US Patent No: 5,767,839

Number of patents in Portfolio can not be more than 2000

Method and apparatus for providing passive force feedback to human-computer interface systems

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Abstract

A method and apparatus for interfacing the motion of an object with a digital processing system includes a sensor which has a sensing resolution and detects movement of the object along a degree of freedom. An amount of play less than the sensing resolution exists between the sensor and the object. A passive actuator is coupled to the mechanism to transmit a resistive force to the object along the degree of freedom. A play mechanism is coupled to the actuator to provide a desired amount of play between the actuator and the object along the degree of feedom. The desired amount of play is greater than the sensing resolution of the sensor so that the sensor can detect the desired play when the user moves the object, even when the actuator has locked the object into place. Such desired play can be torsion flex (compliance) or rotary backlash. The actuator and the sensor provide an electromechanical interface between the object and the digital processing system. A gimbal mechanism or slotted yoke mechanism can be coupled between the actuator and the object. The interface is well suited for simulations of medical procedures and simulations in which an object such as a stylus or a joystick is moved and manipulated by the user.

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First Claim

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Patent Owner(s)

Patent OwnerAddressTotal Patents
IMMERSION CORPORATIONSAN JOSE, CA435

International Classification(s)

  • [Classification Symbol]
  • [Patents Count]

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Rosenberg, Louis B San Jose, CA 349 11547

Cited Art

Patent Info (Count) # Cites Year
 
IMMERSION CORPORATION (5)
5,184,319 Force feedback and textures simulating interface device 305 1990
5,185,561 Torque motor as a tactile feedback device in a computer system 282 1991
5,389,865 Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor 234 1992
5,459,382 Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor 216 1994
5,576,727 Electromechanical human-computer interface with force feedback 299 1995
 
CARL ZEISS INDUSTRIELLE MESSTECHNIK GMBH (4)
4,769,763 Control for coordinate measuring instruments 153 1986
4,888,877 Articulating head for a coordinate-measuring instrument 161 1988
4,961,267 Method and apparatus for making coordinate measurements 95 1988
5,251,156 Method and apparatus for non-contact measurement of object surfaces 141 1991
 
INTERNATIONAL BUSINESS MACHINES CORPORATION (3)
4,798,919 Graphics input tablet with three-dimensional data 114 1988
5,397,323 Remote center-of-motion robot for surgery 298 1992
5,445,166 System for advising a surgeon 306 1994
 
RENISHAW PLC (3)
5,088,046 Mounting for surface-sensing stylus and a method of using said mounting 130 1989
5,040,306 Surface-sensing device 128 1989
5,189,806 Method of and apparatus for scanning the surface of a workpiece 170 1992
 
APPLE INC. (2)
5,095,303 Six degree of freedom graphic object controller 197 1990
5,132,672 Three degree of freedom graphic object controller 75 1990
 
BAE SYSTEMS PLC (2)
4,849,692 Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields 281 1986
4,945,305 Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields 346 1989
 
FARO MEDICAL TECHNOLOGIES INC. (2)
4,571,834 Knee laxity evaluator and motion module/digitizer arrangement 206 1985
5,251,127 Computer-aided surgery apparatus 400 1990
 
MICRO CONTROL SYSTEMS, INC. (2)
4,477,973 Three dimensional graphics tablet 77 1982
4,593,470 Portable three dimensional graphics tablet 106 1984
 
MITUTOYO CORPORATION (2)
5,204,824 Method of and apparatus for copy controlling coordinate measuring probe with rotary table 119 1990
5,187,874 Coordinate measuring machine with protected origin point blocks 137 1991
 
RUTGERS, THE STATE UNIVERSITY OF NEW JERSEY (2)
5,143,505 Actuator system for providing force feedback to a dextrous master glove 197 1991
5,354,162 Actuator system for providing force feedback to portable master support 240 1992
 
WARNER BROS. ENTERTAINMENT INC. (2)
5,116,051 Strain gauge pressure-sensitive video game control 157 1990
5,275,565 Modular display simulator and method 161 1993
 
XENON RESEARCH, INC. (2)
5,402,582 Three dimensional coordinate measuring apparatus 181 1993
5,412,880 Method of constructing a 3-dimensional map of a measurable quantity using three dimensional coordinate measuring apparatus 149 1993
 
