WO1997046923A1

WO1997046923A1 - Sensory tactile-feedback system

Info

Publication number: WO1997046923A1
Application number: PCT/US1997/009740
Authority: WO
Inventors: Ralph Lander
Original assignee: Ralph Lander
Priority date: 1996-06-04
Filing date: 1997-06-04
Publication date: 1997-12-11
Also published as: AU3301597A

Abstract

A variable programmable degree of tactile feedback (19) for the additional stimulation of a user's skin sensors during the operation of a motion follow mechanism. Computer (17) controlled regulators (16a, b, c, g) for the control of said resisting and guiding apparatus are use. Provided is a variable programmable degree of resisting or guiding force feedback for the operation of a motion follow mechanism (not shown) connected to a torque alteration device which includes of: switch mechanism (10), locking mechanism (10b), differentials (11c), clutches (11), and breaks (11b).

Description

Sensory Tactile-feedback System

"mechanism designed to control joint motion and mechanical tactile stimulation of skin surface"

Field of the Invention This invention is in the field of Robotics devices for monitoring, controlling and stimulating the movement and skin surface of human limbs and body joints, and mechanical members

Background of the Invention

Today, the field of robotics is used in many different applications For example, robotic devices are used in the medical field, for use in physical therapy apparatus, such as exercise machines, and so forth Robotics also are used extensively in the entertainment industry, for applications ranging from unusual visual effects for movies, to apparatus associated with virtual reality systems. In virtual reality systems it is important to know how a user has moved their limbs in response to certain stimuli, in order to feedback appropriate images, stimulus, and perhaps forced movement of limbs, m response to signals associated with the monitored activity of the users body.

The present inventor recognized the need for improved robotic device feedbacκ apparatus in association with the monitoring of the movement of various limbs of a human body, and with tne analogous monitoring of mechanical members The present inventor also recognized the need for improved systems for imparting movement to human limbs and other mechanical members, and for monitoring such movement. Accordingly, there is a continuous need for improved apparatus and devices for monitoring the movement cf human and mechanical members. There is also continuous need for improved apparatus and devices for the control, tactile indication and orientation of such movement. Furtheπn, the present inventor recognized the need for improved systems for tactile feedback as to stimulate a users skin surface in respect to force feedback manipulation .

Robotic devices are known for moving an artificial hand in accordance w th the movement of a person's hand and for monitoring the rotations of the various joints of the artificial hand. It is also known to attach an artificial body part to a person so as to control and/or monitor the rotation of the joints thereof.

Among the disadvantages of prior apparatus are that it is cumbersome so as to inhibit and even nu ben the precise tactile sensors and receptors of the human kinetic and tactile system located under the Human skin, when attached thereto, thus the communication between a orce- feedback apparatus and the human body is rather imprecise.

Further disadvantages include the high degree of loss of control through inertia a common symptom of servo motors which creates a rubber like feel for the user thus again precise interaction with such an apparatus is rather difficult if not impossible. Last but not least existing force feedback devices have major deficiencies when to be controlling multiple axes.

The cost and weight not to mention the physical size of servo motors make them unsuited for multiple axis controllers that have to be light small and cost effective. Still further Objects and advantages will become apparent from a considera ion of the ensuing description and accompanying drawings

Summary of the Invention In accordance with this invention for monitoring, controlling and stimulating movement and tactile sensors of human limbs, and mechanical members, for each degree of freedom a locking mechanism is provided that is mounted at the end of a shaft that controls the rotation of an axis of a motion follow mechanism and allows for resisting of user motion. Alternatively, for each degree of freedom a multi position switch mechanism and locking mechanism combination could be implemented that is mounted to a shaft controlling the shaft, thus resisting the user motion. Alternatively to these previous two variations the system of the present invention utilizes a system that might resist but also might guide a user movement, a source torque device and operatively linked and for the control of each degree of freedom, a source torque rotation direction change device is provided, or the source torque device and the source torque rotation direction change device are combined with a source torque alteration device that is operatively linked to the source torque rotation direction change device Thus these two variations of the system of the present invention utilize at first a source torque device providing a rotary shaft with a constant means of rotation, a rotation direction change device is operatively linked to said torque source, providing with means for changing the direction of the shaft rotation and a torque alteration device is operatively linked to said rotation direction change device providing with adjustment of torque, force and speed of the rotary shaft. Each actual movement of at least one resistance device, source torque device and at least one motion follow αevice is monitored by absolute or relative encoders that rovide electrical signals indicative of that movement Depending onto the t_/pe of apparatus that is used at least one of these controlling devices is set by a processor controlled regulator

A torque source device n form of a rotary motor provides with a predetermined value of torque A torque rotation direction change device and/or a torque alteration device in form of a multi position switch mechanism is provided that allows for change of torque source device rotation direction adjustment of torque source device resistance and adjustment of torque source device guidance at each degree of freedom A torque alteration device in form of a clutch mechanism is provided that allows for adjustment of force of a torque source device A torque alteration device in form of a differential mechanism is provided that allows for adjustment in speed of a torque source device The current or voltage applied to the motor for e1ectro-magnet1c motors, electro¬ magnetic breaks, switches, clutches and constant differentials controls the forces produced by this invention

A linkage of a source torque device and said torque rotation direction change device multi shaft ssembly is provided as, for example, where successive joints are respectively used to monitor or control the rotation of the wrist and the joints of the fingers, allowing the controlling of multiple degrees of freedom A flexible linkage is provided, to provide with little use of space, for assembling multiple rotary shafts thereon Male plugs are provided to mount said motion control devices to a motion follow device The plugs are such that the rotation of a rotation transmission shaft coupled to them can be communicated to a similar shaft in the other Thus the rotation transmission shaft for ooeratmg a joint can be coupled to a plug and the rotation of cables or shafts from another joint can be passed through the joint between its male and female connectors Provision is also made for conductors carrying rotation monitoring signals of a joint to pass through its male or female plug or to exit from the joint A tactile feedback αevice mounted to the motion follow mechanism the user is attached thereto provides with variable progiammable degree of additional stimulation of a user skin sensors during the operation of a motion follow mechanism

Brief Description of the Drawings fig 1 shows a perspective view of a torque source alteration mechanism and rotation direction change mechanism operatively connected to a torque source such as a motor fig 2 shows a perspective view of a torque source alteration mechanism comprising of a source motor and a three position switch mechanism fig 3 shows a perspective view of a guiding and resistance device implementing a four position switch mechanism and a shaft rotation locking mechanism fig 3b shows a block diagram of a resistance device implementing a shaft rotation blocking mechanism

Fig 4 shows a block diagram of a force - feedback device comprising a motor a two, or a three position switch and a shaft rotation locking mechanism

Fig 5 shows a block diagram of a force- feedback device comprising a motor, switch and a breaking mechanism

Fig 6 shows a block diagram of a force- feedback device comprising a motor switch and a clutch mechanism Fig ^ shows a block diagram of a orce- eedback device comprising a motor, switch and a differential.

Fig. θ shows a block diagram of a force-feedba k device using a force medium switch, clutch and a differential.

Fig. 9 shows a block diagram of a force - feedback device including a tacti1e - feedback output means.

Fig. 10 shows a block diagram of the croprocessor controlled elements of a force feedback device.

Reference Numerals

1 torque source or motor

2 1st drive belt shaft b. 2nd drive belt shaft

3. 1st drive belt b. 2nd drive belt

4. 1st drive belt wheel b. 2nd drive belt wheel

5. belt positioning means

6. 1st switch shaft unit

7. 360 degree flexible motion translation joint

8. 2nd switch shaft unit

9. torque source alteration shaft

10. shaft rotation switch b shaft rotation locking mechanism

11 clutch b break c constant differential

12. encoder shaft b 360 degree flexible motion translation joint c plug assembly shaft d 360 degree flexible motion translation joint e plug assembly shaft f piug casing g plug bol force sensor force magnitude encoder motor position encoder b torque alteration torque and/or rotation direction change encoder digital regulator of motor, break b digital regulator of switch c digital regulator of clutch, differential g digital regulator of clutch h digital regulator of tactile feedback generator control processor host computer tactile output device position encoder b tracking device position encoder c force magnitude encoder decode direction ROM RAM bus address decoder bus bus micro rocessor buffer bus 3 1 l i n e

3 2 regu l a to r

3 3 p owe r s upp l y 3 4 l i n e

35 bus

Preferred Embodiments --Description and Operation Fig's 1+2 Here is shown a perspective view of a torque source alteration mechanism for providing force- feedback for a motion follow mechanism constructed in accordance with the teachings of the present invention

The system includes a first a motor/encoder assembly 1/15 comprising a motor 1 supplying a torque source rotation direction changing device 10 with a rudimentary and stable torque value and an encoder 15 which monitors the angular position of the motor shaft 1 The system also includes two rotary shafts 2/2b each operatively, and parallel to each other, connected to the motor 1 such as to rotate in opposite direction Shaft 2b is connected to shaft 1 using a drive belt 3c such as to rotate in the same direction as shaft 1 Shaft 2 is directly in contact with shaft 1 thus rotating in opposite direction of shaft 1 The system furtherm includes a switch shaft 6 placed m between the two rotary shafts such as to allow the switch shaft 6 to be m contact with either of the rotary shafts 2 or 2b The system includes a rotation direction change device/encoder assembly 10'15b comprising a switch 10 operatively connected to the switch snaft 6 allowing the switch to push the switch shaft against either rotary shaft 2 or 2b, thus enabling the switch to change the direction of the shaft 6 rotation and an encoder 15b which monitors the angular position of the switch shaft 6 In addition a oint/shaft/torque alteration mechanism 7/8/11, 12 and 13 assembly can be included comprising a 360 degree flexible joint 7 translating shaft 6 rotation onto torque alteration mechanism shaft 8 allowing full freedom of movement of switch shaft 6 at one end and a torque alteration mechanism which alters the force and speed of the shaft 9 The shaft encoder mentioned earlier is being replaced by a shaft/encoder 9/l5b assembly, comprising an encoder 15b which monitors the angular position of the torque alteration mechanism shaft 9 and a shaft 9 translating torque alteration mechanism motion onto linking shaft and joint 12b-e see Fig. lb There is included a motion translation plug assembly 12f and 12g, comprising a casing I2f that houses shaft assembly 12. and mounts each shaft 12e through some sort of bearing for rotation This allows to assemble multiple shafts 12e within such a casing 12f allowing each shaft I2e to rotate freely about itself and a bolt of at least three sides that attaches at the end of shaft I2e protruding from the casing 12f forming a plug that can easily be connected to a female plug of a multiple joint motion foilow device

Another version of the switch mechanism 10 can be implemented wherein the switch has three positions to choose from and ir.steaα of being able to select from one rotation direction to the other there is a neutral position in between the shaft rotation directional position 2 and 2b wherein the switch shaft 6 does not touch either of the shafts 2 or 2b such as to apply no force to the motion follow mechanism.

