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ATE486311T1 - Schwerkraftausgleich für eine haptische vorrichtung - Google Patents

Schwerkraftausgleich für eine haptische vorrichtung

Info

Publication number
ATE486311T1
ATE486311T1 AT06013753T AT06013753T ATE486311T1 AT E486311 T1 ATE486311 T1 AT E486311T1 AT 06013753 T AT06013753 T AT 06013753T AT 06013753 T AT06013753 T AT 06013753T AT E486311 T1 ATE486311 T1 AT E486311T1
Authority
AT
Austria
Prior art keywords
haptic device
effector
freedom
gravity compensation
degrees
Prior art date
Application number
AT06013753T
Other languages
English (en)
Inventor
Patrick Helmer
Francois Conti
Sebastien Grange
Patrice Rouiller
Original Assignee
Force Dimension S A R L
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Force Dimension S A R L filed Critical Force Dimension S A R L
Application granted granted Critical
Publication of ATE486311T1 publication Critical patent/ATE486311T1/de

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • User Interface Of Digital Computer (AREA)
  • Manipulator (AREA)
  • Telephone Function (AREA)
  • Window Of Vehicle (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
AT06013753T 2006-07-03 2006-07-03 Schwerkraftausgleich für eine haptische vorrichtung ATE486311T1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP06013753A EP1876505B1 (de) 2006-07-03 2006-07-03 Schwerkraftausgleich für eine haptische Vorrichtung

Publications (1)

Publication Number Publication Date
ATE486311T1 true ATE486311T1 (de) 2010-11-15

Family

ID=37518572

Family Applications (1)

Application Number Title Priority Date Filing Date
AT06013753T ATE486311T1 (de) 2006-07-03 2006-07-03 Schwerkraftausgleich für eine haptische vorrichtung

Country Status (5)

Country Link
US (1) US8188843B2 (de)
EP (1) EP1876505B1 (de)
AT (1) ATE486311T1 (de)
DE (1) DE602006017820D1 (de)
WO (1) WO2008003417A1 (de)

