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US Patent 6985133 Force reflecting haptic interface

Patent 6985133 was granted and assigned to SensAble Technologies on January, 2006 by the United States Patent and Trademark Office.

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Is a

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Patent attributes

Current Assignee

SensAble Technologies

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Patent Jurisdiction

United States Patent and Trademark Office

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Patent Number

Patent Inventor Names

R. Michael Lohse0

Andrew Ziegler0

Clive Bolton0

Guy Rodomista0

Thomas H. Massie0

William A. Goodwin0

Date of Patent

January 10, 2006

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Patent Application Number

093562890

Date Filed

July 16, 1999

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Patent Citations Received

US Patent 12004817 Method and apparatus for controlling a haptic device

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US Patent 11971086 Cable tensioner

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US Patent 11950856 Surgical device with movement compensation

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US Patent 11903668 Torque sensing in a surgical robotic wrist

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US Patent 11937884 Method and apparatus for controlling a haptic device

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Patent Primary Examiner

Dennis-Doon Chow

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Patent abstract

A six degree of freedom force reflecting haptic interface includes three powered axes and three free axes, all of which are tracked so that the position of a user connection element in the work volume can be determined. The interface includes cable drives with polymer composite or metallic cables, automatic cable tensioning devices, and grounded actuator capstans. A nested hub and transfer drive provide a compact, weight balanced interface. User comfort and safety features are also provided.

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