Remote manipulator with force feedback and control
US6219589A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Oct 22, 1998 |
| Grant date | Apr 17, 2001 |
| Priority date | — |
| Expiry date | Oct 22, 2018 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/20305
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A haptic interface for a remote manipulator uses a tunable spring to provide force reflection. The remote manipulator has an operating member coupled to the tunable spring. The operating member is also coupled to a manipulator member. A controller monitors the force with which an operator so moves the operating member and varies a spring constant of the tunable spring to keep the force exerted by the manipulator member on an object at a desired level. The haptic interface allows simultaneous control over the maximum force exerted by the manipulator member as well as the transmission ratio between the operating member and the manipulator member. The remote manipulator may be a surgical grasper, for example. A tunable spring can be smaller and lighter than the high torque actuators used in some prior remote manipulators which provide force feedback.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.