MULTI-DIMENSIONAL FORCE-TORQUE HAND CONTROLLER HAVING FORCE FEEDBACK

摘要

MULTI-DIMENSIONAL FORCE-TORQUE HAND CONTROLLERHAVING FORCE FEEDBACKABSTRACT OF THE DISCLOSUREA hand controller or 'cursor' for the actuation of slavedapparatus. The cursor includes a handle extending from a line attachmentmember comprised of four equally spaced legs. The ends of these legs definevertices of a regular tetrahedron. The cursor is supported within asubtending structure by a plurality of tension lines which may be connectedto torque motors or to another controlled device. A control computerpreferrably interfaces the present controller with the slaved apparatuswherein signals representative of the several tension line lengths aretranslated by the computer into control signals actuating the slaved device.In addition, force transducers on the slaved mechanism generate signalsrepresentative of the forces encountered by the slaved device which, inturn, are translated by the computer into torque motor control signalsthereby providing interactive cursor force-feedback.-1-