A-VIEW CORPORATION (1)
4,907,973 Expert system simulator for modeling realistic internal environments and performance 346 1988
 
AEA TECHNOLOGY PLC (1)
5,007,300 Multi-axis hand controller 171 1990
 
AU OPTRONICS CORP. (1)
5,007,085 Remotely sensed personal stylus 187 1988
 
BONNEVILLE SCIENTIFIC INCORPORATED (1)
4,704,909 Multicomponent force-torque sensor 57 1985
 
C E JOHANSSON AB (1)
4,982,504 Method for determining positional errors and for compensating for such errors, and apparatus for carrying out the method 129 1989
 
CAPISTRANO LABS, INC. (1)
5,351,692 Laparoscopic ultrasonic probe 91 1993
 
CARL-ZEISS-STIFTUNG (1)
4,962,591 Calibration-test member for a coordinate-measuring instrument 92 1989
 
CATERPILLAR INC. (1)
4,800,721 Force feedback lever 221 1987
 
EJT TECHNOLOGIES INC. (1)
5,384,460 Encoder with a light emitting editing wheel 69 1993
 
FOSTER-MILLER, INC. (1)
5,131,844 Contact digitizer, particularly for dental applications 203 1991
 
GARDA IMPIANTI S.R.L. (1)
4,891,889 Apparatus for measure and/or check the position and orientation of characteristic spots or areas in structures, particularly in motor-vehicle bodies 107 1988
 
GEC FERRANTI DEFENCE SYSTEMS LIMITED (1)
4,601,206 Accelerometer system 114 1984
 
GENERAL DATACOMM, INC. (1)
4,961,138 System and apparatus for providing three dimensions of input into a host processor 137 1989
 
GIDDINGS & LEWIS MACHINE TOOLS, LLC (1)
4,945,501 Method for determining position within the measuring volume of a coordinate measuring machine and the like and system therefor 165 1989
 
GRUMMAN AEROSPACE CORPORATION (1)
4,907,970 Sidestick-type thrust control simulator 119 1988
 
HILLCREST COMMUNICATIONS, INC. (1)
4,839,838 Spatial input apparatus 265 1987
 
HOBSON; RANK TAYLOR (1)
5,209,131 Metrology 79 1990
 
HONEYWELL INC. (1)
5,142,931 3 degree of freedom hand controller 186 1991
 
HUKA DEVELOPMENTS B.V. (1)
4,879,556 Joystick control unit using multiple substrates 156 1987
 
INTEGRA BURLINGTON MA, INC. (1)
5,230,623 Operating pointer with interactive computergraphics 466 1991
 
KABUSHIKI KAISHA DAIHEN (1)
5,243,266 Teaching control device for manual operation in an industrial robots-system 77 1992
 
KABUSHIKI KAISHA OKUMA TEKKOSHO (1)
5,088,055 Coordinate measuring apparatus having a stylus friction compensating means 119 1990
 
KABUSHIKI KAISHA TOSHIBA (1)
4,703,443 Device for measuring the shape of a three-dimensional object 151 1985
 
LANGRANA, NOSHIR A. (1)
5,429,140 Integrated virtual reality rehabilitation system 247 1993
 
LOGITECH, INC. (1)
5,142,506 Ultrasonic position locating method and apparatus therefor 111 1990
 
MITSUI ENGINEERING & SHIPBUILDING CO., LTD. (1)
5,379,663 Multi-axial joy stick device 110 1993
 
MITUTOYO MFG. CO., LTD. (1)
4,653,011 Method of measuring by coordinate measuring instrument and coordinate measuring instrument 140 1985
 
MIZUHO IKAKOGYO CO., LTD. (1)
5,050,608 System for indicating a position to be operated in a patient's body 331 1990
 
NATIONAL BIOMEDICAL RESEARCH FOUNDATION (1)
5,296,846 Three-dimensional cursor control device 129 1992
 
NORTHROP GRUMMAN CORPORATION (1)
4,216,467 Hand controller 186 1977
 
NUCON STEEL CORPORATION (1)
4,942,545 Calibration of eddy current profilometry 75 1988
 
PICKER INTERNATIONAL, INC. (1)
4,791,934 Computer tomography assisted stereotactic surgery system and method 499 1986
 
