High bandwidth force feedback interface using voice coils and flexures

Number of patents in Portfolio can not be more than 2000

United States of America Patent

PATENT NO 5805140
SERIAL NO

08560091

Stats

ATTORNEY / AGENT: (SPONSORED)

Importance

Loading Importance Indicators... loading....

Abstract

See full text

A method and apparatus for interfacing the motion of a user-manipulable object with an electrical or computer system includes a user object physically contacted by a user. A gimbal mechanism is coupled to the user object, such as a joystick or a medical tool, and provides at least two degrees of freedom to the user object. The gimbal mechanism preferably includes multiple members, at least two of which are formed as a unitary member which provides flex between the selected members. An actuator applies a force along a degree of freedom to the user object in response to electrical signals produced by the computer system. A sensor detects a position of the user object along the degree of freedom and outputs sensor signals to the computer system. Another embodiment includes a host computer system and a local microprocessor, separate from the host computer, for communicating with the host computer and controlling the forces output by the actuators according to a processor subroutine selected in accordance with a host command, sensor signals, and timing information. Another embodiment of the interface apparatus uses voice coil actuators that produce forces in either linear or rotary degrees of freedom using currents applied in a magnetic fields. A friction drive mechanism of the present invention can be coupled between an actuator and a gimbal mechanism. Force from the actuator is transmitted to the gimbal mechanism through frictional contact of members of the friction drive mechanism.

Loading the Abstract Image... loading....

First Claim

See full text

Family

Loading Family data... loading....

Patent Owner(s)

Patent OwnerAddressTotal Patents
IMMERSION CORPORATIONSAN JOSE, CA725

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Rosenberg, Louis B Pleasanton, CA 323 25732
Schena, Bruce M Menlo Park, CA 124 11000

Cited Art Landscape

Patent Info (Count) # Cites Year
 
Other [Check patent profile for assignment information] (8)
* 4638798 Stereotactic method and apparatus for locating and treating or removing lesions 409 1980
* 4436188 Controlled motion apparatus 104 1981
* 4654648 Wireless cursor control system 197 1984
* 4676002 Mechanisms to determine position and orientation in space 228 1985
* 4750487 Stereotactic frame 345 1986
* 5148377 Coordinate measuring system 197 1989
* 5139261 Foot-actuated computer game controller serving as a joystick 191 1991
* 5228356 Variable effort joystick 170 1991
 
ER-WE-PA DAVIS-STANDARD GMBH (1)
* 5223776 Six-degree virtual pivot controller 254 1990
 
GEC FERRANTI DEFENCE SYSTEMS LIMITED (1)
* 4601206 Accelerometer system 146 1984
 
MITSUI ENGINEERING & SHIPBUILDING CO., LTD. (1)
5379663 Multi-axial joy stick device 128 1993
 
Garda Impianti S.R.L. (1)
* 4891889 Apparatus for measure and/or check the position and orientation of characteristic spots or areas in structures, particularly in motor-vehicle bodies 123 1988
 
EJT TECHNOLOGIES INC. (1)
5384460 Encoder with a light emitting editing wheel 81 1993
 
VOLKS COMMUNICATION, INC. (1)
* 4550221 Touch sensitive control device 574 1983
 
Nucon Steel Corporation (1)
* 4942545 Calibration of eddy current profilometry 79 1988
 
SURGICAL INNOVATIONS LIMITED (1)
5467763 Surgical instruments 274 1994
 
APPLE INC. (2)
* 5095303 Six degree of freedom graphic object controller 222 1990
* 5132672 Three degree of freedom graphic object controller 77 1990
 
Micro Control Systems, Inc. (2)
* 4477973 Three dimensional graphics tablet 79 1982
* 4593470 Portable three dimensional graphics tablet 116 1984
 
VOUGHT AIRCRAFT COMPANY (2)
* 5126948 Digital position encoder and data optimizer 48 1989
* 5128671 Control device having multiple degrees of freedom 379 1990
 
DISNEY ENTERPRISES, INC. (1)
5405152 Method and apparatus for an interactive video game with physical feedback 705 1993
 
KABUSHIKI KAISHA TOSHIBA (1)
* 4703443 Device for measuring the shape of a three-dimensional object 164 1985
 
SNECMA (1)
* 4550617 Multi axis force and moments transducer 105 1984
 
TRITON TECH OF TEXAS, LLC (1)
* 5181181 Computer apparatus input device for three-dimensional information 435 1990
 
Mitutoyo Mfg. Co., Ltd. (1)
* 4653011 Method of measuring by coordinate measuring instrument and coordinate measuring instrument 153 1985
 
MITUTOYO CORPORATION (2)
* 5204824 Method of and apparatus for copy controlling coordinate measuring probe with rotary table 131 1990
* 5187874 Coordinate measuring machine with protected origin point blocks 167 1991
 
BONNEVILLE SCIENTIFIC INCORPORATED (1)
* 4704909 Multicomponent force-torque sensor 59 1985
 
INTERNATIONAL BUSINESS MACHINES CORPORATION (4)
* 4798919 Graphics input tablet with three-dimensional data 181 1988
* 5186629 Virtual graphics display capable of presenting icons and windows to the blind computer user and method 323 1991
5397323 Remote center-of-motion robot for surgery 435 1992
5445166 System for advising a surgeon 476 1994
 
UNITED STATES OF AMERICA AS REPRESENTED BY THE ADMINISTRATOR OF THE NATIONAL AERONAUTICS AND SPACE ADMINISTRATION (1)
5451294 Optical fiber cable chemical stripping fixture 11 1994
 
