CN102759995B - Spatial six-dimensional computer input device - Google Patents
Spatial six-dimensional computer input device Download PDFInfo
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- CN102759995B CN102759995B CN201210194295.1A CN201210194295A CN102759995B CN 102759995 B CN102759995 B CN 102759995B CN 201210194295 A CN201210194295 A CN 201210194295A CN 102759995 B CN102759995 B CN 102759995B
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Abstract
The invention provides a spatial six-dimensional computer input device, which comprises a frame body support mechanism, a platform guide rail mechanism and a handle, wherein the platform guide rail mechanism comprises a movable platform and six moving guiding rails; the movable platform adopts a cubic structure; the six moving guiding rails are divided into two X-direction moving guiding rails, two Y-direction moving guiding rails and two Z-direction moving guiding rails; the frame body support mechanism comprises an X-direction bracket, a Y-direction bracket, a Z-direction bracket and a movable platform support spring; the bottom surface of the movable platform is supported and fixed on the movable platform support spring; in addition, front connecting rods of the moving guiding rails penetrate through guiding rail through-holes formed on support saddles of guiding rail mounting boards on the direction brackets, and are in interference fit with the guiding rail through-holes. The spatial six-dimensional computer input device adopts displacement sensing to enable an operated object to move in three directions and rotate in three directions in three-dimensional space, satisfies omnidirectional browse and other operations on a three dimensional solid, achieves operation reality sense, and enables an operator to sense motion/rotation more factually in a macro motion range.
Description
Technical field
The present invention relates to virtual reality technology analogue technique field, be specially a kind of spatial six-dimensional computer input device.
Background technology
The computer entry device majority of current practical application is bidimensional, only there are plane two momental inputs, but along with the appearance of Three-Dimensional Modeling Technology and the development of virtual reality technology, the motion of input equipment is not only confined to the motion on X-Y plane, and want can realize, by the operand movement of any direction and the rotation of a certain axle around space in three dimensions, browsing and other associative operation the comprehensive of the even whole virtual scene of three-dimensional modeling entity on screen to meet.As the robot worked under severe and hazardous environment, at the flight simulator of flight simulation system, and the aircraft in space, people are all needed to move and Three dimensional rotation by the sextuple computer entry device space three-dimensional controlling them of giving an order.
A lot of scholar studies this, widely as the people such as foreign scholar Kerr and Nguyen adopt six-dimensional force and the torque sensor of Stewart structure at present.Domestic patented technologies also having some relevant, as: a kind of there is elastic hinge six-dimensional force and torque sensor (Chinese patent: CN1229915), parallel decoupling structure six-dimensional force and torque sensor (Chinese patent: CN1267822), direct imported robot four dimensional wind tunnel sensor (Chinese patent: CN1425903), six degree of freedom wind tunnel sensor (Chinese patent: CN2165435).Above-mentioned technology majority adopts and detects wind tunnel, therefore structurally have employed the core technology of jiggle robot, does not have the function of the larger straight-line displacement of detection and angle displacement.The domestic correlative study for sextuple computer entry device is then relatively less, the part and existing sextuple computer entry device all comes with some shortcomings, if fine motion DOF mouse passes through force sensitive element, firmly/moment controls the speed of sextuple motion, exist and lack the operation sense of reality, be difficult to realize the shortcomings such as high precision control.Professor Qin Kaihuai has designed and Implemented the three-dimensional USB mouse of five degree of freedom, and this mouse increases by 2 degree of freedom on conventional two-dimensional mouse basis, and with the formal distribution of roller in mouse both sides, achieves the rotation around X-axis and Y-axis respectively.But shortcoming to realize sextuple motion, and spin is subject to surface of contact impact when rolling, and needs often to clean spin.
Summary of the invention
The technical matters solved
For solving prior art Problems existing, the present invention proposes a kind of spatial six-dimensional computer input device, there is the operation sense of reality, high precision can be realized and control, make operator can have movement more really/rotation sensation in grand dynamic scope.