PPG INDUSTRIES, INC. (1)
4,679,331 Apparatus and method for determining contour characteristics of a contoured article 124 1985
 
REGENTS OF THE UNIVERSITY OF MINNESOTA (1)
5,184,306 Automated high-precision fabrication of objects of complex and unique geometry 160 1991
 
RENISHAW TRANSDUCER SYSTEMS LIMITED (1)
5,259,120 Calibration and measurement device 98 1992
 
ROCKWELL INTERNATIONAL CORPORATION (1)
5,178,012 Twisting actuator accelerometer 63 1992
 
SARCOS GROUP, A UT LIMITED PARTNERSHIP (1)
5,072,361 Force-reflective teleoperation control system 152 1990
 
SHEFFIELD MEASUREMENT, INC. (1)
4,819,195 Method for calibrating a coordinate measuring machine and the like and system therefor 168 1987
 
SHEPPARD; MICHAEL E. (1)
5,216,948 Environment control chamber with safety switch 23 1989
 
SNECMA (1)
4,550,617 Multi axis force and moments transducer 96 1984
 
SPACEBALL TECHNOLOGIES CORPORATION/SPACETEC IMC CORP. (1)
4,811,608 Force and torque converter 122 1986
 
SRI INTERNATIONAL (1)
5,262,777 Device for generating multidimensional input signals to a computer 116 1991
 
STRYKER TECHNOLOGIES CORPORATION (1)
5,417,696 Acetabular cup positioning insert with release mechanism 86 1993
 
SURGICAL INNOVATIONS LIMITED (1)
5,467,763 Surgical instruments 173 1994
 
SURGIX, INC. (1)
5,436,542 Telescopic camera mount with remotely controlled positioning 117 1994
 
TEKTRONIX, INC. (1)
4,787,051 Inertial mouse system 259 1986
 
THE UNITED STATES OF AMERICA AS REPRESENTED BY THE SECRETARY OF THE AIR FORCE (1)
4,632,341 Stabilizing force feedback in bio-actuated control systems 119 1985
 
THE UNIVERSITY OF BRITISH COLUMBIA (1)
4,983,786 XY velocity controller 81 1990
 
TRITON TECH OF TEXAS, LLC (1)
5,181,181 Computer apparatus input device for three-dimensional information 293 1990
 
UNIMATION, INC. (1)
4,688,983 Low cost robot 61 1984
 
VALUE PLASTICS, INC. (1)
5,259,894 Method for solvent bonding non-porous materials to automatically create variable bond characteristics 46 1990
 
VOLKS COMMUNICATION, INC. (1)
4,550,221 Touch sensitive control device 317 1983
 
VOUGHT AIRCRAFT COMPANY (1)
5,128,671 Control device having multiple degrees of freedom 211 1990
 
YAMATO SCALE COMPANY, LIMITED (1)
4,448,083 Device for measuring components of force and moment in plural directions 94 1982
 
OTHER [CHECK PATENT PROFILE FOR ASSIGNMENT INFORMATION] (7)
4,638,798 Stereotactic method and apparatus for locating and treating or removing lesions 317 1980
4,654,648 Wireless cursor control system 176 1984
4,676,002 Mechanisms to determine position and orientation in space 173 1985
4,750,487 Stereotactic frame 290 1986
5,148,377 Coordinate measuring system 158 1989
5,139,261 Foot-actuated computer game controller serving as a joystick 161 1991
5,228,356 Variable effort joystick 143 1991

