Systems and methods for providing a haptic manipulandum

摘要

Systems and methods for providing a haptic manipulandum are described. In one described system, a lever arm is pivotably coupled to a housing, and configured to apply a processor-controlled force to a substantially-spherical manipulandum to provide a haptic effect. The described system may include a processor in communication with an actuator for providing the haptic effect.

主权项

1. An apparatus comprising:
an actuator assembly configured to provide first and second processor-controlled forces to a contacting surface in communication with a substantially-spherical manipulandum to provide first and second haptic effects, the actuator comprising:
a lever arm; anda roller assembly comprising a roller, the roller assembly rotatably coupled to the lever arm,a first actuator configured to actuate the lever arm around a pivot point to engage the roller with the substantially spherical manipulandum to apply the first processor-controlled force to the substantially-spherical manipulandum to provide a first haptic effect, the first haptic effect comprising a resistive force based on a normal force between the roller and a surface of the substantially-spherical manipulandum, anda second actuator configured to rotate the roller in a direction opposing the rotation of the substantially-spherical manipulandum to apply the second processor-controlled force to the substantially-spherical manipulandum to provide a second haptic effect.