Technical scheme
Technical scheme of the present invention is:
Described a kind of spatial six-dimensional computer input device, is characterized in that: comprise framework holder mechanism, platform rail mechanism and handle;
Platform rail mechanism comprises a moving platform and six roots of sensation motion guide rail;
Moving platform is cube structure; The rectangular coordinate system in space initial point of described spatial six-dimensional computer input device is in the geometric center of moving platform, and Z axis is perpendicular to moving platform end face, and X-axis and Y-axis are respectively perpendicular to the side that moving platform two is adjacent; Handle installing hole is had, handle installing hole central axis and Z axis conllinear at the end face center of moving platform; The bottom surface of moving platform has two Z-direction guide rails assembling holes, the plane of the central axis formation in two Z-direction guide rails assembling holes and rectangular coordinate system in space XZ planes overlapping, and the central axis in two Z-direction guide rails assembling holes is relative to YZ plane symmetry; Side vertical with X-axis on moving platform has two X direction guiding rail mounting holes, the plane of the central axis formation of two X direction guiding rail mounting holes and XY planes overlapping, and the central axis of two X direction guiding rail mounting holes is relative to XZ plane symmetry; Side vertical with Y-axis on moving platform has two Y-direction guide rails assembling holes, the plane of the central axis formation in two Y-direction guide rails assembling holes and YZ planes overlapping, and the central axis in two Y-direction guide rails assembling holes is relative to XY plane symmetry;
Six roots of sensation motion guide rail is divided into two X to motion guide rail, two Y-direction motion guide rails, two Z-direction motion guide rails; Every root motion guide rail comprises front rod, back link, front bulb hinge, rear bulb hinge and back-up ring; Shield ring sleeve on front rod, and is fixed with front rod; Bulb hinge comprises bulb free bearing and bulb toggle, and bulb free bearing one end is hollow stem, and the other end is hollow ball shell, and bulb toggle one end is cylindrical bar, and the other end is bulb, and the bulb of bulb toggle coordinates with the hollow ball shell of bulb free bearing; Back link two ends are inserted in the hollow stem of front bulb free bearing and rear bulb free bearing respectively, and are interference fit; There is counterbore front rod rear end, and the cylindrical bar of front bulb toggle inserts in the counterbore of front rod rear end, and is interference fit; The cylindrical bar of rear bulb toggle inserts in the guide rails assembling hole on moving platform, and is interference fit;
Framework holder mechanism comprises X-direction support, Y-direction support, Z-direction support and moving platform support spring, and each direction support is all fixed with guide rails assembling plate, and moving platform support spring is fixedly mounted on Z-direction support and Y-direction support; Each guide rails assembling plate comprises base plate, at least two bearings and four limit switches; Base plate has groove, and bearing to be coordinated with groove by bolt and is arranged on base plate, and bearing can slide along groove; Bearing has guide rail through hole, the axis of guide rail through hole is parallel to each other, and is all parallel to the glide direction of bearing; Bearing is also fixed with displacement transducer, for measuring the slide displacement of bearing along groove; On the bottom edge of both sides, bearing sliding direction, symmetry is respectively fixed with two limit switches;
The base plate of X-direction support upper rail installing plate is parallel to XY face, and bearing upper rail through-bore axis is parallel to X-axis; The base plate of Y-direction support upper rail installing plate is parallel to YZ face, and bearing upper rail through-bore axis is parallel to Y-axis; The base plate of Z-direction support upper rail installing plate is parallel to XZ face, and bearing upper rail through-bore axis is parallel to Z axis;
The supporting and fixing of moving platform bottom surface is on moving platform support spring; The front rod of all directions motion guide rail all through the guide rail through hole of the bearing of respective direction support upper rail installing plate, and is interference fit; When moving platform is in neutral position, the back-up ring of all directions motion guide rail is between respective direction support upper rail installing plate homonymy two limit switches; Handle threads is fixedly connected in the handle installing hole at moving platform end face center.
Beneficial effect
The spatial six-dimensional computer input device that the present invention proposes belongs to computer man-machine interfacing equipment and multifreedom motion control inputs equipment, displacement sensing is adopted to realize in three dimensions by operand being moved and rotating with three directions in three directions, to meet, the comprehensive of the even whole virtual scene of three-dimensional modeling entity is browsed and other operations, there is the operation sense of reality, high precision can be realized control, make operator can have movement more really/rotation sensation in grand dynamic scope.