Patent Citation Ranking

Forward Cites

Patent Info (Count) # Cites Year
 
IMMERSION CORPORATION (166)
6,219,032 Method for providing force feedback to a user of an interface device based on interactions of a controlled cursor with graphical elements in a graphical user interface 139 1995
5,889,670 Method and apparatus for tactilely responsive user interface 236 1996
6,028,593 Method and apparatus for providing simulated physical interactions within computer generated environments 170 1996
6,024,576 Hemispherical, high bandwidth mechanical interface for computer systems 71 1996
5,959,613 Method and apparatus for shaping force signals for a force feedback device 190 1996
6,050,718 Method and apparatus for providing high bandwidth force feedback with improved actuator feel 66 1997
7,024,625 Mouse device with tactile feedback applied to housing 6 1997
5,999,168 Haptic accelerator for force feedback computer peripherals 124 1997
5,929,607 Low cost force feedback interface with efficient power sourcing 77 1997
5,907,487 Force feedback device with safety feature 84 1997
6,020,876 Force feedback interface with selective disturbance filter 178 1997
6,147,674 Method and apparatus for designing force sensations in force feedback computer applications 97 1997
5,929,846 Force feedback interface device including grounded sensor system 94 1997
6,169,540 Method and apparatus for designing force sensations in force feedback applications 82 1997
6,078,308 Graphical click surfaces for force feedback applications to provide user selection using cursor interaction with a trigger position within a boundary of a graphical object 132 1997
6,100,874 Force feedback mouse interface 134 1997
6,252,579 Interface device and method for providing enhanced cursor control with force feedback 63 1997
6,154,198 Force feedback interface apparatus including backlash and for generating feel sensations 49 1997
6,020,875 High fidelity mechanical transmission system and interface device 64 1997
6,166,723 Mouse interface device providing force feedback 100 1997
6,300,936 Force feedback system including multi-tasking graphical host environment and interface device 111 1997
6,486,872 Method and apparatus for providing passive fluid force feedback 32 1998
6,271,833 Low cost force feedback peripheral with button activated feel sensations 43 1998
6,128,006 Force feedback mouse wheel and other control wheels 245 1998
6,219,033 Method and apparatus for controlling force feedback interface systems utilizing a host computer 40 1998
6,300,937 Method and apparatus for controlling force feedback for a computer interface device 50 1998
6,104,382 Force feedback transmission mechanisms 83 1998
6,061,004 Providing force feedback using an interface device including an indexing function 121 1998
6,088,019 Low cost force feedback device with actuator for non-primary axis 106 1998
6,946,812 Method and apparatus for providing force feedback using multiple grounded actuators 14 1998
RE37528 Direct-drive manipulator for pen-based force display 3 1998
6,201,533 Method and apparatus for applying force in force feedback devices using friction 13 1998
6,101,530 Force feedback provided over a computer network 36 1998
6,232,891 Force feedback interface device having isometric functionality 36 1998
6,154,201 Control knob with multiple degrees of freedom and force feedback 130 1998
6,281,651 Haptic pointing devices 23 1998
6,256,011 Multi-function control device with force feedback 105 1998
6,285,351 Designing force sensations for computer applications including sounds 50 1999
6,161,126 Implementing force feedback over the World Wide Web and other computer networks 201 1999
6,304,091 Absolute position sensing by phase shift detection using a variable capacitor 33 1999
6,243,078 Pointing device with forced feedback button 79 1999
6,876,891 Method and apparatus for providing tactile responsiveness in an interface device 34 1999
6,348,911 Force feedback device including safety switch and force magnitude ramping 27 1999
6,292,170 Designing compound force sensations for computer applications 51 1999
6,195,592 Method and apparatus for providing tactile sensations using an interface device 65 1999
6,424,356 Command of force sensations in a forceback system using force effect suites 45 1999
6,252,583 Memory and force output management for a force feedback system 30 1999
RE40341 Controller 0 1999
6,278,439 Method and apparatus for shaping force signals for a force feedback device 38 1999
6,781,569 Hand controller 11 1999
6,104,158 Force feedback system 93 1999
6,288,705 Interface device and method for providing indexed cursor control with force feedback 34 1999
6,310,605 Force feedback interface with selective disturbance filter 25 1999
6,639,581 Flexure mechanism for interface device 38 1999
6,343,349 Memory caching for force feedback effects 31 1999
6,125,385 Force feedback implementation in web pages 119 1999
6,342,880 Force feedback system including multiple force processors 35 1999
6,704,001 Force feedback device including actuator with moving magnet 31 1999
6,366,272 Providing interactions between simulated objects using force feedback 70 1999
6,271,828 Force feedback interface devices providing resistance forces using a fluid 39 1999
6,705,871 Method and apparatus for providing an interface mechanism for a computer simulation 14 1999
RE37374 Gyro-stabilized platforms for force-feedback applications 23 1999
6,380,925 Force feedback device with spring selection mechanism 7 2000
6,259,382 Isotonic-isometric force feedback interface 39 2000
7,113,166 Force feedback devices using fluid braking 19 2000
7,039,866 Method and apparatus for providing dynamic force sensations for force feedback computer applications 20 2000
6,275,213 Tactile feedback man-machine interface device 96 2000
6,292,174 Enhanced cursor control using limited-workspace force feedback devices 64 2000
6,903,721 Method and apparatus for compensating for position slip in interface devices 6 2000
6,704,002 Position sensing methods for interface devices 5 2000
6,850,222 Passive force feedback for computer interface devices 8 2000
6,859,819 Force feedback enabled over a computer network 46 2000
7,038,667 Mechanisms for control knobs and other interface devices 19 2000
6,801,008 Force feedback system and actuator power management 10 2000
6,693,622 Vibrotactile haptic feedback devices 49 2000
6,353,850 Force feedback provided in web pages 56 2000
6,956,558 Rotary force feedback wheels for remote control devices 15 2000
6,686,911 Control knob with control modes and force feedback 51 2000
