WO2002035457A3 - Haptic input device - Google Patents

Haptic input device Download PDF

Info

Publication number
WO2002035457A3
WO2002035457A3 PCT/GB2001/004768 GB0104768W WO0235457A3 WO 2002035457 A3 WO2002035457 A3 WO 2002035457A3 GB 0104768 W GB0104768 W GB 0104768W WO 0235457 A3 WO0235457 A3 WO 0235457A3
Authority
WO
WIPO (PCT)
Prior art keywords
input device
haptic
pentapod
haptic input
hexapod
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/GB2001/004768
Other languages
French (fr)
Other versions
WO2002035457A2 (en
Inventor
Ralph-Peter Stephen Bailey
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Makex Ltd
Original Assignee
Makex Ltd
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
Priority claimed from GB0026356A external-priority patent/GB0026356D0/en
Priority claimed from GB0026355A external-priority patent/GB0026355D0/en
Application filed by Makex Ltd filed Critical Makex Ltd
Priority to EP01976533A priority Critical patent/EP1364338A2/en
Priority to AU2001295801A priority patent/AU2001295801A1/en
Priority to US10/432,039 priority patent/US7499021B2/en
Priority to JP2002538367A priority patent/JP3977251B2/en
Publication of WO2002035457A2 publication Critical patent/WO2002035457A2/en
Anticipated expiration legal-status Critical
Publication of WO2002035457A3 publication Critical patent/WO2002035457A3/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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 three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Position Input By Displaying (AREA)
  • Braking Arrangements (AREA)
  • Transmission Devices (AREA)
  • Mechanical Control Devices (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

A haptic input device comprises a hexapod or pentapod parallel linkage mechanism with force feedback effected by proportional control of magneto-restrictive fluid brakes constraining the measurement of the struts of the mechanism, through their base nodes. In the pentapod version of the haptic data input device, a haptic stylus is employed which includes an annular compliant feature that can be squeezed and whose squeeze pressure can be monitored.
PCT/GB2001/004768 2000-10-27 2001-10-29 Haptic input device Ceased WO2002035457A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP01976533A EP1364338A2 (en) 2000-10-27 2001-10-29 Haptic input device
AU2001295801A AU2001295801A1 (en) 2000-10-27 2001-10-29 Haptic input device
US10/432,039 US7499021B2 (en) 2000-10-27 2001-10-29 Haptic input devices
JP2002538367A JP3977251B2 (en) 2000-10-27 2001-10-29 Improvements in haptic input devices

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB0026356A GB0026356D0 (en) 2000-10-27 2000-10-27 Device to enhance spatial data input and telerobotic control
GB0026355A GB0026355D0 (en) 2000-10-27 2000-10-27 Haptic Data Input Device Using Parallel Link Mechanics
GB0026356.6 2000-10-27
GB0026355.8 2000-10-27

Publications (2)

Publication Number Publication Date
WO2002035457A2 WO2002035457A2 (en) 2002-05-02
WO2002035457A3 true WO2002035457A3 (en) 2003-09-18

Family

ID=26245206

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2001/004768 Ceased WO2002035457A2 (en) 2000-10-27 2001-10-29 Haptic input device

Country Status (5)

Country Link
US (1) US7499021B2 (en)
EP (1) EP1364338A2 (en)
JP (1) JP3977251B2 (en)
AU (1) AU2001295801A1 (en)
WO (1) WO2002035457A2 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8545420B2 (en) 2004-02-05 2013-10-01 Motorika Limited Methods and apparatus for rehabilitation and training
US8888723B2 (en) 2004-02-05 2014-11-18 Motorika Limited Gait rehabilitation methods and apparatuses
US8915871B2 (en) 2004-02-05 2014-12-23 Motorika Limited Methods and apparatuses for rehabilitation exercise and training
US8938289B2 (en) 2004-08-25 2015-01-20 Motorika Limited Motor training with brain plasticity
US9238137B2 (en) 2004-02-05 2016-01-19 Motorika Limited Neuromuscular stimulation