Accompanying drawing explanation
Fig. 1: structural representation of the present invention;
Fig. 2: the structural representation of framework holder mechanism;
Fig. 3: the structural representation of platform rail mechanism;
Fig. 4: bulb toggle schematic diagram;
Wherein: 1, framework holder mechanism; 2, platform rail mechanism; 3, handle; 4, X-direction support; 5, compressing tablet; 6, switch frame; 7, limit switch; 8, photoelectric displacement sensor; 9, base plate; 10, bearing; 11, spring fitting plate; 12, spring lower support; 13, upper bracket of the spring; 14, moving platform support spring; 15, Y-direction support; 16, Z-direction support; 17, an X is to motion guide rail; 18, the 2nd X is to motion guide rail; 19, back-up ring; 20, front bulb toggle; 21, front bulb free bearing; 22, back link; 23, rear bulb free bearing; 24, rear bulb toggle; 25, moving platform; 26, the first Y-direction motion guide rail; 27, the second Y-direction motion guide rail; 28, the first Z-direction motion guide rail; 29, the second Z-direction motion guide rail.
Embodiment
Below in conjunction with specific embodiment, the present invention is described:
The present embodiment object will develop to have the operation sense of reality, can realize the sextuple computer entry device that high precision controls, and makes operator can have movement more really/rotation sensation in grand dynamic scope.
With reference to accompanying drawing 1, the present embodiment comprises framework holder mechanism 1, platform rail mechanism 2 and handle 3.
With reference to accompanying drawing 3, platform rail mechanism comprises a moving platform 25 and six roots of sensation motion guide rail.
Moving platform 25 is cube structure, and in the present embodiment, the rectangular coordinate system in space initial point of spatial six-dimensional computer input device is in the geometric center of moving platform, and Z axis is perpendicular to moving platform end face, and X-axis and Y-axis are respectively perpendicular to the side that moving platform two is adjacent.Handle installing hole is had, handle installing hole central axis and Z axis conllinear at the end face center of moving platform.The bottom surface of moving platform has two Z-direction guide rails assembling holes, the plane of the central axis formation in two Z-direction guide rails assembling holes and rectangular coordinate system in space XZ planes overlapping, and the central axis in two Z-direction guide rails assembling holes is relative to YZ plane symmetry; Side vertical with X-axis on moving platform has two X direction guiding rail mounting holes, the plane of the central axis formation of two X direction guiding rail mounting holes and XY planes overlapping, and the central axis of two X direction guiding rail mounting holes is relative to XZ plane symmetry; Side vertical with Y-axis on moving platform has two Y-direction guide rails assembling holes, the plane of the central axis formation in two Y-direction guide rails assembling holes and YZ planes overlapping, and the central axis in two Y-direction guide rails assembling holes is relative to XY plane symmetry.
Six roots of sensation motion guide rail is divided into two X to motion guide rail, two Y-direction motion guide rails, two Z-direction motion guide rails.Every root motion guide rail comprises front rod, back link 22, front bulb hinge, rear bulb hinge and back-up ring 19; Shield ring sleeve on front rod, and adopts bolt to be fixedly connected with front rod; Bulb hinge comprises bulb free bearing and bulb toggle, and bulb free bearing one end is hollow stem, and the other end is hollow ball shell, and bulb toggle one end is cylindrical bar, and the other end is bulb, and the bulb of bulb toggle coordinates with the hollow ball shell of bulb free bearing; Back link two ends are inserted in the hollow stem of front bulb free bearing 21 and rear bulb free bearing 23 respectively, and are interference fit; There is counterbore front rod rear end, and the cylindrical bar of front bulb toggle 20 inserts in the counterbore of front rod rear end, and is interference fit; The cylindrical bar of rear bulb toggle 24 inserts in the guide rails assembling hole on moving platform, and is interference fit.Thus on six roots of sensation motion guide rail correspondence insertion moving platform in six guide rails assembling holes.
With reference to accompanying drawing 2, framework holder mechanism comprises X-direction support 4, Y-direction support 15, Z-direction support 16 and moving platform support spring 14.Moving platform support spring is fixed on spring fitting plate 11 by spring lower support, and spring fitting plate is fixedly mounted on Z-direction support and Y-direction support, and moving platform support spring upper end is connected with moving platform by upper bracket of the spring 13.Six roots of sensation moving platform support spring is adopted in the present embodiment.
Each direction support is all fixed with guide rails assembling plate, and each guide rails assembling plate is fixedly connected with respective direction support by pressing plate.Each guide rails assembling plate comprises base plate 9, four bearings 10 and four limit switches 7.Base plate has groove, and bearing to be coordinated with groove by bolt and is arranged on base plate, and bearing can slide along groove.Bearing has guide rail through hole, the axis of guide rail through hole is parallel to each other, and is all parallel to the glide direction of bearing.Four bearings are divided into two groups, often organize the guide rail through-bore axis conllinear of two bearings, and are fixed with a photoelectric displacement sensor 8, for measuring the slide displacement of bearing along groove often organizing on bearing.On the bottom edge of both sides, bearing sliding direction, symmetry is respectively fixed with two limit switches, and limit switch is fixedly connected with by switch frame 6 with base plate.In the present embodiment, limit switch is touch switch.