6,411,276 Hybrid control of haptic feedback for host computer and interface device 40 2000
7,106,313 Force feedback interface device with force functionality button 8 2000
6,697,044 Haptic feedback device with button forces 30 2000
6,697,048 Computer interface apparatus including linkage having flex 17 2000
7,199,790 Providing force feedback to a user of an interface device based on interactions of a user-controlled cursor in a graphical user interface 21 2001
7,253,803 Force feedback interface device with sensor 7 2001
7,136,045 Tactile mouse 12 2001
6,580,417 Tactile feedback device providing tactile sensations from host commands 24 2001
6,424,333 Tactile feedback man-machine interface device 76 2001
7,023,423 Laparoscopic simulation interface 24 2001
6,469,692 Interface device with tactile feedback button 20 2001
6,894,678 Cursor control using a tactile feedback device 14 2001
7,158,112 Interactions between simulated objects with force feedback 14 2001
7,168,042 Force effects for object types in a graphical user interface 18 2001
7,061,467 Force feedback device with microprocessor receiving low level commands 9 2001
7,557,794 Filtering sensor data to reduce disturbances from force feedback 0 2001
7,131,073 Force feedback applications based on cursor engagement with graphical targets 13 2001
6,654,000 Physically realistic computer simulation of medical procedures 13 2001
7,812,820 Interface device with tactile responsiveness 2 2002
7,038,657 Power management for interface devices applying forces 7 2002
7,265,750 Haptic feedback stylus and other devices 7 2002
6,904,823 Haptic shifting devices 31 2002
7,091,950 Force feedback device including non-rigid coupling 11 2002
7,154,470 Envelope modulator for haptic feedback devices 11 2002
7,148,875 Haptic feedback for touchpads and other touch controls 55 2002
7,236,157 Method for providing high bandwidth force feedback with improved actuator feel 7 2002
6,982,700 Method and apparatus for controlling force feedback interface systems utilizing a host computer 9 2003
7,755,602 Tactile feedback man-machine interface device 0 2003
7,728,820 Haptic feedback for touchpads and other touch controls 13 2003
7,636,080 Networked applications including haptic feedback 2 2003
7,327,348 Haptic feedback effects for control knobs and other interface devices 4 2003
7,215,326 Physically realistic computer simulation of medical procedures 11 2003
7,102,541 Isotonic-isometric haptic feedback interface 13 2003
8,316,166 Haptic messaging in handheld communication devices 0 2003
7,209,117 Method and apparatus for streaming force values to a force feedback device 8 2003
7,821,496 Computer interface apparatus including linkage having flex 0 2004
7,561,141 Haptic feedback device with button forces 2 2004
7,432,910 Haptic interface device and actuator assembly providing linear haptic sensations 18 2004
7,027,032 Designing force sensations for force feedback computer applications 4 2004
7,944,433 Force feedback device including actuator with moving magnet 0 2004
7,249,951 Method and apparatus for providing an interface mechanism for a computer simulation 13 2004
7,710,399 Haptic trackball device 0 2004
7,423,631 Low-cost haptic mouse implementations 2 2004
7,561,142 Vibrotactile haptic feedback devices 7 2004
7,522,152 Products and processes for providing haptic feedback in resistive interface devices 7 2004
7,567,243 System and method for low power haptic feedback 6 2004
RE40808 Low-cost haptic mouse implementations 0 2004
7,742,036 System and method for controlling haptic devices having multiple operational modes 2 2004
7,198,137 Systems and methods for providing haptic feedback with position sensing 9 2004
8,013,847 Magnetic actuator for providing haptic feedback 0 2004
8,002,089 Systems and methods for providing a haptic device 1 2004
7,764,268 Systems and methods for providing a haptic device 0 2004
7,696,978 Enhanced cursor control using interface devices 2 2004
7,447,604 Method and apparatus for compensating for position slip in interface devices 0 2004
7,456,821 User interface device 0 2004
7,460,104 Laparoscopic simulation interface 0 2005
7,209,028 Position sensor with resistive element 11 2005
8,059,088 Methods and systems for providing haptic messaging to handheld communication devices 1 2005
8,077,145 Method and apparatus for controlling force feedback interface systems utilizing a host computer 0 2005
7,978,186 Mechanisms for control knobs and other interface devices 2 2005
8,264,465 Haptic feedback for button and scrolling action simulation in touch input devices 0 2005
8,232,969 Haptic feedback for button and scrolling action simulation in touch input devices 0 2005
7,404,716 Interface apparatus with cable-driven force feedback and four grounded actuators 7 2005
7,605,800 Method and apparatus for controlling human-computer interface systems providing force feedback 2 2006
7,500,853 Mechanical interface for a computer system 1 2006
7,944,435 Haptic feedback for touchpads and other touch controls 1 2006
7,889,174 Tactile feedback interface device including display screen 3 2006
7,489,309 Control knob with multiple degrees of freedom and force feedback 3 2006
7,821,493 Providing enhanced haptic feedback effects 0 2007
8,248,363 System and method for providing passive haptic feedback 0 2007
8,368,641 Tactile feedback man-machine interface device 0 2007
8,188,981 Haptic interface for touch screen embodiments 0 2007
8,059,104 Haptic interface for touch screen embodiments 0 2007
8,031,181 Haptic feedback for touchpads and other touch controls 2 2007
8,063,893 Haptic feedback for touchpads and other touch controls 0 2007
8,049,734 Haptic feedback for touchpads and other touch control 0 2007
7,982,720 Haptic feedback for touchpads and other touch controls 2 2007
7,978,183 Haptic feedback for touchpads and other touch controls 0 2007
8,059,105 Haptic feedback for touchpads and other touch controls 2 2008
8,007,282 Medical simulation interface apparatus and method 0 2008
8,103,472 Method and apparatus for compensating for position slip in interface devices 1 2008
8,212,772 Haptic interface device and actuator assembly providing linear haptic sensations 0 2008
8,188,989 Control knob with multiple degrees of freedom and force feedback 0 2008
8,154,512 Products and processes for providing haptic feedback in resistive interface devices 0 2009
8,169,402 Vibrotactile haptic feedback devices 0 2009
8,184,094 Physically realistic computer simulation of medical procedures 0 2009
8,072,422 Networked applications including haptic feedback 2 2009
8,018,434 Systems and methods for providing a haptic device 0 2010
 
