IMPROVEMENTS FOR FORCE FEEDBACK TRANSMISSION MECHANISMS

摘要

Improvements for force feedback transmission mechanisms include a transmission system having multiple stages, including an actuator (24) stage and one or more additional stages, such as an output (57) stage. The actuator stage includes a rotatable capstan pulley (36) and a cylindrical capstan drum (38) coupled to the pulley by a cable (50). The cable is coupled to the capstan drum at both ends, and causes the capstan drum to rotate for multiple revolutions. A capstan drive mechanism can include a capstan drum that has a curved end over which a cable is routed, the curved end including flanges to substantially prevent cable slippage. The capstan drum can include a tensioning spring member (66) coupled to one or both ends of the cable for tensioning the cable. A different mechanism provides selective engagement of spring members to a user manipulatable object, where the spring members bias the object to a desired center position when the device is unpowered.