The base plate of X-direction support upper rail installing plate is parallel to XY face, and bearing upper rail through-bore axis is parallel to X-axis; The base plate of Y-direction support upper rail installing plate is parallel to YZ face, and bearing upper rail through-bore axis is parallel to Y-axis; The base plate of Z-direction support upper rail installing plate is parallel to XZ face, and bearing upper rail through-bore axis is parallel to Z axis.
The front rod of all directions motion guide rail all through the guide rail through hole of the bearing of respective direction support upper rail installing plate, and is interference fit; When moving platform is in neutral position, the back-up ring of all directions motion guide rail is between respective direction support upper rail installing plate homonymy two limit switches; Handle threads is fixedly connected in the handle installing hole at moving platform end face center.
During the work of this device, when doing space six-freedom motion by handle control moving platform, the photoelectric displacement sensor on each motion guide rail can gather corresponding signal, after single-chip microcomputer process, by signal by usb communication circuit input computing machine.
When control crank moves along X, Y, Z axis in space and rotates around X, Y, Z axis, moving platform can change position and the attitude in the space of self along with the movement of control crank.The change in location of moving platform drives the change in location of bulb toggle, bulb free bearing, front rod and back link, and guide rail drives back-up ring and bearing to slide in the groove of base plate.At this moment the photoelectric displacement sensor be arranged on bearing can detect the displacement of 6 motion guide rails, and by data line transfer to computing machine.If the displacement of guide rail is excessive, exceeded limited range, back-up ring will touch limit switch, and produce signal, be transferred to computing machine, the process of machine stops action as calculated.
In the present embodiment, the outer normal direction of regulation moving platform two adjacent side and end face is respectively the coordinate axis forward of X, Y, Z axis, and being just when looking turn counterclockwise from coordinate axis forward, is negative clockwise.The X that photoelectric displacement sensor detects is respectively L1, L2, L3, L4, L5, L6 to motion guide rail, the 2nd X to the displacement of motion guide rail, the first Y-direction motion guide rail, the second Y-direction motion guide rail, the first Z-direction motion guide rail, the second Z-direction motion guide rail.These displacements measured have positive and negative: if identical with change in coordinate axis direction for just, contrary with change in coordinate axis direction is negative.If moving platform only moves along X-axis, then moving platform is Lx=L1=L2 at the displacement of X-axis, if moving platform only moves along Y-axis, then moving platform is Ly=L3=L4 at the displacement of Y-axis, if moving platform only moves along Z axis, then moving platform is Lz=L5=L6 at the displacement of Z axis.
The angle that moving platform turns over has positive and negative: being just when looking turn counterclockwise from coordinate axis forward, is negative clockwise.Suppose that moving platform only rotates around Z axis, and the angle of rotating is γ.According to kinematics analysis and the geometric relationship of connecting rod, one X has uncertainty to motion guide rail, the 2nd X to the displacement of motion guide rail, the first Y-direction motion guide rail, the second Y-direction motion guide rail, and the displacement of the first Z-direction motion guide rail, the second Z-direction motion guide rail can have following expression formula to calculate:
wherein m represents the centre distance of isoplanar bulb hinge, n represents the centre distance of the two bulb hinges that connecting rod connects, the i.e. length of connecting rod, γ represents that the angle that moving platform turns over around Z axis, L represent the absolute value of the first Z-direction motion guide rail, the second Z-direction motion guide rail displacement when moving platform only rotates around Z axis.By following formula L=|L5|=|L6|, detected the value of L5 and L6 by photoelectric displacement sensor, the value of L is substituted into L computing formula, the angle γ of rotation can be calculated.Rotation around other axles is identical therewith, if moving platform only rotates around X-axis, the angle of rotation is that α, L represent that an X is to motion guide rail, the 2nd X to the absolute value of motion guide rail displacement when moving platform only rotates around X-axis, i.e. L=|L1=|L2|.Substitute into computing formula
in, the angle [alpha] of rotation can be obtained.If moving platform only rotates around Y-axis, the angle of rotation is the absolute value that β, L represent the first Y-direction motion guide rail, the second Y-direction motion guide rail displacement when moving platform only rotates around Y-axis, i.e. L=|L3|=|L4|.Substitute into computing formula
in, the angle beta of rotation can be obtained.