3D SYSTEMS, INC. (23)
6,084,587 Method and apparatus for generating and interfacing with a haptic virtual reality environment 83 1996
6,191,796 Method and apparatus for generating and interfacing with rigid and deformable surfaces in a haptic virtual reality environment 74 1998
6,421,048 Systems and methods for interacting with virtual objects in a haptic virtual reality environment 43 1999
6,552,722 Systems and methods for sculpting virtual objects in a haptic virtual reality environment 41 1999
6,792,398 Systems and methods for creating virtual objects in a sketch mode in a haptic virtual reality environment 29 1999
6,985,133 Force reflecting haptic interface 26 1999
6,958,752 Systems and methods for three-dimensional modeling 15 2001
6,867,770 Systems and methods for voxel warping 11 2001
6,671,651 3-D selection and manipulation with a multiple dimension haptic interface 30 2002
7,103,499 3-D selection and manipulation with a multiple dimension haptic interface 3 2003
7,411,576 Force reflecting haptic interface 3 2003
D510739 Computer interface 3 2003
7,889,209 Apparatus and methods for wrapping texture onto the surface of a virtual object 3 2003
7,626,589 Haptic graphical user interface for adjusting mapped texture 4 2003
7,102,635 Systems and methods for sculpting virtual objects in a haptic virtual reality environment 5 2004
7,149,596 Apparatus and methods for modifying a model of an object to enforce compliance with a manufacturing constraint 2 2004
7,864,173 Systems and methods for creating virtual objects in a sketch mode in a haptic virtual reality environment 2 2004
7,212,203 Systems and methods for voxel warping 6 2005
7,710,415 Systems and methods for three-dimensional modeling 4 2005
7,714,836 Force reflecting haptic interface 0 2005
7,259,761 Systems and methods for sculpting virtual objects in a haptic virtual reality environment 5 2006
7,800,609 Method and apparatus for generating and interfacing with a haptic virtual reality environment 1 2008
8,174,535 Apparatus and methods for wrapping texture onto the surface of a virtual object 0 2011
 
