Method, apparatus, and article for force feedback based on tension control and tracking through cables
US7880717B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 26, 2004 |
| Grant date | Feb 1, 2011 |
| Priority date | — |
| Expiry date | Nov 23, 2025 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F2203/015
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A haptic device for human/computer interface includes a user interface tool coupled via cables to first, second, third, and fourth cable control units, each positioned at a vertex of a tetrahedron. Each of the cable control units includes a spool and an encoder configured to provide a signal corresponding to rotation of the respective spool. The cables are wound onto the spool of a respective one of the cable control units. The encoders provide signals corresponding to rotation of the respective spools to track the length of each cable. As the cables wind onto the spools, variations in spool diameter are compensated for. The absolute length of each cable is determined during initialization by retracting each cable In turn to a zero length position. A sensor array coupled to the tool detects rotation around one or more axes.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.