UNIMATION, INC. (1)
* 4688983 Low cost robot 79 1984
 
THE UNIVERSITY OF BRITISH COLUMBIA (1)
* 4983786 XY velocity controller 101 1990
 
UNIVERSITY OF WASHINGTON (1)
5642469 Direct-drive manipulator for pen-based force display 194 1994
 
BAE SYSTEMS PLC (2)
* 4849692 Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields 375 1986
* 4945305 Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields 491 1989
 
SPACEBALL TECHNOLOGIES CORPORATION/SPACETEC IMC CORP. (1)
* 4811608 Force and torque converter 135 1986
 
GIDDINGS & LEWIS MACHINE TOOLS, LLC (1)
* 4945501 Method for determining position within the measuring volume of a coordinate measuring machine and the like and system therefor 185 1989
 
XENON RESEARCH, INC. (4)
* 4571834 Knee laxity evaluator and motion module/digitizer arrangement 258 1985
* 5251127 Computer-aided surgery apparatus 570 1990
5402582 Three dimensional coordinate measuring apparatus 255 1993
5412880 Method of constructing a 3-dimensional map of a measurable quantity using three dimensional coordinate measuring apparatus 214 1993
 
NATIONAL SEMICONDUCTOR CORPORATION (1)
5428748 Method and apparatus for automatically configuring a computer peripheral 164 1992
 
AEA TECHNOLOGY PLC (1)
* 5007300 Multi-axis hand controller 201 1990
 
Grumman Aerospace Corporation (1)
* 4907970 Sidestick-type thrust control simulator 129 1988
 
SARCOS GROUP, A UT LIMITED PARTNERSHIP (1)
* 5072361 Force-reflective teleoperation control system 172 1990
 
SPACEBALL TECHNOLOGIES 600 SUFFOLK STREET LOWELL, MA 01854 (1)
5591924 Force and torque converter 110 1993
 
TEKTRONIX, INC. (1)
* 4787051 Inertial mouse system 404 1986
 
Huka Developments B.V. (1)
* 4879556 Joystick control unit using multiple substrates 171 1987
 
A-VIEW CORPORATION (1)
* 4907973 Expert system simulator for modeling realistic internal environments and performance 461 1988
 
SRI INTERNATIONAL (1)
* 5262777 Device for generating multidimensional input signals to a computer 192 1991
 
National Biomedical Research Foundation (1)
* 5296846 Three-dimensional cursor control device 152 1992
 
Kabushiki Kaisha Daihen (1)
* 5243266 Teaching control device for manual operation in an industrial robots-system 96 1992
 
SHEFFIELD MEASUREMENT, INC. (1)
* 4819195 Method for calibrating a coordinate measuring machine and the like and system therefor 199 1987
 
HILLCREST COMMUNICATIONS, INC. (1)
* 4839838 Spatial input apparatus 403 1987
 
AU OPTRONICS CORPORATION (1)
* 5007085 Remotely sensed personal stylus 203 1988
 
STRYKER TECHNOLOGIES CORPORATION (1)
5417696 Acetabular cup positioning insert with release mechanism 111 1993
 
MASSACHUSETTS INSTITUTE OF TECHNOLOGY (3)
* 4689449 Tremor suppressing hand controls 77 1986
* 5107080 Multiple degree of freedom damped hand controls 213 1989
5587937 Force reflecting haptic interface 294 1995
 
IMMERSION CORPORATION (11)
* 5184319 Force feedback and textures simulating interface device 376 1990
* 5185561 Torque motor as a tactile feedback device in a computer system 337 1991
* 5220260 Actuator having electronically controllable tactile responsiveness 317 1991
5389865 Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor 276 1992
5513100 Velocity controller with force feedback stiffness control 206 1993
5414337 Actuator having electronically controllable tactile responsiveness 317 1993
5459382 Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor 251 1994
5623582 Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects 289 1994
5576727 Electromechanical human-computer interface with force feedback 368 1995
5589854 Touching feedback device 304 1995
5629594 Force feedback system 382 1995
 
PICKER INTERNATIONAL, INC. (1)
* 4791934 Computer tomography assisted stereotactic surgery system and method 659 1986
 
Technical Research Associates, Inc. (1)
5396266 Kinesthetic feedback apparatus and method 261 1993
 
GENERAL DATACOMM, INC. (1)
* 4961138 System and apparatus for providing three dimensions of input into a host processor 151 1989
 
JPMORGAN CHASE BANK, N.A. (1)
* 2003/0032,873 Plethysmograph pulse recognition processor 1 2002
 
ROCKWELL INTERNATIONAL CORPORATION (1)
* 5178012 Twisting actuator accelerometer 77 1992
 
LOGITECH, INC. (1)
* 5142506 Ultrasonic position locating method and apparatus therefor 124 1990
 
SP-COMMERCIAL FLIGHT, INC., A DE CORP. (1)
* 4803413 Magnetic isolating and pointing gimbal apparatus 92 1986
 
The United States of America as represented by the Secretary of the Air Force (2)
* 4477043 Biodynamic resistant control stick 192 1982
* 4632341 Stabilizing force feedback in bio-actuated control systems 128 1985
 
VALUE PLASTICS, INC. (1)
* 5259894 Method for solvent bonding non-porous materials to automatically create variable bond characteristics 54 1990
 