Fig. 3 Here is shown a perspective view of a four value switch mechanism for providing force- feedback for a motion follow mechanism constructed m accordance with the teachings of the present invention The system includes at first a motor/encoder assembly 1/15 comprising a motor 1 supplying the system with a stable and rudimentary force and an encoder 15 which monitors tne angular position of the motor shaft 1 A four value switch mechanism/encoder assembly 10, lOb/lSb is included This switch mechanism 10, 10b includes four positions each of which controls a different value comprising of Position 1 controls 1st shaft rotation direction 2 Position 2 , controls 2nd shaft rotation direction 2b Position 3, controls no resistance applied onto the shaft (as explained n fig 1) Position 4 controls absolute resistance applied onto the shaft 10b

As shown in detail in fig' s 4-10, controlling the time value of contact at each particular position the switch mechanism constantly adjusts the force a user limb operatively is exposed to An encoder 15b is applied which monitors the angular position of the switch shaft 6 The motor shaft 1 is connected to the force mechanism controlled by a switch mechanism 10 and/or 10b The switch shaft 6 ultimately will be connected to a motion follow mechanism (not shown) and provides a force of resistance (applying the four basic motor alteration values) for the user to develop force feedback indicative to the level of selected forces developed while operating the motion follow mechanism, not shown The motor 1 is connected to a digital regulator 16 This regulator has the ability of either setting a precise value of voltage or current to the force medium The switch 10 and 10b is connected to a digital regulator 16 This regulator has the ability of either setting a precise value of voltage or current to each of the four switch values In this embodiment the motor 1 is programmed to maintain particular speed and force Using this constant speed and force as raw material the four values, pos 1 pos 2, pos 3 and pos 4 are chosen at calculated time value changing the direction of rotation and the resistance at the switch shaft thus altering the force of the shaft at the motion follow mechanism not shown The digital regulator 16 balances the speed and force of the motor 1 every time the switch mechanism 10 and 10b changes its position Alternatively, the switch mechanism 10 and 10b and its digital regulator 16b changes its position and the motor 1 and its digital regulator 16 is being balanced if the user limb force changes its value Thus maintaining complete control over the speed, direction and force developed by the user through the motion follow mechanism The processor 17 is connected to and digitally controls the programmable regulators 16 and 16b, precisely regulating the polarity, voltage or current and thereby the a) the torque supplied to the motor 1, b) the contact time value at each particular position of the switch 11, c) the switch position, thus the direction of rotation and resistance at the shaft by the switch The processor 17 is also connected by a common bus to the digitally controlled regulators 16 and 16b The microprocessor 17 adjusts current or voltage output of the respective regulators 16a and 16b such that the switch 10 and 10b shaft is driven to a particular position according to information of shaft position encoders 15 and 15b, such that system operation supplies the user with the needed force feedback

Usually the force of the force medium 1 will be varied as a function of the user force calculations (force by the user applied to the shaft 1 [as explained in fig 11 bold] ) , switch position and a selected blend of these forces Such variation are being controlled by the processor 17 in order to achieve system force feedback to the shaft 12 and thereby to the user On a precisely timed, periodic basis the processor 1 ⁿ reads the shaft position information from the encoders 15 and 15b. Each encoders new value is subtracted from the previous value to determine if there is a difference of the two. When ever any significant difference occurs between the two values the micro processor outputs a signal to the motor 1 of a value such that eighter if the motor value is held stationary the switch 10 and 10b position or tune value will be changed to minimize the position or force error or alternatively, if the switch position and time value is held stationary the motor torque will be changed to minimize the position or force error.

Alterna ively, here is shown a perspective view and a block diagram of a switch mechanism implementing a locking mechanism for providing force- feedback for a motion follow mechanism constructed in accordance with the teachings of the present invention.

A switch mechanism/encoder assembly 10/15b is included this switch mechanism 10 includes two to three independent positions to implement the two resistance values (force and no force) For example, each of which controls a different value comprising of position 1 controls no resistance applied onto the shaft, position 2 controls absolute resistance 37 applied onto the shaft To increase the efficiency of the switching process you could place two locking mechanism 37 and 37b opposite to each other such that the no resistance position would be in between the two locking mechanisms 37 and 37b representing a third position, thus allowing the s itch shaft 6 to switch from one side to the other Together with controlling the time value of contact at each particular position the switch mechanism constantly adjusts the force a user limb operatively is exposed to. An encoder 15b is applied which monitors the angular position of the switch shaft 6. A locking mechanism 37, 37b is included that is placed at particular switch position sucn as to supply the switch shaft 6 with force The locking mechanism is anchored in place sucn as to lock the switch shaft as the shaft is pushed against the locking mechanism 37 The switch shaft 6 is connected to the motion follow mechanism (not shown) and provides a force of resistance (applying the o basic resistance values) for the user to develop force- feedbacr. indicative to the level of selected forces developed while operating the motion follow mechanism The switch 10 is connected to a digital regulator 16b This regulator has the ability of either setting a precise value of voltage or current to the switch. In this embodiment the two values at each particular position are chosen at calculated time value, alter calculated force value, changing the resistance at the switch shaft, thus altering the force of the shaft at the motion follow mechanism The switch mechanism 10 and ts digital regulator 16b changes its position if the user limb force changes its value Thus maintaining complete control over the speed, direction and force developed by the user through the motion follow mechanism. The shaft position encoder 15b output is connected to decoding logic This decoding logic could comprise of discrete logic gates using logic design techniques well known to those skilled in the art Or this decocting logic might be incorporated in a integrated circuit The decoding logic output then goes to the processor 17 For storage of programming and data, as used in the operation of the processor 17, the processor 17 may be connected to a host computer 18 The processor 17 is connected to and digitally controls the programmable regulator 16b as to precisely regulate the polarity, current or voltage and thereDy the. a) the contact time value at each particular position of tne switch 11, b) the switch position, thus the resistance at the snaft by the switch. The system of the present invention comprises at least one switch and blocKing mechanism including a position encoder 15b. The shaft 15b encoder bloc s are connected to the processor 17 Each encoder block is periodically selected and interrogated for position information Separate counter and direction encoder circuitry are included at each encoder block, thus monitoring its respective direction of rotation, and angular position of the switch and motor shaft. A common bus connects the processor 17 to the digitally controlled regulator 16b And the respective regulators 16b current or voltage output is being adjusted by the microprocessor 17 such that the switch shaft 6 is driven to the particular position according to the information of shaft position encoder 15b such that system operation supplies the user with the needed force feedback The feedback force to determine switch position is adjusted by regulator 16b The blocking mechanism is connected operatively to the switch shaft 6. The switch 10 which may or may not be located near the blocking mechanism is operatively connected to the blocking mechanism on one end and to the motion follow mechanism on the other end These physical connections may vary depending upon the particular application, such that the user can hand rotate the shaft 12 and feel the feedback as the processor of the motion follow mechanism is being in effect.

A digital word may be fed to the regulator 16 by the processor 17 in some cases, thus producing an exact ratio between the force of the user and the force- feedoack of the switch 10. Usually the position of the switch will be varied as a function of the user force calculations (force by the user applied to the shaft 1 [as explained in fig. 10 bold] ) host computer input, etc. , and a selected blend of these forces These variations are being controlled by the processor 17 achieving, contmuos system force feedback at the shaft 12 On a precisely timed, periodic basis, the processor 17 reads the shaft position information from the encoders 14 and 15 Each encoders new value is subtracted from the previous value to determine if there is a difference of the two If there is ever any significant difference between the previous and new values the micro processor outputs a signal to the switch of a value such that if the user force is held stationary the switch will be moved to minimize the position or force error The time and magnitude value of the polarity, current or voltage fed to the switch 10 is proportional to the timed error between the previous and new encoder 15b count Compared to the clock cycle of the processor the time interval of the above mentioned process is quite long And before the time period elapses, the processor to determines and sets the position of the switch shaft Usually, in the wait time before this timed event occurs, the processor 17 calculates the system forces developed while operating the system and sets the position of the switch shaft such that the user feels the selected forces at the shaft 12 The calculation and setting of switch shaft position takes second priority over user force and host computer information exchange and is interrupted when the time interval flag is set Thus the user force calculations and host computer information is set every time increment, but more then one time increment is needed to set switch position Compared to a human reaction time the update time of the microprocessor 17, is so frequent that the user feels a virtually continues tactile feedback force applied to the motion follow mechanism by the switch 10 which is directly indicative of the selected forces developed while operating the system The physical connection between the switch snaft 6 and the motion follow mechanism manipulated by the user may be the same or may oe different or, by implementing various tra.n gears, they may be generically the same but have αifferent size ratios The processor 17 is also connected to the host computer IB (any suitable computer system may be used) which is connected to interface with the processor 17

Position and Force information imparted to or induced by the user and the system may be output to the host computer 18 This information could be used for force profile storage purposes or for a CRT visual, audio and other tactile feedback indicative of the forces applied to, induced by the user or booth

The system of the present invention is particularly adapted for utilizing a human operator to perform most complicated maneuvers, be comfortable doing it, and enabling the system to react to user motion within a given or changing environment This information might also be used to dynamically weight the system and user interaction while being manipulated.

Each of the memory systems shown in Fig 3 requires at least one switch and angular position encoder, at least one blocking mechanism, as well as a digitally programmable regulator Such a switch blocking mechanism and encoder assembly for multiple shaft assembly are shown in Fig 3 The subsystem may comprise a processor, host computer and other common equipment for each position monitoring medium. Two processors may operate in parallel, such as n applications where very high throughput is needed, each setting a different position medium angle

Fig. 4 Here is shown block diagram of a for e - feedback system using a motor and a multiple position switch and/or implementing shaft rotation locking mechanism for providing force- feedback to a motion follow mechanism constructed in accordance with the teachings of the present invention.

The system includes at first a otor/encode assembly 1/15 comprising a motor 1 and a encoder 15 supplying the system with a stable and rudimentary force. A multiple position and locking mechanism switch/encoder assembly 10/15b is included comprising of a switch mechanism 10 controlling th directional change in rotation, the resistance and the time value of contact at each particular position, thus constantly adjusting the force a user limb operatively is exposed to and an encoder 15b which monitors the angular position of the switch shaft 6. The motor shaft 1 is connected to the force mechanism controlled by a switch 10 (see fig. 1 for details) . The switch shaft 6 is connected to the motion follow mechanism (not shown) and provides a force of resistance for the user to develop force feedback indicative to the level of selected forces developed while operating the motion follow mechanism. The motor 1 is connected to a digital regulator 16. This regulator has the ability of either setting a precise value of voltage or current to tne force medium. The switch 10 is connected to a digital regulator 16b. This regulator has the ability of either setting a precise value of voltage or current to the switch. In this embodiment the motor 1 is programmed to maintain a particular speed and force. Using this constant speed and force as raw material the switch mechanism 10 alters calculated value, changing the direction of rotation at the switch shaft and calculates the time value of contact at particular switch position, thus altering the force of the shaft at the motion follow mechanism. The digital regulator 16 balances the speed and force of the motor 1 every time the switch mechanism 10 changes its position. Further on the switch mechanism 10 and its digital regulator 16b changes its position and the motor 1 and its digital regulator 16 is being balanced if the user limb force changes its value Thus maintaining complete control over the speed direction and force developed by the user at the motion follow mechanism The shaft position encoder 15 and 15b output is connected to the same or a different decoding logic This decoding logic could comprise of discrete logic gates using logic design techniques well known to those skilled in the art. Or this decoding logic might be incorporated in a integrated circuit The decoding logic output then goes to the processor 17 The processor 17 may also be connected to a host computer 18 for storage of data and programming used in the operation of the processor The processor 17 is connected to and digitally controls the programmable regulators 16, 16b as to precisely regulate the polarity, current or voltage and thereDy the: a) torque supplied to the motor 1, b) the contact time value at each particular position of the switch 10, c) the switch position, thus the direction of rotation and resistance at the shaft by the switch.