By above-mentioned calculating, the displacement that can be recorded by six photoelectric displacement sensors obtains three axial displacements of moving platform and the angle around three axial rotation, uniquely can determine that moving platform is in the position in space and attitude.With the initial point that the initial position of moving platform is three-dimensional system of coordinate, then post exercise three-dimensional coordinate position is (Lx, Ly, Lz), and the angle of rotating around x, Y, Z coordinate axis is respectively α, β, γ.When moving platform moves, can by measuring the information obtaining its six degree of freedom in real time.Pass in computing machine by telecommunication circuit, implementation space six degree of freedom input that can be real-time dexterously.When moving platform realizes an operational motion, need will to complete six actions such as the movement along X, Y, Z axis and the rotation along X, Y, Z axis successively, often complete an action, displacement transducer can collect corresponding displacement information, pass in computing machine by telecommunication circuit, machine data process as calculated, is converted into displacement or the rotational angle of needs.Through six signal inputs, the information of six degree of freedom can be collected.If the operational motion of moving platform does not need some action in six actions, then do not needed the realization of these actions, sensor does not have signal yet and produces, and do not have input signal, computing machine will be defaulted as initial value.
Computing machine can realize virtual environment by the combination of the combination of OpenGL and Visual C++ software and OpenGL and SolidWorks software, and the information processing in real time and import into of being programmed by VC++, and then control virtual objects does space six-freedom motion.
Claims (1)
1. a spatial six-dimensional computer input device, is characterized in that: comprise framework holder mechanism, platform rail mechanism and handle;
Platform rail mechanism comprises a moving platform and six roots of sensation motion guide rail;
Moving platform is cube structure; The rectangular coordinate system in space initial point of described spatial six-dimensional computer input device is in the geometric center of moving platform, and Z axis is perpendicular to moving platform end face, and X-axis and Y-axis are respectively perpendicular to the side that moving platform two is adjacent; Handle installing hole is had, handle installing hole central axis and Z axis conllinear at the end face center of moving platform; The bottom surface of moving platform has two Z-direction guide rails assembling holes, the plane of the central axis formation in two Z-direction guide rails assembling holes and rectangular coordinate system in space XZ planes overlapping, and the central axis in two Z-direction guide rails assembling holes is relative to YZ plane symmetry; Side vertical with X-axis on moving platform has two X direction guiding rail mounting holes, the plane of the central axis formation of two X direction guiding rail mounting holes and XY planes overlapping, and the central axis of two X direction guiding rail mounting holes is relative to XZ plane symmetry; Side vertical with Y-axis on moving platform has two Y-direction guide rails assembling holes, the plane of the central axis formation in two Y-direction guide rails assembling holes and YZ planes overlapping, and the central axis in two Y-direction guide rails assembling holes is relative to XY plane symmetry;
Six roots of sensation motion guide rail is divided into two X to motion guide rail, two Y-direction motion guide rails, two Z-direction motion guide rails; Every root motion guide rail comprises front rod, back link, front bulb hinge, rear bulb hinge and back-up ring; Shield ring sleeve on front rod, and is fixed with front rod; Bulb hinge comprises bulb free bearing and bulb toggle, and bulb free bearing one end is hollow stem, and the other end is hollow ball shell, and bulb toggle one end is cylindrical bar, and the other end is bulb, and the bulb of bulb toggle coordinates with the hollow ball shell of bulb free bearing; Back link two ends are inserted in the hollow stem of front bulb free bearing and rear bulb free bearing respectively, and are interference fit; There is counterbore front rod rear end, and the cylindrical bar of front bulb toggle inserts in the counterbore of front rod rear end, and is interference fit; The cylindrical bar of rear bulb toggle inserts in the guide rails assembling hole on moving platform, and is interference fit;
Framework holder mechanism comprises X-direction support, Y-direction support, Z-direction support and moving platform support spring, and each direction support is all fixed with guide rails assembling plate, and moving platform support spring is fixedly mounted on Z-direction support and Y-direction support; Each guide rails assembling plate comprises base plate, at least two bearings and four limit switches; Base plate has groove, and bearing to be coordinated with groove by bolt and is arranged on base plate, and bearing can slide along groove; Bearing has guide rail through hole, the axis of guide rail through hole is parallel to each other, and is all parallel to the glide direction of bearing; Bearing is also fixed with displacement transducer, for measuring the slide displacement of bearing along groove; On the bottom edge of both sides, bearing sliding direction, symmetry is respectively fixed with two limit switches;