WARNER BROS. ENTERTAINMENT INC. (3)
* 5044956 Control device such as a steering wheel for video vehicle simulator with realistic feedback forces 326 1989
* 5116051 Strain gauge pressure-sensitive video game control 185 1990
* 5275565 Modular display simulator and method 189 1993
 
Semborg-Recrob, Corp. (1)
* 5182557 Motorized joystick 161 1990
 
Fokker B.V. (1)
* 4398889 Flight simulator 138 1981
 
YAMATO SCALE CO., LTD. (1)
* 4448083 Device for measuring components of force and moment in plural directions 113 1982
 
Kabushiki Kaisha Okuma Tekkosho (1)
* 5088055 Coordinate measuring apparatus having a stylus friction compensating means 131 1990
 
REGENTS OF THE UNIVERSITY OF MINNESOTA (2)
* 4775289 Statically-balanced direct-drive robot arm 62 1987
* 5184306 Automated high-precision fabrication of objects of complex and unique geometry 232 1991
 
Capistrano Labs, Inc. (1)
* 5351692 Laparoscopic ultrasonic probe 109 1993
 
C E JOHANSSON AB (1)
* 4982504 Method for determining positional errors and for compensating for such errors, and apparatus for carrying out the method 142 1989
 
CARL ZEISS INDUSTRIELLE MESSTECHNIK GMBH (4)
* 4769763 Control for coordinate measuring instruments 171 1986
* 4888877 Articulating head for a coordinate-measuring instrument 183 1988
* 4961267 Method and apparatus for making coordinate measurements 126 1988
* 5251156 Method and apparatus for non-contact measurement of object surfaces 188 1991
 
Tensor Development, Inc. (1)
* 5103404 Feedback for a manipulator 281 1989
 
Pioneer Electronic Corporation (1)
5512919 Three-dimensional coordinates input apparatus 229 1993
 
HONEYWELL INC. (2)
* 5142931 3 degree of freedom hand controller 203 1991
* 5264768 Active hand controller feedback loop 229 1992
 
RENISHAW PLC (3)
* 5088046 Mounting for surface-sensing stylus and a method of using said mounting 146 1989
* 5040306 Surface-sensing device 145 1989
* 5189806 Method of and apparatus for scanning the surface of a workpiece 200 1992
 
FOSTER-MILLER, INC. (1)
* 5131844 Contact digitizer, particularly for dental applications 285 1991
 
RENISHAW TRANSDUCER SYSTEMS LIMITED (1)
* 5259120 Calibration and measurement device 107 1992
 
Hobson; Rank Taylor (1)
* 5209131 Metrology 98 1990
 
PPG INDUSTRIES, INC. (1)
* 4679331 Apparatus and method for determining contour characteristics of a contoured article 144 1985
 
MIZUHO IKAKOGYO CO., LTD. (1)
* 5050608 System for indicating a position to be operated in a patient's body 400 1990
 
Guillemot Corporation S.A. (2)
5396267 Reconfigurable video game system 98 1993
5436640 Video game and simulator joystick controller with geared potentiometer actuation 176 1994
 
CATERPILLAR INC. (1)
* 4800721 Force feedback lever 234 1987
 
ARMSTRONG, BRAD ALAN (1)
5589828 6 Degrees of freedom controller with capability of tactile feedback 313 1992
 
Surgix, Inc. (1)
5436542 Telescopic camera mount with remotely controlled positioning 211 1994
 
LANGRANA, NOSHIR (1)
5429140 Integrated virtual reality rehabilitation system 291 1993
 
Carl-Zeiss-Stiftung (1)
* 4962591 Calibration-test member for a coordinate-measuring instrument 96 1989
 
INTEGRA BURLINGTON MA, INC. (1)
* 5230623 Operating pointer with interactive computergraphics 637 1991
 
RUTGERS, THE STATE UNIVERSITY OF NEW JERSEY (2)
* 5143505 Actuator system for providing force feedback to a dextrous master glove 229 1991
5354162 Actuator system for providing force feedback to portable master support 303 1992
* Cited By Examiner

Patent Citation Ranking

Forward Cite Landscape

Patent Info (Count) # Cites Year
 
Other [Check patent profile for assignment information] (9)
* 6259433 Digital optical joystick with mechanically magnified resolution 44 1996
* H2017 Virtual reality force emulation 1 1998
* 2005/0042,587 Apparatus for use in training an operator in the use of an endoscope system 0 2002
* 2005/0052,415 Directional tactile feedback for haptic feedback interface devices 36 2004
7356448 Input device operating on the parallel kinematic principle with haptic feedback 2 2004
* 2009/0153,365 PORTABLE HAPTIC INTERFACE 1 2005
8328638 Method and apparatus for generating tactile feedback via relatively low-burden and/or zero burden telemetry 1 2007
8308558 Universal tactile feedback system for computer video games and simulations 12 2008
* 2010/0013,613 Haptic feedback projection system 12 2008
 
MARQUARDT GMBH (2)
* 7242390 Electric switch 7 2006
* 2006/0124,438 Electric switch 0 2006
 
SIMBIONIX LTD. (5)
6863536 Endoscopic tutorial system with a bleeding complication 32 2000
9501955 Endoscopic ultrasonography simulation 0 2002
7850456 Surgical simulation device, system and method 15 2004
8500451 Preoperative surgical simulation 4 2008
8543338 System and method for performing computerized simulations for image-guided procedures using a patient specific model 0 2009
 
SONY COMPUTER ENTERTAINMENT INC. (1)
6784561 Resistance force generator for use in a game machine 1 2002
 