BOSTON SCIENTIFIC SCIMED, INC. (18)
8,118,732 Force feedback control system for video endoscope 1 2004
7,591,783 Articulation joint for video endoscope 6 2004
7,578,786 Video endoscope 3 2004
7,241,263 Selectively rotatable shaft coupler 4 2004
8,097,003 Endoscopic apparatus with integrated variceal ligation device 0 2005
7,846,107 Endoscopic apparatus with integrated multiple biopsy device 0 2005
8,052,597 Method for forming an endoscope articulation joint 1 2005
8,197,400 Selectively rotatable shaft coupler 0 2005
8,357,148 Multi-functional endoscopic system for use in electrosurgical applications 0 2005
8,083,671 Fluid delivery system for use with an endoscope 0 2005
8,353,860 Device for obstruction removal with specific tip structure 0 2005
8,199,187 Adapter for use with digital imaging medical device 0 2005
7,967,759 Endoscopic system with integrated patient respiratory status indicator 0 2006
8,202,265 Multiple lumen assembly for use in endoscopes or other medical devices 0 2006
7,955,255 Imaging assembly with transparent distal cap 1 2006
7,597,662 Multi-fluid delivery system 1 2006
8,435,172 Automated control of irrigation and aspiration in a single-use endoscope 0 2008
8,425,408 Articulation joint for video endoscope 0 2009
 
IMMERSION MEDICAL, INC. (11)
6,106,301 Interventional radiology interface apparatus and method 38 1997
6,929,481 Interface device and method for interfacing instruments to medical procedure simulation systems 28 1999
6,470,302 Interface device and method for interfacing instruments to vascular access simulation systems 38 1999
6,323,837 Method and apparatus for interfacing an elongated object with a computer system 26 1999
7,815,436 Surgical simulation interface device and method 0 2000
7,931,470 Interface device and method for interfacing instruments to medical procedure simulation systems 0 2003
7,833,018 Interface device and method for interfacing instruments to medical procedure simulation systems 0 2003
7,806,696 Interface device and method for interfacing instruments to medical procedure simulation systems 0 2003
7,505,030 Medical device and procedure simulation 1 2004
7,819,799 System and method for controlling force applied to and manipulation of medical instruments 1 2005
7,307,619 Haptic interface for palpation simulation 13 2006
 
GOOGLE INC. (7)
7,519,537 Method and apparatus for a verbo-manual gesture interface 12 2005
7,542,816 System, method and computer program product for automatically selecting, suggesting and playing music media files 13 2005
7,489,979 System, method and computer program product for rejecting or deferring the playing of a media file retrieved by an automated process 4 2005
7,577,522 Spatially associated personal reminder system and method 5 2006
7,562,117 System, method and computer program product for collaborative broadcast media 2 2006
7,586,032 Shake responsive portable media player 3 2006
7,917,148 Social musical media rating system and method for localized establishments 0 2007
 
APPLE INC. (3)
6,337,678 Force feedback computer input and output device with coordinated haptic elements 112 1999
6,819,312 Force feedback computer input and output device with coordinated haptic elements 25 2001
RE42064 Force feedback computer input and output device with coordinated haptic elements 1 2006
 