The system of the present invention utilizes at least one motor 1 including a position encoder 15 For each additional shaft the system also includes at least one switch 10 with a shaft position encoder 15b The shaft 15/15b encoder blocks are connected to the processor 17 Each encoder block is periodically selected and interrogated for position information Separate counter and direction encoder circuitry are included at each encoder block, thus monitoring respective direction of rotation, and angular position of the switch and motor shaft A common bus connects the processor 17 to the digitally controlled regulators 16a and 16b And the respective regulators 16 and 16b current or voltage output is oeing adjusted by the microprocessor 17 such that the switch 10 shaft is driven to the particular position according to the information of shaft position encoder 15/15b such that system operation supplies the user with the needed force feedback. The feedback force developed by motor 1 is maintained precisely by the regulator 16, the feedback force to determine switch 10 position is adjusted by regulator 16b.

The motor 1 is connected by mechanical means to the switch mechanism 10 (Fig 1) . The switch 10 which may or may not be located near the motor 1 is operatively connected to the motor on one end and to the motion follow mechanism on the other end. These physical connections may vary depending upon the particular application, such that the user can hand rotate the shaft 12 and feel the feedback as the processor control of the motion follow mechanism is being in effect. A digital word may be fed to the regulator 16 by the processor 17 in some cases, thus producing an exact ratio between the force/speed of the motor 1 and the force- alteration of the switch 10. Usually the force of the force medium 1 will be varied as a function of the user force calculations (force by the user applied to the shaft 1 [as explained in fig. 11 bold] ; , switch interaction and a selected blend of these forces. These variations are being controlled by the processor 17 achieving, for human sensors, contmuos system force feedback at the shaft 12, and thereby to the user.

On a precisely timed, periodic basis, the processor 17 reads the shaft position information from the encoders 15 and 15b. Each encoders new value is subtracted from the previous value to determine if there is a difference of the two If there is any significant difference between the previous and new values the micro processor outputs a signal to the motor l of a polarity such that if the switch 10 position is held stationary the motor will be moved to minimize the position or force error or alternatively, if the motor value is held stationary the switch position will be changed to minimize the position or force error The time and magnitude value of the polarity, current or voltage fed to the motor 1 and switch 10 is proportional to the timed error between the encoder 15/15b count Compared to tne clock cycle of the processor the time interval of the above mentioned process is quite long. And before the time period elapses, the processor determines and sets the position of the motor and switch shaft Usually, m the wait time before this timed event occurs, the processor 17 calculates the system forces developed while operating the system and sets the position of the motor and switch shaft such that the user feels the selected forces at the shaft 12

The calculation and setting of motor and switch shaft position takes second priority over user force and host computer information exchange and is interrupted when the time interval flag is set. Thus the user force calculations and host computer information is set every time increment, but more then one time increment is needed to set motor 1 torque and switch position Compared to a human reaction time the update time of the microprocessor 17, is so frequent that the user feels a virtually continues tactile feedback force applied to the motion follow mechanism by the motor 1 and switch 10 which is directly indicative of the selected forces developed while operating the system

The physical connection between the motor shaft 1, the switch shaft 6 and the motion follow mechanism manipulated by the user, may be the same or may be different or, by implementing various gear trains, they may be geneπcally the same but have different size ratios. The processor 17 is also connected to the host computer 18 (any suitable computer system may be used) which is connected to interface with the processor 17. The force information imparted to or induced by the user and the system usually is also output to the host computer 18. This information ma be used for force profile storage purposes or for a CRT visual, audio and other tactile feedback indicative of the forces applied to , induced by the user or booth.

The system of the present invention is particularly adapted for utilizing a human operator to perform most complicated maneuvers, be comfortable doing it and enabling the system to react to user motion within a given or changing environment. This information might also be used to dynamically weight the system and user interaction while being manipulated.

Each of the memory systems shown in Fig. 4 requires at least one motor and angular position encoder, at least one multiple position switch and angular position encoder, as well as a digitally programmable regulator. Such a motor, switch and encoder assembly for multiple shaft assembly are shown in Fig. 1. The subsystem may comprise a processor, host computer and other common equipment for each position monitoring medium. Two processors may operate in parallel, such as in applications where very high throughput is needed, one setting user force information, while the other sets motor torque and switch position.

Fig. 5 Here is shown a block diagram of a system adding a breaking mechanism to a switch mechanism constructed in accordance with the teachings of the present invention.

The system includes at first a motor/encoder assembly 1/15 comprising a motor 1 and a encoder 15 supplying the system with a stable and rudimentary force. A multiple position switch assembly 10 is included, comprising of a switch mechanism 10 controlling the directional change in rotation, the guiding force and the time value of contact at each particular position A breaking device/encoder assembly llb/15b is included as well comprising a generator driving the creaking mechanism lib such as to supply with a smooth means of variable resistance thus constantly adjusting the force a user limb operatively is exposed to and an encoder 15b which monitors the angular position of the breaK shaft 12 The motor shaft 1 is connected to the force mechanism controlled by a switch 10 (see fig. 1 for details) The switch shaft 6 is connected to the break mechanism which is operatively connected to the motion follow mechanism (not shown) and provides a force of resistance for the user to develop force feedback indicative to the level of selected forces developed while operating the motion follow mechanism The motor 1 is connected to a digital regulator 16. This regulator has the ability of either setting a precise value of voltage or current to the motor The switch mechanism 10 is connected to a digital regulator 16b This regulator has the ability of either setting a precise value of voltage or current to the switch. The breaking device lib is connected to a digital regulator 16c This regulator has the ability of either setting a precise value of voltage or current to the break

In this embodiment the motor 1 is programmed to maintain a particular speed and force Using this constant speed and force as raw material the switch mechanism 10 alters calculated value, changing the direction of rotation at the switch shaft and calculates the time value of contact at particular switch position, thus altering the guiding force of the switch shaft When ever the switch mechanism 10 rests in particular position, the break mechanism lib may engage applying calculated force value thus controlling the resisting force of the break shaft The digital regulator 16 balances the speed and force of the motor 1 every time he switch mechanism 10 changes its position Furtner on the switcn mechanism 10 controlled by its digital regulator 16b may change its position, the break mechanism and its digital regulator 16c may change its force value and the motor 1 and its digital regulator 16 may being ba1anced/changed if the user limb force changes its value. Thus maintaining complete control over the speed, direction and force developed by the user through the motion follow mechanism. The output from the shaft position encoders 15 and 15b is connected to the same or a different decoding logic as explained in fig. 4. The decoding logic output then goes to the processor 17 For storage of programming and data, as used in the operation of the processor 17, the processor 17 may be connected to a nost computer 18. The processor 17 is connected to and digitally controls the programmable regulators 16, 16b and 16c as to precisely regulate the polarity, current or voltage of the regulators and thereby the: a) torque supplied to the motor 1, b) the contact time value at each particular position of the switch 11, c) the switch position, thus the direction of rotation, resisting and guiding force of the shaft by the switch, d) the force value of the break mechanism thus the resisting force of the break shaft .

The system of the present invention utilizes at least one motor 1 including a position encoder 15. For each additional shaft the system also includes at least: one switch 10, at least one break lib with a shaft position encoder 15b The shaft 15/15b encoder blocks are connected to the processor 17 Each encoder block is periodically selected and interrogated for position information. Separate counter and direction encoder circuitry are included at each encoder block, thus monitoring respective direction of rotation, and angular position of the break and motor shaft. A common bus connects the processor 17 to the digitally controlled regulators 16, 16b and 16c. And the respective regulators 16, 16b and 16c current or voltage output is being adjusted by the microprocessor 17 such that the c eak shaft 10 is driven to the particular position according to the information of shaft position encoder 15/15b, supplying the user with the needed force feedback. The source force developed by motor 1 is maintained precisely by the regulator 16, the value to determine switch position is adjusted by regulator 16b, and the resistance developed by the break is maintained precisely by regulator 16c.

The motor 1 is connected by mechanical means to the switch mechanism 10 (Fig. 1) The switch 10 which may or may not be located near the motor 1 is operatively connected to the motor 1 on one end and to the break mechanism lib on the other end. The break lib which may or may not be located near the motor 1 or the switch 10 is operatively connected to the switch 10 on one end and to the motion follow mechanism on the other end These physical connections may vary depending upon the particular application, such that the user can hand rotate the shaft 12 and feel the feedback as the processor of the motion follow mechanism is being in effect.

A digital word may be fed to the regulator 16 , 16b and 16c DV the processor 17 in some cases, thus producing an exact ratio between the force/speed of the motor 1 and the force - a1teratlon of the switch 10 and break lib. Usually the force of the motor 1 will be varied as a function of forces as explained m fig. 4, switch and break interaction and a selected blend of these forces. Such variation being controlled by the processor 17 m order to achieve system force feedback to the shaft 12 and thereby to the user. On a precisely timed, periodic basis, the processor 17 reads the shaft position information from the encoders and each value is compared as explained in fig 4 If there is any significant difference between the previous and new values the micro processor outputs a signal to the motor 1 of a polarity such that if the switch position 10 and break lib resistance is held stationary the motor torque will be changed to minimize the position or force error. Alternatively, if the motor value is held stationary the switch position and break resistance will be changed to minimize the position or force error The time and magnitude value of the polarity, current or voltage fed to the motor 1, switch 10 and break lib is proportional to the timed error between the previous and new encoder 15/15b count Compared to the clock cycle of the processor the time interval of the above mentioned process is quite long And before the time period elapses, the processor determines and sets the position of the motor, switch and break shaft Usually, in the wait time before this timed event occurs, the processor 17 calculates the system forces developed while operating the system and sets the position of the motor, switch and break shaft such that the user feels the selected forces at the shaft lib The calculation and setting of break shaft position takes second priority over user force and host computer information exchange and is interrupted when the time interval flag is set. Thus the user force calculations and host computer information is set every time increment, but more then one time increment is needed to set motor 1 torque, switch position and break resistance Compared to a human reaction time the update time of the microprocessor 17, is so frequent that the user feels a virtually continues tactile feedback force applied to the motion follow mechanism by the motor 1, switch 10 and break lib which is directly indicative of the selected forces developeα while operating the system

The physical connection between the motor snaft 1, the switch shaft 6 the break shaft lib and the motion follow mechanism manipulated by the user, may be the same or may DS different or, by implementing various gear trains, they may be genetically the same but have different ratios The processor 17 is also connected to the host computer 18 (any suitable computer system may be used) which is connected to interface with the processor 17 Position and force information imparted to or induced by the user and the system usually is also output to the host computer 18. This information may be used as explained in fig 4

The system of the present invention is particularly adapted for utilizing a human operator to perform as explained m fig. 4. Each of the memory systems shown in Fig 5 requires at least one motor and angular position encoder, at least one two, three or four position switch, at least one break and angular position encoder, as well as a digitally programmable regulator Such a motor, switch, break and encoder assembly for multiple shaft assembly are shown in Fig. 1 The subsystem may comprise a processor, host computer and other common equipment for each position monitoring medium. Two processors may operate in parallel, such as in applications where very high throughput is needed, one setting user force information, while the other sets motor torque, switch position and break resistance

Fig. 6 Here is shown a block diagram of a system adding a clutch mechanism to a switch mechanism constructed in accordance with tne teachings of the present invention.