SONY CORPORATION (1)
8393965 Operation device 0 2011
 
TRANE INTERNATIONAL INC. (1)
* 2003/0214,265 Stepper driver system with current feedback 2 2002
 
LOGITECH EUROPE S.A. (2)
* 2007/0188,453 Input device roller with hybrid magnetic ratchet system 6 2006
* 2007/0188,454 Magnetic ratchet for input device roller 4 2006
 
BENHOV GMBH, LLC (1)
6587091 Stabilized tactile output mechanism for computer interface devices 78 2001
 
KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY (1)
* 2010/0207,745 HUMAN INTERACTION SYSTEMS USING KINESTHETIC FEEDBACK AND OPERATING METHOD THEREOF 12 2009
 
SCIMED LIFE SYSTEMS, INC. (1)
7413543 Endoscope with actively cooled illumination sources 60 2004
 
SIMON FRASER UNIVERSITY (2)
* 2009/0095,108 Spherical linkage and force feedback controls 6 2005
* 8371187 Spherical linkage and force feedback controls 1 2005
 
MASSACHUSETTS INSTITUTE OF TECHNOLOGY (2)
6405158 Force reflecting haptic inteface 57 1999
7225404 Method and apparatus for determining forces to be applied to a user through a haptic interface 32 2001
 
ETHICON ENDO-SURGERY, INC. (1)
9700339 Coupling arrangements and methods for attaching tools to ultrasonic surgical instruments 0 2009
 
