Method, apparatus, and article for force feedback based on tension control and tracking through cables

摘要

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.

主权项

1. A haptic system comprising:
first, second and third cable segments; first, second, and third cable control devices coupled to a support structure and defining a plane, each cable control device coupled to a respective one of the first, second and third cable segments and being configured to pay out and retract the respective cable, and to provide a signal corresponding to a change in length of the respective cable segment, wherein changes in length of the first, second and third cable segments correspond to motion of a hand of a user; and an elongated tool port pivotably coupled at a first end to the support structure and extending toward the plane and coupled at a second end of the elongated tool port to the first, second and third cable segments.