Families Citing this family (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9401692D0 (en) * 1994-01-28 1994-03-23 Renishaw Plc Performing measurement or calibration on positioning machines
GB0026357D0 (en) * 2000-10-27 2000-12-13 Makex Ltd Improvements in parallel link machine design
DE10257258B3 (en) * 2002-12-07 2004-09-30 Preh Gmbh operating element
FR2849937B1 (en) * 2003-01-13 2005-02-11 Commissariat Energie Atomique MANUAL SIMULATION INTERFACE
EP1690652A1 (en) * 2005-02-11 2006-08-16 Force Dimension S.à.r.l Device for transmitting movements comprising a parallel kinematic structure and components thereof
CN100543323C (en) * 2005-04-29 2009-09-23 深圳富泰宏精密工业有限公司 Hinge structure
DE102005024667A1 (en) * 2005-05-30 2006-12-14 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Haptic interface for use as haptic input device for interactive man-machine, has parallel kinematics independently operated from each other and provided for active or passive haptic reaction in form of forces and/or tactile impulses
EP1945123A1 (en) * 2005-07-14 2008-07-23 Enhanced Medical System LLC Robot for minimally invasive interventions
GB2431723A (en) * 2005-07-26 2007-05-02 Makex Ltd Coordinate measuring machine
US7624850B2 (en) * 2005-08-24 2009-12-01 Gm Global Technology Operations, Inc. Damping device having controllable resistive force
WO2007030603A2 (en) * 2005-09-08 2007-03-15 Wms Gaming Inc. Gaming machine having display with sensory feedback
EP1971404A2 (en) * 2005-12-22 2008-09-24 Radow, Scott B. Exercise device
FR2902538A1 (en) * 2006-06-14 2007-12-21 Commissariat Energie Atomique TOUCH OR HAPTIC SIMULATION DEVICE AND MUSICAL KEYBOARD COMPRISING AT LEAST ONE SUCH SIMULATION DEVICE
GB0611984D0 (en) 2006-06-16 2006-07-26 Renishaw Plc Pivot joint
US7833135B2 (en) * 2007-06-27 2010-11-16 Scott B. Radow Stationary exercise equipment
WO2009018330A2 (en) * 2007-07-30 2009-02-05 University Of Utah Research Foundation Shear tactile display system for communicating direction and other tactile cues
US8326462B1 (en) 2008-03-12 2012-12-04 University Of Utah Research Foundation Tactile contact and impact displays and associated methods
US20110032090A1 (en) * 2008-04-15 2011-02-10 Provancher William R Active Handrest For Haptic Guidance and Ergonomic Support
US8610548B1 (en) 2009-02-03 2013-12-17 University Of Utah Research Foundation Compact shear tactile feedback device and related methods
US8994665B1 (en) 2009-11-19 2015-03-31 University Of Utah Research Foundation Shear tactile display systems for use in vehicular directional applications
GB2478280A (en) * 2010-03-01 2011-09-07 Makex Ltd Five axis coordinate measuring machine
WO2012048325A2 (en) 2010-10-08 2012-04-12 The University Of Utah Research Foundation A multidirectional controller with shear feedback
US8587522B2 (en) * 2011-01-18 2013-11-19 Aaron DeJule Mouse for operating an electronic device
US8681130B2 (en) 2011-05-20 2014-03-25 Sony Corporation Stylus based haptic peripheral for touch screen and tablet devices
US8773403B2 (en) 2011-05-20 2014-07-08 Sony Corporation Haptic device for position detection
US8956230B2 (en) 2011-05-20 2015-02-17 Sony Corporation Haptic device for 3-D gaming
US8749533B2 (en) 2011-05-20 2014-06-10 Sony Corporation Haptic device for carving and molding objects
US8448952B2 (en) 2011-05-31 2013-05-28 GM Global Technology Operations LLC Vehicle with active-regenerative suspension
US8624714B2 (en) * 2011-12-14 2014-01-07 Immersion Corporation Virtual simulator having an eddy current brake for providing haptic feedback
KR101848812B1 (en) * 2014-07-18 2018-04-16 주식회사 씨케이머티리얼즈랩 Tactile information supply device
GB2531324B (en) * 2014-10-16 2018-01-10 Scriba Stylus (Ip) Ltd A stylus
EP3217247B1 (en) * 2014-11-04 2019-06-12 Alps Alpine Co., Ltd. Manipulation device
US10474315B2 (en) * 2015-06-26 2019-11-12 The Boeing Company Cursor enhancement effects
CN106909178B (en) * 2017-04-25 2019-12-31 重庆大学 Tactile reproduction device based on magnetorheological technology
US11216071B2 (en) 2019-01-02 2022-01-04 The Johns Hopkins University Low-profile tactile output apparatus and method
CN113383294B (en) 2019-01-28 2024-12-17 奇跃公司 Method and system for resolving hemispherical ambiguity in six-degree-of-freedom pose measurements
WO2020172547A1 (en) 2019-02-21 2020-08-27 Radow Scott B Exercise equipment with music synchronization
US11226685B2 (en) * 2019-06-12 2022-01-18 Microsoft Technology Licensing, Llc Haptic controller
AU2020102639A4 (en) 2020-10-08 2020-11-26 Razer (Asia-Pacific) Pte. Ltd. Input device

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4811608A (en) * 1985-12-18 1989-03-14 Spatial Systems Pty Limited Force and torque converter
US4961267A (en) * 1987-05-23 1990-10-09 Carl-Zeiss-Stiftung Method and apparatus for making coordinate measurements
US5107080A (en) * 1989-12-01 1992-04-21 Massachusetts Institute Of Technology Multiple degree of freedom damped hand controls
US5143505A (en) * 1991-02-26 1992-09-01 Rutgers University Actuator system for providing force feedback to a dextrous master glove
US5573088A (en) * 1994-05-10 1996-11-12 Daniels; John J. Controllable resistance device and force dampener, and vehicle utilizing the same
WO1997012357A1 (en) * 1995-09-27 1997-04-03 Immersion Human Interface Corporation Method and apparatus for controlling force feedback interface systems utilizing a host computer
US5816372A (en) * 1994-09-09 1998-10-06 Lord Corporation Magnetorheological fluid devices and process of controlling force in exercise equipment utilizing same