IMMERSION CORPORATION (179)
6219032 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 238 1995
6028593 Method and apparatus for providing simulated physical interactions within computer generated environments 247 1996
* 6024576 Hemispherical, high bandwidth mechanical interface for computer systems 116 1996
* 6057828 Method and apparatus for providing force sensations in virtual environments in accordance with host software 130 1997
* 5999168 Haptic accelerator for force feedback computer peripherals 220 1997
* 6020876 Force feedback interface with selective disturbance filter 276 1997
* 6147674 Method and apparatus for designing force sensations in force feedback computer applications 155 1997
* 6131097 Haptic authoring 161 1997
6169540 Method and apparatus for designing force sensations in force feedback applications 164 1997
* 6078308 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 196 1997
* 6100874 Force feedback mouse interface 179 1997
6252579 Interface device and method for providing enhanced cursor control with force feedback 104 1997
* 6020875 High fidelity mechanical transmission system and interface device 96 1997
* 6166723 Mouse interface device providing force feedback 133 1997
6300936 Force feedback system including multi-tasking graphical host environment and interface device 175 1997
6486872 Method and apparatus for providing passive fluid force feedback 111 1998
6271833 Low cost force feedback peripheral with button activated feel sensations 93 1998
* 6128006 Force feedback mouse wheel and other control wheels 329 1998
6219033 Method and apparatus for controlling force feedback interface systems utilizing a host computer 46 1998
6300937 Method and apparatus for controlling force feedback for a computer interface device 117 1998
6104382 Force feedback transmission mechanisms 108 1998
* 6061004 Providing force feedback using an interface device including an indexing function 165 1998
* 6088019 Low cost force feedback device with actuator for non-primary axis 153 1998
6946812 Method and apparatus for providing force feedback using multiple grounded actuators 28 1998
RE37528 Direct-drive manipulator for pen-based force display 9 1998
8508469 Networked applications including haptic feedback 3 1998
* 6101530 Force feedback provided over a computer network 43 1998
6232891 Force feedback interface device having isometric functionality 43 1998
* 6154201 Control knob with multiple degrees of freedom and force feedback 236 1998
6281651 Haptic pointing devices 73 1998
6285351 Designing force sensations for computer applications including sounds 91 1999
* 6161126 Implementing force feedback over the World Wide Web and other computer networks 267 1999
6243078 Pointing device with forced feedback button 178 1999
6876891 Method and apparatus for providing tactile responsiveness in an interface device 104 1999
6348911 Force feedback device including safety switch and force magnitude ramping 80 1999
6292170 Designing compound force sensations for computer applications 72 1999
6195592 Method and apparatus for providing tactile sensations using an interface device 90 1999
6252583 Memory and force output management for a force feedback system 40 1999
RE40341 Controller 1 1999
6781569 Hand controller 41 1999
6288705 Interface device and method for providing indexed cursor control with force feedback 54 1999
6310605 Force feedback interface with selective disturbance filter 28 1999
6639581 Flexure mechanism for interface device 115 1999
6343349 Memory caching for force feedback effects 48 1999
* 6125385 Force feedback implementation in web pages 155 1999
6342880 Force feedback system including multiple force processors 81 1999
* 6704001 Force feedback device including actuator with moving magnet 49 1999
6366272 Providing interactions between simulated objects using force feedback 159 1999
6705871 Method and apparatus for providing an interface mechanism for a computer simulation 42 1999
6380925 Force feedback device with spring selection mechanism 11 2000
* 6259382 Isotonic-isometric force feedback interface 46 2000
6437771 Force feedback device including flexure member between actuator and user object 88 2000
7113166 Force feedback devices using fluid braking 86 2000
7039866 Method and apparatus for providing dynamic force sensations for force feedback computer applications 38 2000
6275213 Tactile feedback man-machine interface device 161 2000
6292174 Enhanced cursor control using limited-workspace force feedback devices 104 2000
6762745 Actuator control providing linear and continuous force output 18 2000
6903721 Method and apparatus for compensating for position slip in interface devices 21 2000
6704002 Position sensing methods for interface devices 14 2000
6697043 Haptic interface device and actuator assembly providing linear haptic sensations 60 2000
6982696 Moving magnet actuator for providing haptic feedback 117 2000
6859819 Force feedback enabled over a computer network 75 2000
7038667 Mechanisms for control knobs and other interface devices 56 2000
6374255 Haptic authoring 78 2000
* 6693622 Vibrotactile haptic feedback devices 134 2000
6353850 Force feedback provided in web pages 83 2000
6956558 Rotary force feedback wheels for remote control devices 24 2000
6686911 Control knob with control modes and force feedback 121 2000
7106313 Force feedback interface device with force functionality button 66 2000
6697044 Haptic feedback device with button forces 48 2000
* 6697048 Computer interface apparatus including linkage having flex 80 2000
7199790 Providing force feedback to a user of an interface device based on interactions of a user-controlled cursor in a graphical user interface 149 2001
7253803 Force feedback interface device with sensor 67 2001
7136045 Tactile mouse 85 2001
6580417 Tactile feedback device providing tactile sensations from host commands 36 2001
9625905 Haptic remote control for toys 0 2001
* 2002/0142,701 Haptic remote control for toys 52 2001
6424333 Tactile feedback man-machine interface device 168 2001
6469692 Interface device with tactile feedback button 79 2001
6894678 Cursor control using a tactile feedback device 30 2001
* 7158112 Interactions between simulated objects with force feedback 82 2001
6864877 Directional tactile feedback for haptic feedback interface devices 53 2001
7182691 Directional inertial tactile feedback using rotating masses 211 2001
6995744 Device and assembly for providing linear tactile sensations 29 2001
7168042 Force effects for object types in a graphical user interface 99 2001
7061467 Force feedback device with microprocessor receiving low level commands 71 2001
7557794 Filtering sensor data to reduce disturbances from force feedback 3 2001
7131073 Force feedback applications based on cursor engagement with graphical targets 93 2001
6654000 Physically realistic computer simulation of medical procedures 27 2001
7812820 Interface device with tactile responsiveness 3 2002
7038657 Power management for interface devices applying forces 44 2002
7265750 Haptic feedback stylus and other devices 72 2002
7191191 Haptic authoring 80 2002
* 2002/0109,708 Haptic authoring 16 2002
7091950 Force feedback device including non-rigid coupling 13 2002
7148875 Haptic feedback for touchpads and other touch controls 167 2002
7161580 Haptic feedback using rotary harmonic moving mass 101 2002
6982700 Method and apparatus for controlling force feedback interface systems utilizing a host computer 25 2003
7755602 Tactile feedback man-machine interface device 54 2003
7728820 Haptic feedback for touchpads and other touch controls 83 2003
7636080 Networked applications including haptic feedback 3 2003
7327348 Haptic feedback effects for control knobs and other interface devices 16 2003
7446752 Controlling haptic sensations for vibrotactile feedback interface devices 31 2003
* 2004/0056,840 Controlling haptic sensations for vibrotactile feedback interface devices 15 2003
7215326 Physically realistic computer simulation of medical procedures 111 2003
7102541 Isotonic-isometric haptic feedback interface 75 2003
8830161 Methods and systems for providing a virtual touch haptic effect to handheld communication devices 1 2003
8803795 Haptic communication devices 2 2003
8316166 Haptic messaging in handheld communication devices 6 2003
7106305 Haptic feedback using a keyboard device 101 2003
7821496 Computer interface apparatus including linkage having flex 4 2004
7561141 Haptic feedback device with button forces 17 2004
7432910 Haptic interface device and actuator assembly providing linear haptic sensations 84 2004
7027032 Designing force sensations for force feedback computer applications 60 2004
7369115 Haptic devices having multiple operational modes including at least one resonant mode 92 2004
* 7944433 Force feedback device including actuator with moving magnet 2 2004
7249951 Method and apparatus for providing an interface mechanism for a computer simulation 88 2004
* 2004/0183,777 Method and apparatus for providing an interface mechanism for a computer simulation 3 2004
7710399 Haptic trackball device 22 2004
7423631 Low-cost haptic mouse implementations 21 2004
7561142 Vibrotactile haptic feedback devices 75 2004
* 2004/0233,161 Vibrotactile haptic feedback devices 27 2004
8992322 Interactive gaming systems with haptic feedback 4 2004
* RE40808 Low-cost haptic mouse implementations 8 2004
7742036 System and method for controlling haptic devices having multiple operational modes 96 2004
9134795 Directional tactile feedback for haptic feedback interface devices 0 2004
* 2005/0030,284 Directional tactile feedback for haptic feedback interface devices 20 2004
7656388 Controlling vibrotactile sensations for haptic feedback devices 18 2004
7696978 Enhanced cursor control using interface devices 5 2004
* 2005/0057,509 Enhanced cursor control using interface devices 5 2004
7447604 Method and apparatus for compensating for position slip in interface devices 8 2004
* 2005/0088,408 Method and apparatus for compensating for position slip in interface devices 0 2004
7456821 User interface device 0 2004
* 2006/0117,258 User interface device 10 2004
* 7460104 Laparoscopic simulation interface 12 2005
* 2005/0162,383 Laparoscopic simulation interface 9 2005
7209028 Position sensor with resistive element 73 2005
8059088 Methods and systems for providing haptic messaging to handheld communication devices 6 2005
8077145 Method and apparatus for controlling force feedback interface systems utilizing a host computer 13 2005
7978186 Mechanisms for control knobs and other interface devices 61 2005
7404716 Interface apparatus with cable-driven force feedback and four grounded actuators 29 2005
7605800 Method and apparatus for controlling human-computer interface systems providing force feedback 61 2006
8441444 System and method for providing directional tactile sensations 2 2006
8527873 Force feedback system including multi-tasking graphical host environment and interface device 1 2006
7944435 Haptic feedback for touchpads and other touch controls 59 2006
7489309 Control knob with multiple degrees of freedom and force feedback 62 2006
7821493 Providing enhanced haptic feedback effects 7 2007
* 2007/0285,216 Providing enhanced haptic feedback effects 4 2007
8368641 Tactile feedback man-machine interface device 59 2007
8188981 Haptic interface for touch screen embodiments 6 2007
8059104 Haptic interface for touch screen embodiments 63 2007
8031181 Haptic feedback for touchpads and other touch controls 82 2007
8063893 Haptic feedback for touchpads and other touch controls 66 2007
8049734 Haptic feedback for touchpads and other touch control 61 2007
7982720 Haptic feedback for touchpads and other touch controls 88 2007
7978183 Haptic feedback for touchpads and other touch controls 63 2007
8059105 Haptic feedback for touchpads and other touch controls 90 2008
8576174 Haptic devices having multiple operational modes including at least one resonant mode 1 2008
8007282 Medical simulation interface apparatus and method 5 2008
8103472 Method and apparatus for compensating for position slip in interface devices 56 2008
* 2008/0303,789 Method and Apparatus for Compensating for Position Slip in Interface Devices 1 2008
8212772 Haptic interface device and actuator assembly providing linear haptic sensations 58 2008
9492847 Controlling haptic sensations for vibrotactile feedback interface devices 0 2008
8188989 Control knob with multiple degrees of freedom and force feedback 55 2008
8169402 Vibrotactile haptic feedback devices 71 2009
8184094 Physically realistic computer simulation of medical procedures 0 2009
8542105 Handheld computer interface with haptic feedback 5 2009
8072422 Networked applications including haptic feedback 4 2009
8462116 Haptic trackball device 0 2010
* 9358072 Systems and methods for minimally invasive surgical tools with haptic feedback 0 2011
* 2011/0178,508 Systems and Methods for Minimally Invasive Surgical Tools with Haptic Feedback 3 2011
9582178 Systems and methods for multi-pressure interaction on touch-sensitive surfaces 0 2011
9280205 Haptic feedback for touchpads and other touch controls 0 2013
9245428 Systems and methods for haptic remote control gaming 0 2013
9740287 Force feedback system including multi-tasking graphical host environment and interface device 0 2013
9227137 Handheld computer interface with haptic feedback 0 2013
9690379 Tactile feedback interface device 0 2014
9753540 Systems and methods for haptic remote control gaming 0 2015
9778745 Force feedback system including multi-tasking graphical host environment and interface device 0 2016
 
