Dynamic physical constraint for hard surface emulation
US9037295B2 · kind B2 · utility
2Cited by
6References
15Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Mar 6, 2009 |
| Grant date | May 19, 2015 |
| Priority date | — |
| Expiry date | Sep 30, 2031 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/41
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A method and apparatus for haptic hard surface emulation using a dynamic physical constraint are provided. The movement and position of the dynamic physical constraint is actively controlled in order to emulate a hard surface. The dynamic physical constraint may be controlled by a computer. In another aspect of the invention, the dynamic physical constraint limits the motion of a manipulator joint in space. The position at any time of the dynamic physical constraint is dependent on the position in space of the manipulator's end effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.