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US10532466B2 (en) 2008-08-22 2020-01-14 Titan Medical Inc. Robotic hand controller
US9228917B1 (en) 2009-04-17 2016-01-05 Arrowhead Center, Inc. Six degrees of freedom free-motion test apparatus
US8353199B1 (en) * 2009-04-17 2013-01-15 Arrowhead Center, Inc. Multi-degree-of-freedom test stand for unmanned air vehicles
FR2956225B1 (fr) * 2010-02-11 2012-04-20 Sagem Defense Securite Dispositif de commande d'un equipement embarque, incorporant un moteur piezoelectrique
WO2011099008A1 (en) * 2010-02-11 2011-08-18 Tactile World Ltd. Gesture based computer interface system and method
CN102462535A (zh) * 2010-11-18 2012-05-23 无锡佑仁科技有限公司 3自由度虚拟力反馈并联操作机构
US8606403B2 (en) 2010-12-14 2013-12-10 Harris Corporation Haptic interface handle with force-indicating trigger mechanism
US8918214B2 (en) 2011-01-19 2014-12-23 Harris Corporation Telematic interface with directional translation
US8918215B2 (en) 2011-01-19 2014-12-23 Harris Corporation Telematic interface with control signal scaling based on force sensor feedback
US9205555B2 (en) 2011-03-22 2015-12-08 Harris Corporation Manipulator joint-limit handling algorithm
US8694134B2 (en) 2011-05-05 2014-04-08 Harris Corporation Remote control interface
US8639386B2 (en) * 2011-05-20 2014-01-28 Harris Corporation Haptic device for manipulator and vehicle control
US9026250B2 (en) 2011-08-17 2015-05-05 Harris Corporation Haptic manipulation system for wheelchairs
US8996244B2 (en) 2011-10-06 2015-03-31 Harris Corporation Improvised explosive device defeat system
KR20130092189A (ko) * 2012-02-10 2013-08-20 삼성전자주식회사 촉각 전달 장치 및 방법
US8954195B2 (en) 2012-11-09 2015-02-10 Harris Corporation Hybrid gesture control haptic system
EP2760003A1 (de) * 2013-01-24 2014-07-30 Surgical Science Sweden AB Haptische Benutzerschnittstellenvorrichtung für chirurgisches Simulationssystem
PL225105B1 (pl) 2013-01-25 2017-02-28 Przemysłowy Inst Automatyki I Pomiarów Piap Urządzenie do sterowania o sześciu stopniach swobody
EP2951743B1 (de) 2013-02-04 2020-04-29 Children's National Medical Center Chirurgisches robotersystem mit hybridsteuerung
US8965620B2 (en) 2013-02-07 2015-02-24 Harris Corporation Systems and methods for controlling movement of unmanned vehicles
US9566414B2 (en) 2013-03-13 2017-02-14 Hansen Medical, Inc. Integrated catheter and guide wire controller
US9283046B2 (en) 2013-03-15 2016-03-15 Hansen Medical, Inc. User interface for active drive apparatus with finite range of motion
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US10849702B2 (en) * 2013-03-15 2020-12-01 Auris Health, Inc. User input devices for controlling manipulation of guidewires and catheters
US11020016B2 (en) 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
US9128507B2 (en) 2013-12-30 2015-09-08 Harris Corporation Compact haptic interface
EP2923669B1 (de) 2014-03-24 2017-06-28 Hansen Medical, Inc. Systeme und vorrichtungen zur instinktiven führung eines katheters
PL2990005T3 (pl) 2014-08-31 2018-02-28 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi Manipulator urządzenia medycznego
DE102014226239A1 (de) 2014-12-17 2016-06-23 Kuka Roboter Gmbh Verfahren zum sicheren Einkoppeln eines Eingabegerätes
PL3125214T3 (pl) 2015-07-31 2018-10-31 Fundacja Rozwoju Kardiochirurgii Im. Prof. Zbigniewa Religi Manipulator narzędziowy dla treningowo-testującego przyrządu medycznego
CN105415350A (zh) * 2016-01-06 2016-03-23 武汉穆特科技有限公司 并联三自由度力反馈手柄
CN105619449B (zh) * 2016-01-18 2018-08-24 南昌大学 一种基于力反馈设备的零自由长度弹簧重力补偿方法
CN105835086B (zh) * 2016-05-11 2017-12-01 华南理工大学 一种混联式6自由度力反馈机械臂
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
GB2554363B (en) 2016-09-21 2021-12-08 Cmr Surgical Ltd User interface device
WO2019113391A1 (en) 2017-12-08 2019-06-13 Auris Health, Inc. System and method for medical instrument navigation and targeting
CN111770737B (zh) 2017-12-28 2024-10-11 奥博斯吉科有限公司 显微外科手术专用触觉手控制器
JP2021062412A (ja) * 2018-02-20 2021-04-22 ソニー株式会社 触覚提示装置、及び触覚提示システム
WO2019222495A1 (en) 2018-05-18 2019-11-21 Auris Health, Inc. Controllers for robotically-enabled teleoperated systems
CN108693776B (zh) * 2018-07-25 2020-11-10 长安大学 一种三自由度Delta并联机器人的鲁棒控制方法
CN109062039B (zh) * 2018-07-25 2021-03-26 长安大学 一种三自由度Delta并联机器人的自适应鲁棒控制方法
CN109333528B (zh) * 2018-09-19 2022-04-22 深圳普瑞赛思检测技术有限公司 通用型6自由度力反馈设备
CN109592084B (zh) * 2018-12-29 2022-03-15 电子科技大学 一种模拟低重力环境下穿戴人员负载实验的装置
CN109746900B (zh) * 2019-02-01 2021-03-30 北京众绘虚拟现实技术研究院有限公司 一种医疗模拟用三平动并联力反馈装置
CN114025700A (zh) 2019-06-28 2022-02-08 奥瑞斯健康公司 控制台叠加以及其使用方法
CN111216129B (zh) * 2020-01-07 2023-03-21 华南理工大学 一种主被动结合的混联式力反馈设备重力补偿方法
CN111134847B (zh) * 2020-01-23 2021-10-22 诺创智能医疗科技(杭州)有限公司 操作组件及手术机器人
US20230330865A1 (en) * 2020-09-07 2023-10-19 The Board Of Trustees Of The Leland Stanford Junior University Drift-Based Adaptive Workspace Mapping Controller in Haptic Interaction

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WO1992005016A1 (en) * 1990-09-14 1992-04-02 The Trustees Of The University Of Pennsylvania Methods and apparatus for passively compensating for the effects of gravity upon articulated structures
EP2362285B1 (de) 1997-09-19 2015-03-25 Massachusetts Institute of Technology Robotergerät
GB9724453D0 (en) 1997-11-20 1998-01-14 Renishaw Plc Measuring or positioning machine
US6659939B2 (en) * 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
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US8010180B2 (en) * 2002-03-06 2011-08-30 Mako Surgical Corp. Haptic guidance system and method
AU2003218010A1 (en) * 2002-03-06 2003-09-22 Z-Kat, Inc. System and method for using a haptic device in combination with a computer-assisted surgery system
FR2863534B1 (fr) 2003-12-15 2007-01-05 Commissariat Energie Atomique Articulation de bras mecanique et bras pourvu de cette articulation

Also Published As

Publication number Publication date
EP1876505A1 (de) 2008-01-09
WO2008003417A1 (en) 2008-01-10
DE602006017820D1 (de) 2010-12-09
US20100019890A1 (en) 2010-01-28
US8188843B2 (en) 2012-05-29
EP1876505B1 (de) 2010-10-27

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