APPLE INC. (3)
6337678 Force feedback computer input and output device with coordinated haptic elements 276 1999
6819312 Force feedback computer input and output device with coordinated haptic elements 95 2001
RE42064 Force feedback computer input and output device with coordinated haptic elements 17 2006
 
ROCKWELL COLLINS, INC. (4)
6320284 Motor assembly allowing output in multiple degrees of freedom 20 1999
6664666 Motor assembly allowing output in multiple degrees of freedom 21 2001
6909205 Motor assembly allowing output in multiple degrees of freedom 22 2003
* 2004/0124,717 Motor assembly allowing output in multiple degrees of freedom 2 2003
 
SONY INTERACTIVE ENTERTAINMENT INC. (2)
* 8485904 Operation device 0 2011
* 2011/0195,783 OPERATION DEVICE 0 2011
 
CYBERNET HAPTIC SYSTEMS CORPORATION (1)
* 6433771 Haptic device attribute control 42 1997
 
SEAGATE TECHNOLOGY LLC (2)
* 6088185 Rotational vibration detection using a velocity sense coil 32 1999
6490121 Accelerated servo control calculations method and apparatus for a disc drive 11 2000
 
IMMERSION MEDICAL, INC. (14)
* 6106301 Interventional radiology interface apparatus and method 57 1997
6929481 Interface device and method for interfacing instruments to medical procedure simulation systems 67 1999
6470302 Interface device and method for interfacing instruments to vascular access simulation systems 71 1999
6323837 Method and apparatus for interfacing an elongated object with a computer system 41 1999
* 7815436 Surgical simulation interface device and method 7 2000
* 2001/0016,804 Surgical simulation interface device and method 48 2000
7308831 Interface device and method for interfacing instruments to vascular access simulation systems 78 2002
7931470 Interface device and method for interfacing instruments to medical procedure simulation systems 8 2003
* 7833018 Interface device and method for interfacing instruments to medical procedure simulation systems 7 2003
7806696 Interface device and method for interfacing instruments to medical procedure simulation systems 9 2003
* 2004/0045,561 Interface device and method for interfacing instruments to medical procedure simulation systems 7 2003
8480406 Interface device and method for interfacing instruments to medical procedure simulation systems 5 2005
7307619 Haptic interface for palpation simulation 88 2006
8638308 Haptic interface for palpation simulation 0 2010
 
KEYMED (MEDICAL & INDUSTRIAL EQUIPMENT) LTD. (1)
* 6926531 Apparatus for use in training an operator in the use of an endoscope system 3 2002
 
The United States of America as represented by the Secretary of the Air Force (1)
H002017 Virtual reality force emulation 0 1998
 