The system includes at first a o o /encoder assembly 1/15 comprising a motor 1 and a encoder 15 supplying the system with a stable and rudimentary force. A multiple position switch comprising of a switch mechanism 10 is included, controlling the directional change in rotation and the time value of contact at each particular position A clutch device/encoder assembly 11/15b is included as well, comprising a generator driving the clutch mechanism 11 such as to supply with a smooth variety of guiding force value, by constantly adjusting the guiding force a user limb operatively is exposed to and an encoder 15b which monitors the angular position of the clutch shaft. The motor shaft 1 is connected to the force mechanism controlled by a switch 10 (see fig. 1 for details) The switch shaft 6 is connected to the clutch mechanism which is operatively connected to the motion follow mechanism and provides a force of resistance for the user to develop force feedback indicative to the level of selected forces developed while operating the motion follow mechanism. The motor 1 is connected to a digital regulator 16 This regulator has the ability of either setting a precise value of voltage or current to the motor. The switch mechanism 10 is connected to a digital regulator 16b. This regulator has the ability of either setting a precise value of voltage or current to the switch. The clutch device 11 is connected to a digital regulator 16c. This regulator has the ability of either setting a precise value of voltage or current to the clutch. In this embodiment the motor 1 is programmed to maintain a particular speed and force. Using this constant speed and force as raw material the switch mechanism 10 alters calculated value, changing the direction of rotation at the switch shaft and calculates the time value of contact at particular switch position, thus altering the guiding force of the switch shaft, when ever the switch mecnanism 10 is positioned at one of the shaft rotation positions 2/2b, the clutch mechanism 11 may engage, subtracting calculated force value, at that point controlling the guiding force of the clutch shaft The digital regulator 16 may balance the speed and force of the motor i every time the switch mechanism 10 changes its position or the clutch mechanism changes its force value Further on the switch mechanism 10 and its digital regulator 16b may change its position, the clutch mechanism and its digital regulator 16c may change its force value and the motor 1 and its digital regulator 16 may being balanced/ changed if the user limb force changes its value Thus maintaining complete control over the speed, direction of force and magnitude of force developed by the user through the motion follow mechanism. The output from the shaft position encoders 15 and 15b is connected to the same or a different decoding logic as explained in fig 4 The decoding logic output then goes to the processor 17 For storage of programming and data, as used in the operation of the processor 17, the processor 17 may be connected to a host computer 18. The processor 17 is connected to and digitally controls the programmable regulators 16, 16b and 16c as to precisely regulate the polarity, current or voltage and thereby the a) torque supplied to the motor 1, b) the contact time value at each particular position of the switch 11, c) the switch position, thus the direction of rotation and force of the shaft by the switch, d) the force deductive value of the clutch mechanism 11 thus the guiding force of the clutch shaft, e) a combination of the above

The system of the present invention comprises at least one motor 1 including a position encoder 15 For each additional shaft the system also includes at least, one switch 10, and at least one clutch 11 with a shaft position encoder 15b. The shaft 15/l5b encoder Dlocks are connected to the processor 17 Each encoder block is periodically selected and interrogated for position information. Separate counter and direction encoder circuitry are included at each encoder block, thus monitoring respective direction of rotation, and angular position of the clutch and motor shaft. A common bus connects the processor 17 to the digitally controlled regulators 16a, 16b and 16c And the respective regulators 16a, 16b and 16c are being adjusted by the microprocessor 17 such that the clutch shaft 11 is driven to the particular position according to the information of shaft position encoders 15/15b such that system operation supplies the user with the needed force feedback. The feedback force developed by motor 1 is maintained precisely by the regulator 16, the value that determines switch position is adjusted by regulator 16b, and the value that determines force dictation developed by the clutch is adjusted by regulator 16c.

The motor 1 is connected by mechanical means to the switch mechanism 10 (Fig. l) . The switch 10 which may or may not be located near the motor 1 is operatively connected to the motor on one end and to the clutch mechanism on the other end. The clutch 11 which may or may not be located near the motor 1, or switch 10 is operatively connected to the switch on one end and to the motion follow mechanism on the other end. These physical connections may vary depending upon the particular application, such that the user can hand rotate the shaft 12 and feel the feedback as the processor of the motion follow mechanism is being in effect.

A digital word may be fed to the regulator 16, 16b, and 16c by the processor 17 in some cases, thus producing an exact ratio between the force/speed of the motor 1 and the force-alteration of the switch 10 and clutch 11. Usually the force of the motor 1 will be varied as a function of forces as explained m fig. 4, switch and clutch interaction and a selected blend of these forces. These variations are being controlled by the processor 17 achieving, contmuos system force feedback at the shaft 12, and thereby to the user. On a precisely timed, periodic basis, the processor 17 reads the shaft position information from the encoders la and 15b and each value is compared as explained in fig. 4 If there is any significant difference between the previous and new values the micro processor outputs a signal to the motor 1 of a polarity such that if the switch 10 position and clutch 11 resistance is held stationary the motor will be moved to minimize the position or force error or alternatively, if the motor value is held stationary the switch position and clutch value will be changed to minimize the position or force error. The time and magnitude value of polarity, current or voltage fed to the motor 1, switch 10 and clutch 11 is proportional to the timed error between the previous and new encoders 15/15b count. Compared to the clock cycle of the processor the time interval of the above mentioned process is quite long. And before the time period elapses, the processor determines and sets the position of the motor, switch and clutch shaft before the time period elapses. Usually, in the wait time before this timed event occurs, the processor 17 calculates the system forces developed while operating the system and sets the position of the motor, switch and clutch shaft such that the user feels the selected forces at the shaft 12. The calculation and setting of clutch shaft position takes second priority over user force and host computer information exchange and is interrupted when the time interval flag is set. Thus the user force calculations and host computer information is set every time increment, but more then one time increment is needed to set motor 1 torque, switch 10 position and clutch 11 value. Compared to a human reaction time the update time of the microprocessor 17, is so frequent that the user feels a virtually continues tactile feedback force applied to the motion follow mechanism by the motor 1, switch 10 and clutch 11 which is directly indicative of the selected forces developed while operating the system.

The physical connection between the motor shaft 1, the switch shaft, the clutch shaft and the motion follow mechanism manipulated by the user, may be the same or may be different or, by implementing various gear trains, they may be genencally the same but have different size ratios. The processor 17 is also connected to the host computer 18 (any suitable computer system may be used) whicn is connected to interface with the processor 17. Position and Force information imparted to or induced by the user and the system usually is also output to the host computer 18 This information may be used as explained in fig. 4. The force information imparted to or induced by the user usually is also output as explained in fig. 4.

Each of the memory systems shown in Fig. 6 requires at least one motor and angular position encoder, at least one multiple position switch, at least one clutch and angular position encoder, as well as a digitally programmable regulator. Such a motor, switch, clutch and encoder assembly for multiple shaft assembly are shown in Fig. 1. The subsystem may comprise a processor, host computer and other common equipment for each position monitoring medium. Two processors may operate in parallel, such as in applications where very high throughput is needed, one setting user force information, while the other sets motor torque, switch position and clutch force subtraction. Fig. 7 Here is shown a block diagram of a system adding a differential mechanism to a switch mechanism constructed m accordance with the teachings of the present invention.

The system includes at first a motor/encoder assembly 1/15 comprising a motor 1 and a encoder 15 supplying the system with a stable and rudimentary force A multiple position switch comprising of a switch mechanism 10 is included, controlling the directional change in rotation and force at the motion follow device. A differential device/encoder assembly llc/l5b is included as well, comprising a generator driving the differential mechanism lie such as to supply with a smooth translation of the speed of the guiding force value, thus constantly adjusting the speed a user limb operatively is exposed to and an encoder 15b which monitors the angular position of the differential shaft The motor shaft 1 is connected to the force mechanism controlled by a switch 10 (see fig 1 for details) The switch shaft 6 is connected to the differential mechanism which is operatively connected to the motion follow mechanism and provides a force of resistance for the user to develop force feedback indicative to the level of selected forces developed while operating the motion follow mechanism. The motor 1 is connected to a digital regulator 16. This regulator has the ability of either setting a precise value of voltage or current to the motor. The switch mechanism 10 is connected to a digital regulator 16b This regulator has the ability of either setting a precise value of voltage or current to the switch The differential device lie is connected to a digital regulator 16c. This regulator has the ability of either setting a precise value of voltage or current to the differential mechanism.

In this embodiment the motor 1 is programmed to maintain a particular speed and force Using this constant speed and force as raw material the switch mechanism 10 alters calculated value, changing the direction of rotation at the switch shaft and calculates the time value of contact at particular switch position, thus altering the guiding force of the switch shaft When ever the switch mechanism 10 stays at position 2 or 2b (such that the shaft 6 is engaged to rotate) , the differential mechanism lie may engage, altering calculated speed value thus controlling the guiding force of the differential shaft The digital regulator 16 may balance the speed and force of the motor 1 every time the switch mechanism 10 changes its position or the differential mechanism changes its speed value Further on the switch mechanism 10 and its digital regulator 16b may change its position, the differential mechanism and its digital regulator 16c may change its speed value and the motor 1 and its digital regulator 16 may being balanced/changed if the user limb force changes its value Thus maintaining complete control over the speed, direction of force and magnitude of force developed by the user through the motion follow mechanism.

The output from the shaft position encoders 15a and 15b is connected to the same or a different decoding logic as explained in fig. 4 The decoding logic output then goes to the processor 17 For storage of programming and data, as used in the operation of the processor 17, the processor 17 may be connected to a host computer 18. The processor 17 is connected to and digitally controls the programmable regulators 16, 16b and 16c as to precisely regulate the polarity, current or voltage and thereby the: a) torque supplied to the motor 1, b) the contact time value at each particular position of the switch 11, c) the switch position, thus the direction of rotation and guidance force of the shaft by the switch d) the speed altering value of the differential mechanism thus the guiding speed of the differential shaft

The system of the present invention utilizes at least one motor - including a position encoder 15 For each additional shaft the system also includes at least one switch 10, and at least one differential 11 with a shaft position encoder 15b The shaft 15/I5b encoder blocks are connected to the processor 17 Each encoder block is periodically selected and interrogated for position information. Separate counter and direction encoder circuitry are included at each encoder block, thus monitoring respective direction of rotation, and angular position of the differential and motor shaft A common bus connects the processor 17 to the digitally controlled regulators 16, 16b and 16c And the respective regulators 16, 16b and 16c is being adjusted by the microprocessor 17 such that the differential lie shaft is driven to the particular position according to the information of shaft position encoders 15/l5b such that system operation supplies the user with the needed force feedback The feedback force developed by motor 1 s maintained precisely by the regulator 16, the polarity to determine switch position is adjusted by regulator 16b, and the speed developed by the differential is maintained precisely by regulator 16c .