The base plate of X-direction support upper rail installing plate is parallel to XY face, and bearing upper rail through-bore axis is parallel to X-axis; The base plate of Y-direction support upper rail installing plate is parallel to YZ face, and bearing upper rail through-bore axis is parallel to Y-axis; The base plate of Z-direction support upper rail installing plate is parallel to XZ face, and bearing upper rail through-bore axis is parallel to Z axis;
The supporting and fixing of moving platform bottom surface is on moving platform support spring; The front rod of all directions motion guide rail all through the guide rail through hole of the bearing of respective direction support upper rail installing plate, and is interference fit; When moving platform is in neutral position, the back-up ring of all directions motion guide rail is between respective direction support upper rail installing plate homonymy two limit switches; Handle threads is fixedly connected in the handle installing hole at moving platform end face center;
The X that described spatial six-dimensional computer input device detects according to photoelectric displacement sensor to the displacement of motion guide rail, the first Y-direction motion guide rail, the second Y-direction motion guide rail, the first Z-direction motion guide rail, the second Z-direction motion guide rail, and obtains three axial displacements of moving platform and angle around three axial rotation by following process to motion guide rail, the 2nd X:
When moving platform realizes an operational motion, complete the movement along X, Y, Z axis and six actions of the rotation along X, Y, Z axis successively;
When moving platform only moves along X-axis, moving platform equals an X that photoelectric displacement sensor detects to motion guide rail and the 2nd X to the displacement of motion guide rail at the displacement of X-axis;
When moving platform only moves along Y-axis, moving platform equals the displacement of the first Y-direction motion guide rail that photoelectric displacement sensor detects and the second Y-direction motion guide rail at the displacement of Y-axis;
When moving platform only moves along Z axis, moving platform equals the displacement of the first Z-direction motion guide rail that photoelectric displacement sensor detects and the second Z-direction motion guide rail at the displacement of Z axis;
Moving platform is only when X-axis is rotated, and the X detected by photoelectric displacement sensor substitutes into formula to motion guide rail and the 2nd X to the absolute value of the displacement of motion guide rail
obtain around X-axis rotational angle α;
Moving platform is only when Y-axis is rotated, and the absolute value of the first Y-direction motion guide rail detected by photoelectric displacement sensor and the displacement of the second Y-direction motion guide rail substitutes into formula
obtain around Y-axis rotational angle β;
Moving platform is only when Z axis rotates, and the absolute value of the first Z-direction motion guide rail detected by photoelectric displacement sensor and the displacement of the second Z-direction motion guide rail substitutes into formula
obtain around Z axis rotational angle γ;
Wherein: m represents the centre distance of isoplanar bulb hinge, n represents the centre distance of the two bulb hinges that connecting rod connects, Lx represents that an X is to motion guide rail and the 2nd X to the absolute value of the displacement of motion guide rail, Ly represents the absolute value of the displacement of the first Y-direction motion guide rail and the second Y-direction motion guide rail, and Lz represents the absolute value of the displacement of the first Z-direction motion guide rail and the second Z-direction motion guide rail.
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| CN109765842A (en) * | 2019-01-17 | 2019-05-17 | 湖北工程学院 | A kind of micro-positioning table |
| CN110043560A (en) * | 2019-03-25 | 2019-07-23 | 南京捷诺环境技术有限公司 | 3 d-line rolling guide |
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| US20060255795A1 (en) * | 2005-05-13 | 2006-11-16 | Higgins Robert F | Six-degree-of-freedom, integrated-coil AC magnetic tracker |
| CN202615340U (en) * | 2012-06-13 | 2012-12-19 | 西北工业大学 | Spatial six-dimensional computer inputting device |
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| US5271290A (en) * | 1991-10-29 | 1993-12-21 | United Kingdom Atomic Energy Authority | Actuator assembly |
| US5335557A (en) * | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
| CN101003133A (en) * | 2007-01-22 | 2007-07-25 | 北京航空航天大学 | Force sense man-machine interaction device with six degrees of freedom |
| CN101034022A (en) * | 2007-04-17 | 2007-09-12 | 燕山大学 | Six dimensional RSS force sensor |
| CN101387907A (en) * | 2008-10-30 | 2009-03-18 | 哈尔滨工业大学 | Six freedom degree two-in-parallel haptic interface device based on flexible drive |
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