ENGINEERING MATTERS, INC. (3)
6,320,284 Motor assembly allowing output in multiple degrees of freedom 14 1999
6,664,666 Motor assembly allowing output in multiple degrees of freedom 15 2001
6,909,205 Motor assembly allowing output in multiple degrees of freedom 20 2003
 
MASSACHUSETTS INSTITUTE OF TECHNOLOGY (3)
6,704,694 Ray based interaction system 32 1999
6,377,011 Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus 68 2000
7,225,404 Method and apparatus for determining forces to be applied to a user through a haptic interface 2 2001
 
ANASCAPE, LTD. (2)
6,906,700 3D controller with vibration 52 2000
7,345,670 Image controller 19 2001
 
SCIMED LIFE SYSTEMS, INC. (2)
7,413,543 Endoscope with actively cooled illumination sources 11 2004
7,479,106 Automated control of irrigation and aspiration in a single-use endoscope 5 2004
 
ALPS ELECTRIC CO., LTD. (1)
6,959,232 Force sense imparting type input apparatus 1 2003
 
APRIO MEDICAL AB (1)
7,824,417 Guide for a medical device 2 2003
 
BINARY SERVICES LIMITED LIABILITY COMPANY (1)
6,088,020 Haptic device 84 1998
 
CYBERNET HAPTIC SYSTEMS CORPORATION (1)
6,433,771 Haptic device attribute control 23 1997
 
DEERE & COMPANY (1)
6,681,880 Control lever 4 2001
 
ELCKON LIMITED (1)
8,063,892 Haptic interface for touch screen embodiments 0 2007
 
FREEDOM WAVE LLC (1)
6,878,066 Wireless game control units 19 2004
 
IMMERSION CORPORATION DELAWARE (1)
6,067,077 Position sensing for force feedback devices 73 1998
 
KARL STORZ GMBH & CO. KG (1)
6,966,876 Device for holding and positioning an endoscopic instrument 3 2003
 
KEYMED (MEDICAL & INDUSTRIAL EQUIPMENT) LTD. (1)
8,206,157 Instrument for use in a medical simulator 0 2005
 
MICROSOFT CORPORATION (1)
6,262,712 Handle sensor with fade-in 11 1997
 
OBERMEYER, FRITZ R. (1)
8,094,121 Multi-axis joystick and transducer means therefore 2 2009
 
REALSIM SYSTEMS, LLC (1)
7,997,903 Medical training apparatus 0 2003
 
SAMSUNG ELECTRONICS CO., LTD. (1)
7,345,672 Force feedback system and actuator power management 3 2004
 
SIMBIONEX LTD. (1)
6,857,878 Endoscopic tutorial system 18 2000
 
SIMBIONIX LTD. (1)
6,863,536 Endoscopic tutorial system with a bleeding complication 9 2000
 
THE REGENTS OF THE UNIVERSITY OF CALIFORNIA (1)
8,297,983 Multimodal ultrasound training system 0 2012
 
THE UNITED STATES OF AMERICA AS REPRESENTED BY THE SECRETARY OF THE AIR FORCE (1)
H002017 Virtual reality force emulation 0 1998
 
THE UNITED STATES OF AMERICA AS REPRESENTED BY THE SECRETARY OF THE NAVY (1)
7,319,466 Method and apparatus for generating and interfacing with a haptic virtual reality environment 2 2000
 
UNIVERSITY OF WASHINGTON (1)
6,437,770 Flat-coil actuator having coil embedded in linkage 13 1999
 
VINTELL APPLICATIONS NY, LLC (1)
6,650,338 Haptic interaction with video and image data 7 1998
 
YAMAHA CORPORATION (1)
5,952,806 Inner force sense controller for providing variable force to multidirectional moving object, method of controlling inner force sense and information storage medium used therein 32 1997
 
OTHER [CHECK PATENT PROFILE FOR ASSIGNMENT INFORMATION] (5)
H2017 Virtual reality force emulation 0 1998
8,441,433 Systems and methods for providing friction in a haptic feedback device 0 2004
8,441,444 System and method for providing directional tactile sensations 0 2006
8,328,638 Method and apparatus for generating tactile feedback via relatively low-burden and/or zero burden telemetry 0 2007
8,308,558 Universal tactile feedback system for computer video games and simulations 0 2008