The motor 1 is connected by mechanical means to the switch mechanism 10 (Fig. 1) The switch 10 which may or may not be located near the motor 1 is operatively connected to the motor on one end and to the differential mechanism on the other end. The differential lie which may or may not be located near the motor 1, or switch 10 is operatively connected to the switch on one end and to the motion follow mechanism on the other end These physical connections may vary depending upon the particular application, such that the user can hand rotate the shaft 12 and feel the feedback as the processor of the motion follow mechanism is being in effect

A digital word may be fed to the regulator 16 16b and 16c by the processor 17 in some cases thus producing an exact ratio between the force/speed of the motor 1 and the fcrce-a1teration of the switch 10 and differential lie Usually the force of the motor 1 will be varied as a function of forces as explained in fig. 4, switch and differential interaction and a selected blend of these forces These variations are being controlled by the processor 17 achieving, continuos system force feedback at the shaft 12, and thereby to the user

On a precisely timed, periodic basis, the processor 17 reads the shaft position information from the encoders IS and 15b and each value is compared as explained in fig 4 If there is any significant difference between the previous and new values the micro processor outputs a signal to the motor 1 of a polarity such that if the switch position 10 and differential speed s held stationary the motor torque will be changed to minimize the position or force error or alternatively, if the motor value is held stationary the switch position and differential speed will c«= changed to minimize the position or force error The time and magnitude value of polarity, current or voltage fed to the motor J, switch 10 and differential lie is proportional to the timed error between the previous and new encoder 15/15b count Compared to the clock cycle of the processor the time interval of the above mentioned process is quite long And before the time period elapses, the processor determines and sets the position of the motor, switch and differential shaft Usually, in the wait time before this timed event occurs the processor 17 calculates the system forces developed while operating the system and sets the position of the motor, switch and differential shaft such that the user feels the selected forces at the shaft 12 The calculation and setting of differential shaft position takes second priority over user force and host computer information exchange and is interrupted when the time interval flag is set Thus the user force calculations and host computer information is set every time increment, but more then one time increment is needed to set motor 1 torque, switch 10 position and differential lie speed Compared to a human reaction time the update time of the microprocessor 17, is so frequent that the user feels a virtually continues tactile feedback force applied to the motion follow mechanism by the motor 1, switch 10 and differential lie which is directly indicative of the selected forces developed while operating the system

The physical connection between the motor shaft 1, the switch shaft the differential shaft and the motion follow mechanism manipulated by the user, may be the same or, by implementing various gear trains, may be different or they may be generically the same but have different ratios. The processor 17 is also connected to the host computer 18 (any suitable computer system may be used) which is connected to interface with the processor 17 Position and force information imparted to or induced by the user and the system usually is also output to the host computer 18 This information may be used as explained m fig 4 The force information imparted to or induced by the user usually is also output as explained in fig. 4

Each of the memory systems shown in Fig 7 requires at least one motor and angular position encoder, at least one multiple position switch at least one differential and angular position encoder, as well as a digitally programmable regulator Such a motor, switch, differential and encoder assembly for multiple shaft assembly are shown m Fig 1 The subsystem may comprise a processor, host computer and other common equipment for each position monitoring medium. Two processors may operate in parallel, such as in applications where very high throughput is needed, one setting user force information, while the other sets motor torque, switch position and differential speed

Fig. 8 Here is shown a block diagram of a force generation system comprising of a motor and a switch, adding two torque alteration means such as constant differential and clutch means for providing user interactive force- feedback for a motion follow mechanism constructed m accordance with the teachings of the present invention.

The system includes a first motor/encoder assembly 1/15 comprising a motor 1 supplying the system with a stable and rudimentary force and a encoder 15 which monitors the angular position of the force medium shaft. There is included a switch 10 controlling directional change in rotation of the switch shaft 6. Also included is a constant differential and clutch/encoder assembly lie, ll/15b comprising a constant differential lie and a clutch mechanism 11 which constantly adjusts the speed and/or force a user physically is exposed to and a shaft rotation encoder 15b which monitors the angular position of the constant differential lie or clutch 11 shaft.

The motor shaft 1 is connected to the force dictation and speed altering mechanism controlled by the switch, constant differential and clutch mechanisms (fig 1) such that said motor provides a rudimentary force for that force dictation and speed altering mechanism The switch mechanism 10 is connected to the motor shaft 1 such that the switch selects the direction of rotation of the switch shaft The constant differential shaft is connected to the switch shaft and at the other end to the clutch shaft and provides a force of resistance or guidance for the user to develop force feedback indicative to the level of selected forces developed while operating the motion follow mechanism The clutcn 11 shaft is connected to the constant differential lie shaft and on the other end to the user motion follow mechanism (not shown) and provides a force of resistance or guidance for the user to develop force feedback indicative to the level of selected forces developed while operating the motion follow mechanism The motor 1 is connected to a digital regulator 16 This regulator has the ability of either setting a precise value of voltage or current to the motor The switch mechanism 10 is connected to a digital regulator 16b This regulator has the ability of either setting a precise value of voltage or current to the switch The clutch device 11 is connected to a digital regulator 16c This regulator has the ability of either setting a precise value of voltage or current to the clutch The differential lie is connected to a digital regulator 16g This regulator has the ability of either setting a precise value of voltage or current to the differential

In this embodiment the motor 1 is programmed to maintain a particular speed and force Using its constant speed and force as raw material the constant differential mechanism lie alters calculated value, changing the speed of the shaft at the motion follow mechanism end At the same time the clutch mechanism 11 might subtract calculated value, changing the force of the shaft at the motion follow mechanism end The digital regulator 16 balances the speed and force of the motor 1 every time the constant differential and/or clutch mechanisms llc/ll change its value or the switch 10 changes ts position Further on the constant differential mechanism lie and its digital regulator l6g, the clutch mechanism 11 and its digital regulator 16c and the motor 1 and its digital regulator 16 are being balanced/changed if the user limb force changes its value. Thus maintaining complete control over the speed and force developed by the user/motion follow mechanism and/or a particular host computer or robot force. Each the constant differential lie, clutch 11, and motor 1 shaft output is connected to the same or a different decoding logic as explained in fig. 4. The decoding logic output then goes to the processor 17 For storage of programming and data, as used m the operation of the processor 17, the processor 17 may be connected to a host computer 18. The processor 17 is also connected to and digitally controls the programmable regulators 16, 16b, 16c and 16g as to precisely regulate the voltage or current and thereby the: a) torque supplied to the motor 1, b) the direction of rotation of the shaft c) the speed to be altered by the constant differential d) the force to be deducted by the clutch, e) a combination of the above .

The system of the present invention comprises at least one motor 1 and a position encoder 15. For each shaft (controlling a different joint motion) the system also includes at least one switch 10, at least one constant differential lie, and at least one clutch 11 and a position encoder 15. The shaft encoder blocks 15 and 15b are connected to the processor 17. Each encoder block is periodically selected and interrogated by the processor for position and pressure information. Separate counter and direction encoder circuitry are included at each encoder block, thus monitoring respective direction of rotation, and angular position of the clutch/differentlal and motor shaft The processor 17 is also connected by a common bus to the digitally controlled regulators 16, 16b, 16c and 16g The microprocessor 17 adjusts the voltage or current output by the respective regulators 16, 16b, 16c and I6g such that the clutch shaft is driven to the particular position according to the data from the position encoders 15/15b such that system operation supplies the user with the needed force feedback. The feedback force developed by motor 1 is maintained precisely by the regulator 16, while the force necessary to drive the constant differential lie is maintained precisely by regulator 16g The force necessary to drive the clutch 11 is maintained precisely by regulator 16c, and last but not least the force necessary to change the switch position is induced by regulator 16b

The motor 1 will have the same or a larger value of force and is connected by mechanical means to the switch mechanism lie (Fig. 1) The switch 10 which may or may not be located near the motor 1, constant differential lie, and clutch 11, is physically connected to the motor on one end and to the constant differential or the clutch mechanism on the other end The constant differential lie which may or may not be located near the motor 1, clutch 11 and switch 10 is physically connected to the switch or clutch on one end and to the clutch or motion follow mechanism on the other end which is intended to be moved and controlled by the user The clutch 11 which may or may not be located near the motor 1, constant differential lie and switch 10 is physically connected to the switch or constant differential on one end and to the constant differential or motion follow mechanism on the other end which is intended to be moved and controlled by the user These physical connections may vary depending upon the particular application, such that the user can hand rotate the shaft lie as the processor control of the force- feedback mechanism is being in effect The same digital word may be fed to the regulators 16, 16b and 16g by the processor 1⁷ in some cases, thus producing an exact ratio between the force/speed of the motor 1, the speed of the constant differential shaft, and the force dictation of the clutch 11 Usually the force of the motor 1 will be varied as a function of constant differential lie, clutch 11, and switch 10 interaction as a result of force calculation induced by the user involvement and a selected blend of these forces . Such variation being controlled by the processor 17 m order to achieve system force feedback to the shaft lie and thereby to the user On a precisely timed, periodic basis, the processor 17 reads the shaft position information from the encoders 15 and 15b and each value is compared as explained in fig. 4. If there is any significant difference between the previous and new values the micro processor outputs a signal to the motor 1 of a polarity such that if the constant differential lie and clutch value 11 is held stationary the motor will be moved to minimize the position or force error or alternatively, if the motor value is held stationary the switch position, clutch resistance, and differential value will be changed to minimize the position or force error. The time and magnitude value of polarity, current or voltage fed to the motor 1, constant differential lie, clutch 11, and switch 10 is proportional to the timed error between the previous and new encoder 15 and encoder 15b count Compared to the clock cycle of the processor the time interval of the above mentioned process is quite long. And before the time period elapses, the processor determines and sets the position of the switch 10, the torque of the motor 1, constant differential lie and clutch 11. Usually, m the wait time before this timed event occurs, the processor 17 calculates the system forces developed while operating the system and sets the force and speed of the motor, constant differential and clutch such that the user feels the selected forces at the shaft lie The calculation and setting of switch 10 position the motor 1 constant differential lie, and clutch U torque and takes second priority over encoder 15/15b count and host computer information exchange and is interrupted when the time interval flag is set Thus the encoder count and host computer information is set every time increment, but more then one time increment is needed to set switch 10 position, the motor 1, constant differential lie, and clutch 11 torque Compared to a human reaction time the update time of the microprocessor 17, is so frequent that the user feels a virtually continues tactile feedback force applied to the motion follow mechanism by the motor 1, switch 10, constant differential lie and clutch 11 which is directly indicative of the selected forces developed while operating the system

The physical connection between the motor shaft 1 the switch shaft 6, the constant differential shaft and the clutch shaft lie attached to the force medium and the motion follow mechanism manipulated by the user, may be the same or may be different or, by implementing various gear trains, they may be generically the same but have different size ratios The processor 17 is also connected to the host computer 18 (any suitable computer svstem may be used' which is connected to interface with the processor 17 Position and force information imparted to or induced by the user usually is also output to the host computer 18 This information may be used as explained in fig 4

The system of the present invention is particularly adapted for utilizing a human operator to perform as already explained in fig 4 Each of the memory systems shown in Fig 8 requires at least one motor and angular position encoder, at least one two position switch , at least one constant differential at least one clutch and angular position encoder, as well as a digitally programmable regulator Such a motor switch, constant differential, clutch and encoder assembly for multiple shaft assembles are shown in Fig 1 The subsystem may comprise a processor, host computer and other common equipment for each position monitoring medium Two processors may operate in parallel, such as in applications where very high throughput is needed, one setting user force information, while the other sets switch position, the motor, constant differential, and clutch torque.

Fig. 9 Here is shown a block diagram of a system adding user interactive tactile feedback for a motion follow mechanism constructed in accordance with the teachings of tne present invention

This system includes a tactile output device assembly 19 comprising a generator 16 controlling the tactile feedback.

This system includes a force generator/encoder assembly 1/15 comprising a force generator 1 comprising of any of the systems discussed m figs 4-9 or any other force- feedback system currently available, driving the joint shaft and an encoder 15 which constantly monitors the angular position of the shaft of said force generator. The tactile output device 19 can be attached to the motion follow mechanism (not shown' to translate a stimulant such as vibrational patterns to the user while the force feedback system accomplishes a particular function The force generator 1 shaft is connected to the motion follow mechanism (not shown) to drive the motion follow mechanism such as to accomplish a particular function The tactile output device 19 is connected to a digital regulator I6h This regulator has the ability of either setting a precise value of voltage or current to the tacti-s output device 19 to develop tactile feedback indicative to the level of selected forces developed while operating the motion follow mechanism. The force generator 1 is connected to a digital regulator 16 This regulator has the ability of either setting a precise value of voltage or current to the force generator as explained in fig. 4. The snaft position encoder output is connected to decoding logic, as explained in fig. 4. The decoding logic output then goes to the processor 17. The processor 17 may be connected to a host computer 18 for storage of data and programming used in the operation of the processor 17. The processor 17 is also connected to and digitally controls the programmable regulators 16/16h such that the voltage or current and thereby the patterns supplied to the force generator 1 and tactile output device 19 is accurately regulated.

