Compact haptic interface

摘要

Compact haptic interface (100) includes a base (102) and a yoke (304) rotatably disposed within the base. A first drive coupling (312) between a first motor (301) and the yoke rotates the yoke about a yoke axis (308). A carrier (306) is mounted to the yoke and rotatable about a carrier axis (310) transverse to the yoke axis. A rod (110) mounted to the carrier extends along a rod axis (346) transverse to the yoke axis and the carrier axis. A second drive coupling (314) rotates the carrier about the carrier axis responsive to operation of a second motor (302) which is mounted to the yoke. A third motor (303) is supported on the carrier and rotatable with the carrier about the carrier axis of rotation. A third drive coupling (340) facilitates linear movement of the rod along a linear direction responsive to operation of the third motor.

主权项

1. A compact haptic interface, comprising:
a base; a yoke rotatably disposed within the base; a first motor mounted stationary to the base; a first drive coupling between the first motor and the yoke arranged to facilitate rotation of the yoke about a yoke axis responsive to operation of the motor; a carrier mounted to said yoke and rotatable about a carrier axis transverse to the yoke axis; a rod mounted to the carrier, and extending along a rod axis transverse to the yoke axis and the carrier axis, to a grip end spaced apart from the yoke; a second motor supported on the yoke; a second drive coupling arranged to facilitate rotation of the carrier about the carrier axis responsive to operation of the second motor; a third motor supported on the carrier and rotatable with the carrier about the carrier axis of rotation; a third drive coupling arranged to facilitate linear movement of the rod along a linear direction defined by the rod axis responsive to operation of the third motor; and a grip assembly disposed at the grip end including a grip which movable relative to the grip end.