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5401128A (en) * 1991-08-26 1995-03-28 Ingersoll Milling Machine Company Octahedral machine with a hexapodal triangular servostrut section
GB9401692D0 (en) * 1994-01-28 1994-03-23 Renishaw Plc Performing measurement or calibration on positioning machines
US5825308A (en) * 1996-11-26 1998-10-20 Immersion Human Interface Corporation Force feedback interface having isotonic and isometric functionality
US6211861B1 (en) * 1998-06-23 2001-04-03 Immersion Corporation Tactile mouse device
US6707443B2 (en) * 1998-06-23 2004-03-16 Immersion Corporation Haptic trackball device
US6839663B1 (en) * 1999-09-30 2005-01-04 Texas Tech University Haptic rendering of volumetric soft-bodies objects

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4811608A (en) * 1985-12-18 1989-03-14 Spatial Systems Pty Limited Force and torque converter
US4961267A (en) * 1987-05-23 1990-10-09 Carl-Zeiss-Stiftung Method and apparatus for making coordinate measurements
US5107080A (en) * 1989-12-01 1992-04-21 Massachusetts Institute Of Technology Multiple degree of freedom damped hand controls
US5143505A (en) * 1991-02-26 1992-09-01 Rutgers University Actuator system for providing force feedback to a dextrous master glove
US5573088A (en) * 1994-05-10 1996-11-12 Daniels; John J. Controllable resistance device and force dampener, and vehicle utilizing the same
US5816372A (en) * 1994-09-09 1998-10-06 Lord Corporation Magnetorheological fluid devices and process of controlling force in exercise equipment utilizing same
WO1997012357A1 (en) * 1995-09-27 1997-04-03 Immersion Human Interface Corporation Method and apparatus for controlling force feedback interface systems utilizing a host computer

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8545420B2 (en) 2004-02-05 2013-10-01 Motorika Limited Methods and apparatus for rehabilitation and training
US8888723B2 (en) 2004-02-05 2014-11-18 Motorika Limited Gait rehabilitation methods and apparatuses
US8915871B2 (en) 2004-02-05 2014-12-23 Motorika Limited Methods and apparatuses for rehabilitation exercise and training
US9238137B2 (en) 2004-02-05 2016-01-19 Motorika Limited Neuromuscular stimulation
US8938289B2 (en) 2004-08-25 2015-01-20 Motorika Limited Motor training with brain plasticity

Also Published As

Publication number Publication date
US20040040805A1 (en) 2004-03-04
US7499021B2 (en) 2009-03-03
JP3977251B2 (en) 2007-09-19
AU2001295801A1 (en) 2002-05-06
EP1364338A2 (en) 2003-11-26
JP2004512618A (en) 2004-04-22
WO2002035457A2 (en) 2002-05-02

Similar Documents

Publication Publication Date Title
Rothemund et al. A soft, bistable valve for autonomous control of soft actuators
WO2003068670A3 (en) Microfluidic valve and system therefor
WO2004046873A3 (en) Haptic feedback devices and methods for simulating an orifice
WO1998008159A3 (en) Force feedback mouse
EP1217516A3 (en) Wizard development kit
WO2006013518A3 (en) Touch screen with pressure-dependent visual feedback
WO2005050387A3 (en) Dynamic simulation in a computing device
KR940018738A (en) Tactile feedback mechanism for cursor control
Jimenez et al. IPSO smart objects
WO2002043463A3 (en) Systems and methods for generating hardware description code
Gohlke et al. Pneumatibles: exploring soft robotic actuators for the design of user interfaces with pneumotactile feedback
ATE350599T1 (en) BRAKE CLAMPING DEVICE WITH GRAVITY MEASUREMENT BOLT
WO1998047058A3 (en) Force feedback interface with selective disturbance filter
DE502004008917D1 (en) Mandrel with internal clamping devices
WO2003095616A3 (en) Dynamics bionems sensors and arrays of bionems sensor immersed in fluids
WO2007118168A3 (en) Generating a user interface using a domain specific language
Donea Finite element analysis of transient dynamic fluid-structure interaction
WO2007030255A3 (en) System, method, and software for implemnting business rules in an entity
Wünsche Simulator coupling for electro-thermal simulation of integrated circuits
Jenkinson et al. A pressure controlled membrane mechanism for optimising haptic sensing
WO2019114509A1 (en) Mouse wheel module
WO2004053636A3 (en) Human-computer interfaces incorporating haptics and path-based interaction
Johnson Achieving accuracy
ATE190572T1 (en) CONTROL VALVE FOR A HYDRAULIC BRAKE SYSTEM
DE69225217D1 (en) FAST-ACTING DRIVE DEVICES

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 2002538367

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 10432039

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 2001976533

Country of ref document: EP

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

WWP Wipo information: published in national office

Ref document number: 2001976533

Country of ref document: EP