The system of the present invention comprises one tactile output device and a force generator (which could be any of the systems described in fig. 3-9) having position encoder(s) (not shown) . The shaft encoder is connected to the processor 17 as explained in fig. 4. Each encoder block is periodically selected and interrogated for position information. Separate counter and direction encoder circuitry are included at each encoder block, thus monitoring respective direction of rotation, and angular position of the force medium shaft. A common bus connects the processor 17 to the digitally controlled regulators 16/16h. And the respective regulators 16 and 16h are being adjusted by the microprocessor 17 such that the force medium shaft 1 is driven to the particular position and at the same time the tactile output device generates a particular feedback magnitude at particular position. The feedback pattern developed by the tactile output device 19 is maintained precisely by the regulator 16h, while the feedback force developed by the particular force generation medium and the force necessary to interact with the user limb set by the force generator or preprogrammed instruction, is maintained precisely by regulator 16. The force medium 1 and the tactile output device 19 are connected nγ mechanical means (fig 1' which may vary depending upon the particular application, such that the user can feel the tactile output device 19 and the force medium 1 feedback while hand rotating the shaft as the processor control of the tactile feedback system is being in effect.

A digital word may be fed to the regulator 16 and 16h by the processor 17 m some cases, thus producing an exact ratio of feedback between the force of the force medium and the pattern of the tactile output device 19 depended upon the torque constant of the force medium and the pattern constant of the tactile output device 19. Usually the force of the force medium l and the feedback of tactile output device 19 will be varied as a function of system forces, user limb forces, virtual environment objects or a selected blend of these including host computer output 18 or information from a remote load robot (not shown) These variations are being controlled by the processor 17 achieving, for human sensors, continuos system force feedback to the force medium, pattern feedback to the tactile output device 19 and thereby complete sensory tactile feedback to the user On a precisely timed, periodic basis, the processor 17 reads the shaft position information from the encoders 15 and 15b and the new value is subtracted from the old value to determine if there is a difference of the two. If there is any significant difference between the previous and new values the micro processor outputs a signal to the force generator and the tactile feedback generator of a polarity such that if the host computer cursor, robot, etc. is held stationary the force generator and the tactile feedback generator will be commanded to minimize the position, force and tactile feedback pattern error The position, time and magnitude value of polarity, current or voltage fed to the force medium and the tactile output device 19 is proportional to the timed error between the two value counts Compared to the clock cycle of the processor the time interval of the above mentioned process is quite long. And before the time period elapses, the processor determines and sets tne position of the force medium l and/or the pattern of the tactile output device 19. Usually, in the wait time before this timed event occurs, the processor 17 calculates the system forces developed while operating the system and sets the force of the force medium and the pattern of the tactile output device such that the user feels the selected forces at the force medium 1 and the feedback patterns at the tactile output device 19 The calculation and setting of force medium and the tactile output device 19 feedback takes second priority over the cursor position and other host computer information and is interrupted when the time interval flag is set Thus the cursor position and other host computer information are set every time increment, but more then one time increment is needed to set force medium torque and tne tactile output device 19 feedback Compared to a human reaction time the update time of the microprocessor 17, is so frequent that the user feels a virtually continues tactile feedback applied to the motion follow mechanism by the force medium and the tactile output device 19 which is directly indicative of the selected forces developed while operating the system

The physical connection between the force medium shaft manipulated by the user and attached to the force medium may be the same cr may be different or, by implementing various gear trains, they may be generically the same out have different size ratios. The physical connection between the tactile output device directed toward the user and the motion follow mechanism may vary according to user requirements The processor 17 is also connected to the host computer 18 (any suitable computer system may be used) which is connected to interface with the processor 17 Position and force information imparted to or induced by the user usually is also output to the host computer 18 This information may be used as explained if fig. 4.

The system of the present invention is particularly adapted for utilizing a human operator to perform as explained in fig. 4. Each of the memory systems shown in Fig 9 requires a force generation medium and angular position encoder, at least one tactile output device 19, as well as a digitally programmable regulator. Such a force medium, encoder and tactile feedback assembly for booth the force medium and the tactile feedback output device 19 are shown in fig. 9. The subsystem may comprise a processor, host computer and other common equipment for each force generation medium Two processors may operate in parallel, such as m applications where very high throughput is needed, one setting encoder count, cursor position and other host information, while the other sets force medium torque and tactile output device pattern .

Although the previously described systems of Figs. 3-9 are illustrated as being in a single plane of motion or feedback, it should clearly understood that with proper gimballing and multiple force/tactlie feedback generation medium and processor units, multiple planes of motion and feedback are readily configured using combinations and multiples of the system described in Fig. 3-9. In the system of these previous present inventions, all system/user forces, position information and system tactile feedback are referenced to the joint and the tactile output means which are controlled by processor 17 Using rotatlona1 /trans1atlona1 and 1 langular/trans1atlona1 or other motion encoding and tracking device systems transforms for position information and acobian matrices to describe force information, multiple plane systems can be reαuced to one frame of reference using methods well known by those skilled in the art However knowing total system forces provides all the force information needed to correct position errors caused by deflection and also to determine the total stress in each component of the motion follow mechanism Normally this information is used in a one to one manner to provide force and or tactile feedback to the user, and additional transformatlonal/rotational and triangular or other tracking device etc transforms are not needed in real-time for system operation Only when the user force orientations or user force dimensions differ, are the above mentioned additional rotatlonal /transla lonal and triangular/translatlonal or other motion encoding and tracking device systems computations necessary For identification purposes in this document force- feedback interacts with the kinetic and movement of a user, tac111e- feedback deals with the stimulation of the users skin surface Together these two mediums complete the aitificial construction of a sensory tactile environment

Fig. 10 Here is shown block diagram of an electric motor using a force sensor for providing force magnitude information to a torque control apparatus constructed in accordance with the teachings of the present invention

The system includes a first force magnitude sensor/encoder means 13/ 14 comprising a sensor 13 and a encoder 14 which monitors the forces developed at the motion follow mecnanism The system includes a motor/encoder assembly 1/15 comprising a motor 1 supplying the system with force- feedback and a encoder 1-5 which monitors the shaft position.

The force sensor 13 is connected to the mechanism to be attached close to the motion follow mechanism joint and monitors the system forces. The motor 1 shaft is connected to the motion follow mechanism, providing a force of resistance for the user to develop force- feedback indicative to the level of selected forces developed while operating the motion follow mechanism shaft 47. The motor 1 is connected to a digital regulator 16, which is capable of either setting a precise value of current or voltage to the motor In the event that the motor 1 is acting as a generator rather then a motor, the regulator has the ability of sinking as well as sourcing current. In this embodiment the motor 1 is programmed to engage if force sensor encoder or shaft rotation encoder signals particular conditions such as: a) exceeding a particular force magnitude value, b) reaching a particular shaft position value, c) a and b combined. The force magnitude encoder 14 and the motor shaft encoder 15 output is connected to decoding logic. This decoding logic might be incorporated in a integrated circuit or could be composed of discrete logic gates using logic design techniques well known to those skilled in the art. The decoding logic output then goes to the processor 17. The processor 17 may also be connected to a host computer 18 for storage of data and programming used in the operation of the processor 17. The processor 17 is connected to and digitally controls the programmable regulators of the motor as to precisely regulate the polarity, current or voltage. The system of the present invention utilizes one motor 1 having position encoder 15. The system also includes a force sensor

13 having a magnitude encoder 14.

The shaft rotation and force sensor 13 encoder blocks 15 and

14 are connected to the processor 17. Each encoder block is periodically selected and interrogated for position and force information. Each encoder block has counter, direction and counter, force magnitude encoder circuitry for monitoring its respective direction of rotation, angular position and force magnitude of the motion follow mechanism (not shown) . Each encoder block has separate encoder circuitry for monitoring its respective direction of rotation, angular position and its respective magnitude of force. The processor 17 is also connected by a common bus to the digitally controlled motor 1 regulator 16. The current or voltage output by the respective regulator 16 is adjusted by the microprocessor 17 such that the motor 1 is driven to the particular position according to the information of the force encoder 14 and the shaft rotation encoder 15 such that system operation supplies the user with the needed force- feedback . The feedback force developed by motor 1 is initialized precisely by the regulator 16, if the information supplied to the force sensor 13 supplies the system with the particular user interaction. The feedback force developed by motor 1 is maintained precisely by the regulator 16, if the information supplied by the force sensor 13 supplies the system with the particular user or motion follow mechanism interaction .

The motor 1 is connected by mechanical means to the motion follow mechanism which intends to attach to the user. The force sensor 13 which may or may not be located near the motor 1 is physically connected to the motion follow mechanism which is intended to be controlled by the user m interaction with the processor 17. These physical connections may vary depending upon the particular application, such that the user can hand rotate the shaft ^ and feel the feedback as the processor of the motion follow mechanism is being in effect.

In some cases a digital word may be fed to the motor 1 regulator 16 by the processor 17, thus producing an exact ratio between the force, speed and direction of rotation of the motor 1 shaft and the force magnitude information of the force sensor Usually the torque of the motor 1 will be varied as a function of the user force calculations (force by the user applied to the shaft 1 [as explained m fig 11 bold] ) , force sensor 13 information (system generated forces mostly relating to the mass and behavior of the motion follow mechanism) , and a selected blend of information including host computer output 18 Such variation being controlled by the processor 17 in order to achieve system force feedback to the shaft 47 and thereby to the user The force and shaft position information from booth the encoders 14 and 15 are periodically read by the processor 17 and each value is compared to determine if there is a difference to the predefined (the force encoder and motor shaft encoder values that are predetermined and recorded in a look up table stored in the system) values This is done on a precisely timed, periodic basis. Whenever any significant difference occurs between the two values the micro processor outputs a signal to the motor 1 of a polarity such that if the force encoder 14 or one of the motor encoder 15 values are held stationary the motor will be moved to minimize the user limb force and position error

The time and magnitude value of the polarity, current or voltage fed to the motor 1 is proportional to the timed error between the motor encoder 15 and force encoder 14 count The above mentioned time interval is quite long compared to the clock cycle of the processor, allowing the processor to determine and set the position of the motor 1 shaft before the time period elapses. Usually, in the wait time before this timed event occurs, the processor 17 calculates the system forces developed while operating the system and sets the position of the motor 1 shaft such that the user feels the selected forces at the shaft 47 The calculation and setting of motor 1 shaft position takes second priority over user force, system force calculations and host computer information exchange and is interrupted when the time interval flag is set. Thus the user force calculations, the force information and host computer information is set every time increment, out more then one time increment is needed to set motor 1 torque.

The update time of the microprocessor 17, as compared to a human user response time, is such that the user feels a virtually continues tactile feedback force applied to the motion follow mechanism by the motor 1 which is directly indicative of the selected forces developed while operating the system

The physical connection between the motor 1 and the motion follow mechanism manipulated by the user, may be through a simple shaft, cable or may be by different train gears and they may be generically the same but have different size ratios.