Creative Technology Ltd (1)
* 6317119 Speed-compensated joystick 3 1998
 
DAIMLER AG (1)
* 6411934 Operating system, particularly for components in a motor vehicle using speech recognition 10 1997
 
ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC. (1)
* 2009/0248,042 MODEL CATHETER INPUT DEVICE 26 2008
 
DESIGNBYFEEL, INC. (1)
* 6361323 Skill acquisition, transfer and verification system hardware and point tracking system applied to health care procedures 12 2000
 
ETHICON ENDO-SURGERY, LLC (5)
9623237 Surgical generator for ultrasonic and electrosurgical devices 1 2015
9737326 Haptic feedback devices for surgical robot 0 2015
9700343 Devices and techniques for cutting and coagulating tissue 0 2015
9743947 End effector with a clamp arm assembly and blade 0 2015
9713507 Closed feedback control for electrosurgical device 0 2016
 
Ethicon Surgery, LLC (1)
9504855 Devices and techniques for cutting and coagulating tissue 1 2015
 
UNIVERSITY OF WASHINGTON (1)
6437770 Flat-coil actuator having coil embedded in linkage 24 1999
 
BALLY GAMING, INC. (2)
9056244 Gaming apparatus incorporating targeted haptic feedback 0 2013
8834272 Dynamically reconfigurable joystick 0 2013
 
Ehticon Endo-Surgery, LLC (1)
9339289 Ultrasonic surgical instrument blades 11 2015
 
HONEYWELL INTERNATIONAL INC. (2)
* 9122309 Active human-machine interface with force sensor overload protection 0 2012
* 2014/0135,949 ACTIVE HUMAN-MACHINE INTERFACE WITH FORCE SENSOR OVERLOAD PROTECTION 0 2012
 
LORD CORPORATION (1)
* 6339419 Magnetically-controllable, semi-active haptic interface system and apparatus 33 1998
 
3D SYSTEMS, INC. (32)
* 6084587 Method and apparatus for generating and interfacing with a haptic virtual reality environment 142 1996
6191796 Method and apparatus for generating and interfacing with rigid and deformable surfaces in a haptic virtual reality environment 126 1998
6421048 Systems and methods for interacting with virtual objects in a haptic virtual reality environment 82 1999
6552722 Systems and methods for sculpting virtual objects in a haptic virtual reality environment 61 1999
6792398 Systems and methods for creating virtual objects in a sketch mode in a haptic virtual reality environment 59 1999
6985133 Force reflecting haptic interface 51 1999
6958752 Systems and methods for three-dimensional modeling 35 2001
6867770 Systems and methods for voxel warping 16 2001
6671651 3-D selection and manipulation with a multiple dimension haptic interface 54 2002
7103499 3-D selection and manipulation with a multiple dimension haptic interface 16 2003
7411576 Force reflecting haptic interface 14 2003
7382378 Apparatus and methods for stenciling an image 17 2003
7095418 Apparatus and methods for texture mapping 11 2003
* 2005/0093,874 Apparatus and methods for texture mapping 3 2003
7889209 Apparatus and methods for wrapping texture onto the surface of a virtual object 12 2003
7626589 Haptic graphical user interface for adjusting mapped texture 12 2003
7102635 Systems and methods for sculpting virtual objects in a haptic virtual reality environment 35 2004
7149596 Apparatus and methods for modifying a model of an object to enforce compliance with a manufacturing constraint 14 2004
7864173 Systems and methods for creating virtual objects in a sketch mode in a haptic virtual reality environment 14 2004
7212203 Systems and methods for voxel warping 12 2005
7710415 Systems and methods for three-dimensional modeling 6 2005
7714836 Force reflecting haptic interface 10 2005
7400331 Apparatus and methods for texture mapping 2 2006
* 2007/0018,993 Apparatus and methods for texture mapping 2 2006
7259761 Systems and methods for sculpting virtual objects in a haptic virtual reality environment 16 2006
7800609 Method and apparatus for generating and interfacing with a haptic virtual reality environment 10 2008
7808509 Apparatus and methods for stenciling an image 2 2008
8994643 Force reflecting haptic interface 6 2008
8576222 Systems and methods for interfacing with a virtual object in a haptic virtual environment 5 2011
8174535 Apparatus and methods for wrapping texture onto the surface of a virtual object 4 2011
8456484 Apparatus and methods for wrapping texture onto the surface of a virtual object 2 2012
9802364 Systems and methods for construction of an instruction set for three-dimensional printing of a user-customizableimage of a three-dimensional structure 0 2012
 
MINEBEA CO., LTD. (2)
* 6239786 Pointing stick with top mounted z-axis sensor 20 1998
* 2005/0264,528 Low profile pointing device with tactile feedback 3 2004
 
