Force reflecting haptic interface
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United States of America Patent
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Jul 9, 2002
Grant Date -
N/A
app pub date -
Jul 16, 1999
filing date -
Jul 17, 1998
priority date (Note) -
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Abstract
A six degree of freedom force reflecting haptic interface includes three powered axes and three free axes, all of which are tracked so that the position of a user connection element in the work volume can be determined. The interface includes cable drives with polymer composite or metallic cables, automatic cable tensioning devices, and grounded actuator capstans. A nested hub and transfer drive provide a compact, weight balanced interface. User comfort and safety features are also provided.
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