The processor 17 s also connected to the host computer 18 (any suitable computer system may be used) which is connected to interface with the processor 17 The force information imparted to or initialized by the user and the system usually is also output to the host computer 18. This information may be used for force profile storage purposes or for a CRT visual, audio and other tactile feedback indicative of the forces applied to, imposed by the user or booth

The system of the present invention is particularly adapted for utilizing a human operator to perform most complicated maneu ers be comfortable doing it and enaoling he system to react to user motion within a given or cnanging environment This information might also be used to dynamically weight the user interaction and system forces while being manipulated

Each of the memory systems shown in Fig. 10 requires one motor and angular position encoder, one force magnitude sensor and force magnitude encoder, as well as a digitally programmable regulator Such a motor, sensor and encoder assembly for booth the motor 1 and the force sensor 13 are shown in fig 10

A processor, host computer and other common equipment may be shared by the subsystem for each shaft In applications where very high throughput is needed, two processors might operate in parallel, one setting user force and motion follow information, while the other sets motor torque The regulator 16 controlling a motor 1 could instead be controlling a clutch, a differential, a switch, or any other force manipulating device.

processor control

Fig. 11 Here is shown a block diagram of the mic oprocessor controlled elements for providing tactile feedback to a user constructed in accordance with the teachings of the present invention The system includes a first a microprocessor chip 28, (comprising of any currently available digital processing devices) which controls the system. A direction encoding logic 21 is incluαed which communicates shaft rotation direction information to the microprocessor Also a displacement αecoding logic 20 is included which communicates angular shaft rotation information to the microprocessor. Alternatively, other position decoding logic 20b can be included which communicates device position (using trac ers such as a Oscilloscope, the Spasyn system and triangulation techniques using, In r -red or Ul rasonic source and sensors) information to the microprocessor. And force magnitude decoding logic is included which monitors the force applied to the motion follow mechanism. Multiple tristate buffer logic is included which communicates its contents to the digitally controlled register 32. A ROM memory 22 is available which contains information such as to sequence the microprocessor Similar a RAM memory 23 is available which is able to both store and recall processing information. And at least one - 5 volt generating chip is included such as to power Universal Asynchronous Receiver/Transmitter (UART) These components of the processor control circuitry of FIG.11 can be divided into multiple functional elements, specific to configuration and operation. Some of the other elements shown as a separate components of the block diagram in Fig.11 may be included into such a processor, or multiple elements including the processor could comprise of one processing system such as host computer, a processing card, etc depending onto the processing device that is used. To implement the system c! the present invention these elements may be included as separate components .

Preprogrammed control data for the microprocessor 28 is provided by a read-only memory (ROM) 22 unit. Data stored in the ROM memory 22 sequences the processor 28 (as further discussed bellow/ , to either receive position encoder data from unit 20, 20b, decoder direction data from unit 21, and force magnitude information from unit 20c, and also to perform calculations thereon m order to determine either the position of a switch, the displacement, velocity, or acceleration of the motor, the constant differential and/or clutch output shaft as well as the resistance of a breaking device at periodic intervals. These calculations can also be used to determine the output magnitude, displacement and pattern of a tactile stimulation device.

Similarly, to both store and recall processing information a random access memory (RAM) 23 is available to the microprocessor 28 through bus 24. An address decoder 25 is connected to the microprocessor 28 through a bus 27 and to the RAM 23 through a bus 18. A buffer memory register 29 is connected to the address decoder via data line 31 and to the processor 28 through a bus 30. Buffer 29 contents are via a bus 35 communicated to the digitally controlled register 32. Current flow through, or voltage applied to the motor is precisely controlled by a regulator. The same or a different regulator precisely controls current flow through, or voltage applied to a constant differential, clutch, switch, and/or break mechanism as well. Furtherm the same or a different regulator precisely controls current flow through, or voltage applied to a transducer or any other tactile output device (such as vibrating membranes, heat generators, static field generators, etc. ) A selected tristate which is connected to the programmable current source 32 is actuated by the address decoding logic 25.

A position encoder data unit 20 and 20b, direction decoding unit 21, and force magnitude decoding logic are connected to the microprocessor 28 to transmit angular position displacement, angular direction data, triangular and other position displacement and force magnitude information to the microprocessor. In accordance with calculations based upon the position and force encoder and time data or in accordance with programmed instructions, a digital number is selected by the processor 28, and supplied in through buffer 29 and bus 35 to the digitally controlled regulator 32. A precise value of voltage or current is defined by this digital number which will be set by the programmable regulator 32, and thus establish a precise selected value of torque, disposition and/or resistance to be placed on the output shaft of the motor/switch/differentlal/clutch and/or the break. As well as to establish a precise selected value of vibration, static's, temperature, etc. to the membrane of a transducer, generator, or any other tactile output device.

A counter is set by the shaft direction decoding circuitry 21, to count up or down, depending upon the direction of the shaft rotation determined by the direction decoding logic 21. Similar, a counter is set by the tracking device position decoding circuitry 20b, to provide with particular value, depending upon the position of the motion follow device determined by the position decoding logic 21. Also a counter is set by the force magnitude decoding circuitry, depending upon the force developed by the motion follow device determined by the force decoding logic 20c. The microprocessor 28 reads and stores the counter accumulated pulses from shaft and tracking device displacement decoding logic 20 and 20b, force sensor decoding logic 2oc and values in the counter at periodical basis in the stack registers of memory. In some instances the counter will be set to zero or some preselected number by all external signal to provide an absolute shaft distance, system force and/or device position reference. The angular shaft, device position and force data is read from the encoder counter 20, 20b and 20c and the current/voltage data is read to the regulator 32 to set the torque, disposition and/or resistance developed by the motor switch differential, clutch and/or break

To receive serial data through the UART from the host computer 18 tne microprocessor 28 is bootstrapt at stait up by data stored in the ROM memory 22 These data are input via a direct memory access function of the microprocessor to the RAM memory 23 connected to the microprocessor 28 The microprocessor 28 may be polled through the UART at selected times, such as to send data from and to the host processor IB The host computer and the microprocessor 28 are usually in constant communication via a communication port which may include any conventional communication module such as ether-net, fiber channel, Rs-422 interface, etc A separate power supply 33 provides power for the communication module interface This power unit may or may not be included into a microprocessor depending onto the particular microprocessor implemented In general, the microprocessor 28 and the host computer 18 are in constant communication via some type of interface to provide a operator communications link as well as to receive program instructions The microprocessor may also operate in stand alone mode in some applications, and a nost computer is only used for initial program input

To determine system tactile feedback, at first the programmable regulator 32 sets the value of the voltage or current to be supplied to the memory, which generates a particular torque or resistance Then the value of acceleration produced in the output shaft of the motor, differen ial, clutch and/or break is calculated (based upon data from the displacement encoder unit 20 20b and force encoder unit 20c) , the micro-processor 28 determines the exact value of the resis ing/guiding force of rotation of the output shaft Setting a preselected value of torque or resistance generated by the motor, differential clutcn and or oreak using a digital programmable regulator and a microprocessor and then using the change in angular displacement and force magnitude of the motion follow mechanism, motor, differential, clutch and/or break shaft as a function of time to calculate the resisting/guiding torque to the motor, differential, clutch and/or break shaft thus setting force- feedback based on selected forces, is a fundamental function of the system.

Alternatively, to determine system tactile feedback, at first the processor interrogates the force magnitude encoder 20c for force magnitude value and the displacement encoder 20, 20b for position data. Then the programmable regulator 32 sets the value of the voltage or current to be supplied to the memory, which generates a particular torque or resistance Then the value of acceleration produced in the output shaft of the motor, differential, clutch and/or break is calculated (based upon data from the displacement encoder unit 20, 20b and force encoder unit 20c) , the micro-processor 28 determines the exact value of the reslstmg/guiding force of rotation at the output shaft Being able to receive system force information without first setting motor, clutch, break and/or differential torque, is a fundamental function of th s sys e .

There may at least three scenarios in which the system as described in the embodiments in figs 1-10 of this invention could

I) Only user position input is relevant and user force input does not effect the system operation, thus the control system outputs a torque pattern that is relative to the user position and does not change if user force input varies. This allows he control system to create torque patterns according to visual, audio or any other suited sensory medium

2) User force and position input are oooth relevant, thus the system is able to calibrate and measure user force and system forces This allows for accurate user position and force measurement

3) User force and position input are booth relevant and the control system creates torque information according to a particular software application The system constantly adjusts torque according to user position and force information in relationship to for example an objects position and force (density, friction, mass, etc information that is displayed on the computer screen.

To perform all these functions it s fundamental that the microprocessor 28 receives the information by the encoder direction data unit 21 and/or the displacement encoder unit 20, 20b and/or the force encoder unit 20c

Conclusions, Ramifications, and Scope Accordingly it can be seen that this force and tactile feedback system provides a highly reliable, a highly precise, light n weight easy to use, yet economical alternative to servo motor baseα systems Also, it can be seen that mechanically precise and smooth operation has been created, distinguishing the device from previous servo motor based systems that have a rubbery and unprecise feel and execution Furthermore, it can be seen that the combination of force - feedback and tactI1e - feedback create a complete artificial construction of a sensory tactile environment.

Although the description above contains specificity's, these shouiα not be construed as limiting the scope of the invention but as merely providing illustrations of some of the preferred embodiments of this invention Various other embodiments and ramifications are possible within its scope

For example, in some instances the torque sou ce apparatus might be adjusted in reference to the torque source alteration apparatus, thus on a precisely timed, periodic basis, the processor 17 reads the shaft position information from the encoders 15 Each encoders value is subtracted from the other encoders value to determine if there is a difference of the two. If there is any significant difference between the two values the micro processor outputs a signal to the torque source 1 of a polarity such that eighter, if the torque source alteration apparatus position and time value is held stationary the torque source will be moved to minimize the position or force error Alternatively, if the torque source value is held stationary the torque source alteration apparatus value will be changed to minimize the position or force error

In other instances, the shaft position information might be collected from devices other then rotary shaft position encoders such as linear encoders fiber optical sensors, tracking αevices, etc Furtherin, a locking mechanism might comprise of a separate unit from the switch mechanism. Also encoding means located at torque source alteration apparatus could be physically placed at the motion follow mechanism on the user end of the system

The subsystem may comprise a processor, host computer and other common equipment for each position monitoring medium. Multiple processors may operate in parallel, such as in applications where very high throughput is needed each setting a different component or different combinations of components of the apparatus such as user force information, switch position, motor, constant differen ial, and clutch torque, host computer information, encoder information, etc.

Alternatively, a control apparatus (a micro processor, RAM, ROM, etc. ) comprising cf multiple elements are cf various forms such that particular elements are, part of a host computer, a processing card which can be installed inside the host computer, or a entirely separate processing and controlling u it.

Instead of following a preprogrammed torque table a flexible means of influencing torque behavior wherein particular torque value are accessible in EEROM or any other suitable storage device could be implemented. A software program installed on host computer has position interaction information as well as force- f edback information. Alternatively, visual information can be send through a separate filter which converts the visual information into tactile and/or force-feedback information.

Torque controlling devices such as motor, clutch, differentials could be digital devices such that the regulator could control the motor, etc. by digital means.

A force value based upon the timed difference of a previous and a present reading, controlled by a timed interrupt sequence, of the encoders is fed to the rotation direction change device and the torque alteration device such that the motion follow mechanism is driven to particular position. Alternatively, instead of using a encode/torque relationship to calculate system forces and torque output, force sensors such as strain gauges as used by JPL's hand like robotic end effector placed at the system could provide with direct force information. Torque source means and torque alteration means could implement systems that reduce friction, torque ripple effects, and sensor-actuator effects using feed forward ripple co oensation or devices such as motors, clutches, differentials that ave built in force sensors such as explained in Patent Nr.5, 327, 790 could be used.

Differential mechanisms other then contmuos differentials might be implemented. A torque source may comprise of other means then servo motors such as hydrau1lca11y motors, gasoline powered motors solar energy powered motors, etc Last but not least a variety of gears such as gear trains might be implemented at any shaft section of the apparatus.