ETHICON LLC (38)
9707027 Medical device 0 2011
9408622 Surgical instruments with articulating shafts 9 2012
9393037 Surgical instruments with articulating shafts 9 2012
9351754 Ultrasonic surgical instruments with distally positioned jaw assemblies 20 2012
9326788 Lockout mechanism for use with robotic electrosurgical device 18 2012
9283045 Surgical instruments with fluid management system 21 2012
9226767 Closed feedback control for electrosurgical device 24 2012
* 9198714 Haptic feedback devices for surgical robot 24 2012
* 2014/0005,682 HAPTIC FEEDBACK DEVICES FOR SURGICAL ROBOT 32 2012
9504483 Surgical instruments 1 2012
9232979 Robotically controlled surgical instrument 90 2013
9724118 Techniques for cutting and coagulating tissue for ultrasonic surgical instruments 0 2013
9439668 Switch arrangements for ultrasonic surgical instruments 7 2013
9241731 Rotatable electrical connection for ultrasonic surgical instruments 15 2013
9241728 Surgical instrument with multiple clamping mechanisms 16 2013
9237921 Devices and techniques for cutting and coagulating tissue 15 2013
9226766 Serial communication protocol for medical device 15 2013
9414853 Ultrasonic end effectors with increased active length 8 2013
9427249 Rotatable cutting implements with friction reducing material for ultrasonic surgical instruments 8 2013
9445832 Surgical instruments 8 2013
9066747 Ultrasonic surgical instrument blades 28 2013
9510850 Ultrasonic surgical instruments 1 2013
9764164 Ultrasonic surgical instruments 0 2013
9554854 Detecting short circuits in electrosurgical medical devices 1 2014
9737355 Controlling impedance rise in electrosurgical medical devices 0 2014
9757186 Device status feedback for bipolar tissue spacer 0 2014
9707030 Surgical instrument with jaw member 0 2014
9700333 Surgical instrument with variable tissue compression 0 2014
9220527 Surgical instruments 16 2014
9808308 Electrosurgical cutting and sealing instruments with cam-actuated jaws 0 2014
9554846 Surgical instrument with jaw member 0 2014
9801648 Surgical instruments 0 2014
9636135 Ultrasonic surgical instruments 0 2014
9649126 Seal arrangements for ultrasonically powered surgical instruments 0 2015
9795405 Surgical instrument 0 2015
9707004 Surgical instruments 0 2015
9642644 Surgical instruments 0 2015
9795808 Devices and techniques for cutting and coagulating tissue 0 2015
 
UNIVERSITY OF MANITOBA (2)
7204168 Hand controller and wrist device 10 2004
* 2005/0183,532 Hand controller and wrist device 9 2004
 
OBERMEYER, FRITZ R. (3)
* 2005/0162,389 Multi-axis joystick and transducer means therefore 78 2004
8094121 Multi-axis joystick and transducer means therefore 80 2009
* 2009/0213,073 Multi-Axis Joystick and Transducer Means Therefore 33 2009
 
MENTICE AB (7)
8491307 Interventional simulator control system 1 2003
8083524 Interventional simulator system 3 2003
7993141 Interventional simulator system 0 2003
* 7520749 Interventional simulation device 5 2003
* 2007/0141,543 Interventional simulator system 2 2003
* 2006/0234,195 Interventional simulator control system 8 2003
* 2006/0127,867 Interventional simulator system 1 2003
 
SIMBIONEX LTD. (1)
6857878 Endoscopic tutorial system 59 2000
 
OBERMEYER, FRITZ K. (1)
8816962 Multi-axis input apparatus 0 2013
 
The United States of America as represented by the Secretary of the Navy (2)
6184868 Haptic feedback control devices 176 1998
7319466 Method and apparatus for generating and interfacing with a haptic virtual reality environment 12 2000
 
BOSTON SCIENTIFIC SCIMED, INC. (29)
8118732 Force feedback control system for video endoscope 11 2004
7591783 Articulation joint for video endoscope 229 2004
7578786 Video endoscope 27 2004
7479106 Automated control of irrigation and aspiration in a single-use endoscope 44 2004
7241263 Selectively rotatable shaft coupler 6 2004
8097003 Endoscopic apparatus with integrated variceal ligation device 2 2005
7846107 Endoscopic apparatus with integrated multiple biopsy device 23 2005
8052597 Method for forming an endoscope articulation joint 7 2005
8197400 Selectively rotatable shaft coupler 19 2005
8357148 Multi-functional endoscopic system for use in electrosurgical applications 8 2005
8083671 Fluid delivery system for use with an endoscope 14 2005
8353860 Device for obstruction removal with specific tip structure 6 2005
8199187 Adapter for use with digital imaging medical device 11 2005
7967759 Endoscopic system with integrated patient respiratory status indicator 12 2006
8888684 Medical devices with local drug delivery capabilities 0 2006
8202265 Multiple lumen assembly for use in endoscopes or other medical devices 1 2006
7955255 Imaging assembly with transparent distal cap 17 2006
7597662 Multi-fluid delivery system 5 2006
8435172 Automated control of irrigation and aspiration in a single-use endoscope 4 2008
8475366 Articulation joint for a medical device 2 2009
8425408 Articulation joint for video endoscope 9 2009
8535219 Fluid manifold for endoscope system 3 2010
8870753 Imaging assembly with transparent distal cap 0 2011
9439557 Articulation joint 0 2011
8608648 Articulation joint 18 2011
8585715 Endoscopic apparatus with integrated variceal ligation device 1 2011
8622894 Articulation joint 1 2011
9358363 Multiple lumen assembly for use in endoscopes or other medical devices 0 2012
RE46007 Automated control of irrigation and aspiration in a single-use endoscope 0 2015
 
ELCKON LIMITED (1)
8063892 Haptic interface for touch screen embodiments 61 2007
 
IMMERSION CORPORATION DELAWARE (2)
6067077 Position sensing for force feedback devices 102 1998
8552982 Position sensing methods for interface devices 1 2003
 
UNIVERSITY OF SOUTHERN CALIFORNIA (1)
* 2004/0113,887 partially real and partially simulated modular interactive environment 10 2003
 
NOKIA CORPORATION (1)
* 2013/0021,288 Apparatuses, Methods and Computer Programs for a Virtual Stylus 10 2010
* Cited By Examiner