-06-18 Kabushiki Kaisha Square Enix (also trading as Square Enix Co., Ltd.) Dispositif de jeu, procédé d'avancement dans le jeu, programme, et support d'enregistrement
EP1933284A3 (fr) * 2006-12-11 2009-04-01 Kabushiki Kaisha Square Enix (also trading as Square Enix Co., Ltd.) Dispositif de jeu, procédé d'avancement dans le jeu, programme, et support d'enregistrement
CN101199901B (zh) * 2006-12-11 2011-05-25 史克威尔·艾尼克斯股份有限公司 游戏装置及游戏的进行方法
WO2008074081A1 (fr) * 2006-12-19 2008-06-26 Deakin University Procédé et appareil de commande haptique
EP2422939A1 (fr) * 2006-12-19 2012-02-29 Deakin University Procédé et appareil pour contrôle haptique
US9174344B2 (en) 2006-12-19 2015-11-03 Deakin University Method and apparatus for haptic control
US10875188B2 (en) 2006-12-19 2020-12-29 Deakin University Universal motion simulator
WO2019195020A1 (fr) * 2018-04-02 2019-10-10 Microsoft Technology Licensing, Llc Dispositif haptique basé sur une résistance
US10775891B2 (en) 2018-04-02 2020-09-15 Microsoft Technology Licensing, Llc Resistance-based haptic device
WO2021195264A1 (fr) * 2020-03-26 2021-09-30 Intuitive Surgical Operations, Inc. Géométrie de liaison de cardan incurvée
GB2609134A (en) * 2020-03-26 2023-01-25 Intuitive Surgical Operations Curved gimbal link geometry

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