Individual components of this system could comprise of any suitaole system available and should not be limited to the in the preferred embodiments of this invention described systems Thus the scope of the invention should be determined by the appended claims and their legal equivalents, rather then by the example given.

Claims

Claims What is claimed is:

1. A system for controlling sensory tactile stimulation of a user using force related parameters comprising

a motion follow mechanism adapted to be moved in controlled manner;

at least one torque-source means operatively connected to, at least one torque-source rotation direction change means operatively connected to, said motion follow mechanism for causing movement thereof; and

controlling means operatively connected to, said torque- source means, and said torque-source rotation direction change means; and

said controlling means including processing means.

2. A tactile feedback system as set fourth in claim 1 wherein said torque-source rotation direction change means comprises of:

at least one 2 position switch means such as to change the direction of rotation of said motion follow means.

3. A tactile feedback system as set fourth in claim 1 wherein said torque-source rotation direction change means comprises of:

at least one 3 position switch means such as to change the direction of rotation and the resistance of said motion follow means.

4. A tactile feedback system as set fourth in claim 1 wherein said torque-source rotation direction change means

comprises of:

at least one 4 position switch means such as to change the direction of rotation and the resistance of said motion follow

5. A tactile feedback system as set fourth in claim 1 wherein said torque-source rotation direction change means

furtherin comprises:

two shaft drive systems placed near each other such as to allow said torque-source rotation direction change means to push one end of said motion follow mechanism shaft against either of said shaft drive system thus changing direction of rotation of said motion follow mechanism shaft.

6. A tactile feedback system as set fourth in claim 5 wherein said shaft drive systems comprise each of at least one rotation translation means.

7. A tactile feedback system as set fourth in claim 5 wherein said shaft drive systems comprise each of;

at least two rotation translation means; and

said two rotation translation means of each of said shaft drive systems are connected with a flexible motion

translation means.

8. A tactile feedback system as set fourth in claim 7 wherein said flexible motion translation means furtherin comprise of: a support means such as to keep flexible motion translation means in particular position.

9. A tactile feedback system as set fourth in claim 1 wherein said motion follow mechanism furtherin comprises of :

a linking means such as to link said motion follow mechanism with other motion follow mechanism.

10. A tactile feedback system as set fourth in claim 9 wherein said linking means comprises of :

a plug means such as to connect to accommodating counterpart.

11. A tactile feedback system as set fourth in claim 1 wherein said processing means includes :

programming means having preprogrammed instructions, said preprogrammed instructions and said force-related parameters for controlling said torque-source means and said torque-source rotation direction change means.

12 . A tactile feedback system as set fourth in claim 11 wherein said torque-source means includes:

encoder means for providing a magnitude relating to distance moved; and

said torque-source rotation direction change means include encoder means for providing a magnitude relating to distance moved;

wherein said processing means determines a magnitude relating to a difference between said magnitudes of said encoder means of said torque-source means and said encoder means of said torque-source rotation direction change means; and

said difference is used in providing an input to said torque-source means and said torque-source rotation direction change means.

13 A tactile feedback system as set fourth in claim 1 wherein said control means includes :

programmed instructions; and

said programmed instructions are used to automatically change said control force ratio based on system parameter information including weather or not force has been applied.

14 A tactile feedback system as set fourth in claim 1 wherein said control means include:

programmed instructions; and

said programmed instructions are used to automatically change said torque-source rotation direction based on system parameter information including weather or not force has been appiled.

15. A tactile feedback system as set fourth in claim 1 wherein said controlling means has flexible information as to influence said torque source means.

16. A tactile feedback system as set fourth in claim 1 wherein said controlling means has flexible information as to influence said rotation direction change means.

17. A tactile feedback system as set fourth in claim 1 wherein said processing means includes:

preprogrammed instructions for determining the force according to medium information other then sensory tactile medium.

18. An apparatus as set fourth in claim 1 wherein said processing means include:

preprogrammed instructions for causing substantial convergence between:

an output of said torque-source means; and

an output of said torque-source rotation direction change means; and

information used by said processing means

19. An apparatus as set fourth in claim 1 wherein said processing means includes:

preprogrammed instructions for causing substantial convergence between an output of.

said torque-source means encoder means, and

said torque-source rotation direction cnange means encoder means.

20. A tactile feedback system as set fourth in claim 1 wherein said processing means includes:

preprogrammed instructions for determining the information relating to force that has been applied.

21. A tactile feedback system as set fourth in claim 1 wherein movement of said motion follow mechanism is accomplished usinσ at least one of: manual operation, and

automatic operation.

22. A tactile feedback system as set fourth in claim 1 wherein said tactile feedback system furtherin includes :

a torque-source altering means such as to alter the torque from the torque-source.

23. A tactile feedback system as set fourth in claim 22 wherein said torque-source altering means comprises of :

a force deductive means such as to deduct force from the torque-source.

24. A tactile feedback system as set fourth in claim 22 wherein said torque-source altering means comprises of :

: a speed altering means such as to alter the speed of the torque-source .

25. A tactile feedback system as set fourth in claim 23 wherein said force deductive means comprises of :

at least one clutch mechanism

26. A tactile feedback system as set fourth in claim 24 wherein said speed altering means comprises of :

at least one differential.

27. A tactile feedback system as set fourth in claim 22 wherein said torque-source altering means is connected to control and processing means.

28. A tactile feedback system as set fourth in claim 27 wherein said processing means includes:

programming means having preprogrammed instructions, said preprogrammed instructions and said force-related parameters for controlling said torque-source altering means.

29. A tactile feedback system as set fourth in claim 28 wherein said torque-source altering means includes :

encoder means for providing a magnitude relating to distance moved, and

wherein said processing means determines a magnitude relating to a difference between the magnitudes of :

said encoder means of said torque-source means; and encoder means of said torque-source alteration means, and

said difference is used in providing an input to said torque-source altering means and said torque-source means .

30. A tactile feedback system as set fourth in claim 27 wherein said control means includes :

programmed instructions; and

said programmed instructions are used to automatically change the control force ratio based on system parameter

information including weather or not information of a medium other then sensory tactile medium .

31. A tactile feedback system as set fourth in claim 27 wherein said processing means has flexible information as to influence torque alteration means.

32. A tactile feedback system as set fourth in claim 40 wherein said controlling means has flexible information as to influence tactile feedback generating means.

33. A tactile feedback system as set fourth in claim 27 wherein said processing means includes:

preprogrammed instructions for determining the force that has been applied at said motion follow mechanism.

34. An apparatus as set fourth in claim 27 wherein said processing means includes:

preprogrammed instructions for causing substantial convergence between:

an output of said torque-source means; and

an output of said torque-source altering means; and information used by said processing means

35. An apparatus as set fourth in claim 27 wherein said processing means includes.

preprogrammed instructions for causing substantial convergence between:

an output of said torque-source means;

an output of said torque-source rotation direction change means;

an output of said torque-source altering means; and

information used by said processing means

36. An apparatus as set fourth in claim 27 wherein said

processing means having preprogrammed instructions for causing substantial convergence between: an output of said torque-source means encoder means; and an output of said torque-source altering means encoder means.

37. A tactile feedback system as set fourth in claim 27 wherein said processing means include :

preprogrammed instructions for determining the information relating to information of a medium other then sensory tactile medium.

38. A tactile feedback system as set fourth in claim 27 wherein movement of said motion follow mechanism is accomplished using at least one of manual operation and automatic operation.

39 A tactile feedback system as set fourth in claim 1 wherein said system furtherin comprises:

tactile feedback means such as to stimulate the skin sensors of a user.

40. A tactile feedback system as set fourth in claim 39 wherein said tactile feedback means is connected to control and processing means.

41. A tactile feedback system as set fourth in claim 40 wherein said processing means includes :

programming means having preprogrammed instructions; said preprogrammed instructions and force-related parameters for controlling said tactile feedback means.

42. A tactile feedback system as set fourth in claim 1 wherein said means for changing includes :

programmed instructions; and

said programmed instructions are used to automatically change and control means output ratio based on system parameter information including weather or not a force has been applied at said motion follow mechanism.

43. A system for controlling sensory tactile stimulation of a user using force related. parameters comprising :

a motion follow mechanism adapted to be moved in controlled manner;

said controlling means including processing means said torque source direction change means further comprising two shaft drive systems placed near each other such as to allow said torque-source rotation direction change means to push one end of said motion follow mechanism shaft against either of said shaft drive system thus changing direction of rotation of said motion follow mechanism shaft .

44. A system for controlling sensory tactile stimulation of a user using force related parameters comprising : a motion follow mechanism adapted to be moved in controlled manner;

at least one torque-source means operatively connected to, at least one torque-source rotation direction change means operatively connected to, said motion follow mecnanism for causing movement thereof; and

said controlling means including processing means, said processing means further include:

preprogrammed instructions for causing substantial convergence between:

an output of said torque-source means; and

an output of said torque-source rotation direction change means; and

information used by said processing means;

preprogrammed instructions for causing substantial convergence between an output of:

said torque-source means encoder means; and

said torque-source rotation direction change means encoder means.

45. An apparatus as set fourth in claim 40 wherein said processing means include:

preprogrammed instructions for causing substantial convergence between:

an output of said tactile feedback means; and information used by said processing means

46. A tactile feedback system as set fourth in claim 1 wherein said processing means includes:

programming means having preprogrammed instructions; said preprogrammed instructions and said force-related parameters for controlling:

said torque-source means; and

said torque-source rotation direction change means; and said tactile feedback means.

47. A tactile feedback system as set fourth in claim 40 wherein said processing means include:

preprogrammed instructions for determin i ng t h e inf ormat ion re l a t ing to i n f orma t ion of a medium other then sensory tactile medium.

48. A tactile feedback system as set fourth in claim 49 wherein said torque-source rotation direction change means comprises of:

at least one motion blocking means such as to resist the rotation of said motion follow means.

49. A system for controlling sensory tactile stimulation of a user using force related parameters comprising:

a motion follow mechanism adapted to be moved in controlled manner;

at least one rotation direction change means operatively connected to, said motion follow mechanism for causing movement thereof; and

controlling means operatively connected to, said rotation direction change means; and said controlling means including:

processing means.

50. A system for controlling sensory tactile stimulation of a user as set forth in claim 49 wherein said system has a shaft rotation encoder means; and

said processing means has means to converge the information of said rotation direction change means and said shaft rotation encoder means.

51. A system for controlling sensory tactile stimulation of a user as set forth in claim 49 wherein said system further includes a force sensing means; and

said processing means has means to converge the information of said rotation direction change means and said force sensing means.

52. A system for controlling sensory tactile stimulation of a user as set forth in claim 1 wherein said system further includes a force sensing means; and

said processing means has means to converge the information of said rotation direction change means, said torque source means and said force sensing means.

53. A system for controlling sensory tactile stimulation of a user as set forth in claim 27 wherein said system further includes a force sensing means; and

said processing means has means to converge the information of said torque source alteration means and said force sensing means.

54. A system for controlling sensory tactile stimulation of a user as set forth in claim 27 wherein said system further includes a force sensing means, and

said processing means has means to converge the information of said torque source means, said torque source rotation direction change means, and said torque source alteration means and said force sensing means.

55. A tactile feedback system as set fourth in claim 1 wherein said controlling means has means to transform visual information into tactile information using a filter means.

56. A tactile feedback system as set fourth in claim 1 wherein said controlling means has means to transform sensory information other then visual information into user sensory tactile information.

57. A tactile feedback system as set fourth in claim 49 wherein said controlling means has means to transform visual information into tactile information using a filter means.

58. A tactile feedback system as set fourth in claim 49 wherein said controlling means has means to transform sensory information other then visual information into user sensory tactile information.