CA1235787A - Method and apparatus providing tactile feedback to operators of remotely controlled manipulators - Google Patents
Method and apparatus providing tactile feedback to operators of remotely controlled manipulatorsInfo
- Publication number
- CA1235787A CA1235787A CA000453944A CA453944A CA1235787A CA 1235787 A CA1235787 A CA 1235787A CA 000453944 A CA000453944 A CA 000453944A CA 453944 A CA453944 A CA 453944A CA 1235787 A CA1235787 A CA 1235787A
- Authority
- CA
- Canada
- Prior art keywords
- gripping mechanism
- tactile feedback
- assembly
- movable portion
- manipulator arm
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/907—Sensor controlled device
Abstract
METHOD AND APPARATUS PROVIDING TACTILE FEEDBACK TO
OPERATORS OF REMOTELY CONTROLLED MANIPULATORS
by GRAHAM S. HAWKES
An apparatus and method is disclosed for providing tactile feedback information to the operator of a remotely operated manipulator assembly (1), such as a robot arm (2), by mechanically coupling a vibration sensitive transducer (5, 19) to said assembly (1) and audibly reproducing (7, 8, 20) the transducer output for operator listening. The use of an accelerometer (19) as a vibration sensitive transducer (5, 19) is disclosed as well as techniques for cancelling environmental noise.
OPERATORS OF REMOTELY CONTROLLED MANIPULATORS
by GRAHAM S. HAWKES
An apparatus and method is disclosed for providing tactile feedback information to the operator of a remotely operated manipulator assembly (1), such as a robot arm (2), by mechanically coupling a vibration sensitive transducer (5, 19) to said assembly (1) and audibly reproducing (7, 8, 20) the transducer output for operator listening. The use of an accelerometer (19) as a vibration sensitive transducer (5, 19) is disclosed as well as techniques for cancelling environmental noise.
Description
123578'7 1 METHOD AND APPARATUS PROVI~ING TACTILE FEEDBACK TO
OPE~ATORS OF REMOTELY CONTROLLE~ MANIPULATORS
TECHNICAL FIE~D
The present invention relates generally ~o feedback systems for improving user control of remotely operated devices. In particular, the invention relates to audible feedback systems utilized in connection with remotely operated power driven manipulators such as "robot arms" and the like.
B~CKG~OUND ~RT
Remotely operated manipulators are finding wide use in fields ranging from surgery to deep sea exploration in environments ranginy from undersea to the surfaces of distant planets. In recent years, the use of remotely controlled manipulator systems to explore undeveloped natural resources has increased dramatically. Remotely operated manipulators are usually employed in hostile or humanly inaccessible environments to make repairs or conduct exploration. Typically, such apparatus includes one or more remotely operated, powered arms which have a terminal device, such as claws, pincers or jaws, which are employed as mechanical analogs of the human hand. The manipulator arms are usually jointed and have several axes of movement. The users of remotely operated manipulators have traditionally monitored manipulator position and motion through the use of closed circuit television. This enables the operator to see the effects of his control inputs in real time and make appropriate adjustments.
Video feedback systems, while very useful, do not provide sufficient information concerning manipulator force. Various schemes exist for providing user feedback information and force, speed, displacement and the like.
Many of the prior art systems are analogous to the well-known force feedback devices used to give a natural "feel"
to pilot controls on large aircraft which use boosted control systems. Other prior art systems utilize various ~235787 1 transducers to sense displacement, speed, and force and use the information derived therefrom to operate a duplicate manipulator which is placed proximately to the operator ~or direct viewing. An additional system for providing user feedback information on force and speed is disclosed in applicant's co-pending Canadian application Serial No.430,522, filed June 16, 1983.
The prior art discloses a number of systems for providing the user with information related to the forcer speedr and displacement of the remotely controlled manipulator device~ While these systems are highly useful, they do not provide the user with a sense of "touch". The great dexterity of the human hand i~ heavily dependent upon tactile sensitivity more commonly referred to as the sense of touch. The great importance of the sense of touch in performing del;cate tasks can be clearly appreciated b~
observing the great reduction in dexterity which occurs when the sense of touch is dulled by cold weather or a local anesthetic. A person with very cold hands has unimpaired visual feedback, and can, through the sensin~ of muscle contraction and tendon displacement, obtain some information relating to manual force exerted in the hand.
As is well known, however, a normally dexterous person with very cold hands will find his or her manual dexterity
OPE~ATORS OF REMOTELY CONTROLLE~ MANIPULATORS
TECHNICAL FIE~D
The present invention relates generally ~o feedback systems for improving user control of remotely operated devices. In particular, the invention relates to audible feedback systems utilized in connection with remotely operated power driven manipulators such as "robot arms" and the like.
B~CKG~OUND ~RT
Remotely operated manipulators are finding wide use in fields ranging from surgery to deep sea exploration in environments ranginy from undersea to the surfaces of distant planets. In recent years, the use of remotely controlled manipulator systems to explore undeveloped natural resources has increased dramatically. Remotely operated manipulators are usually employed in hostile or humanly inaccessible environments to make repairs or conduct exploration. Typically, such apparatus includes one or more remotely operated, powered arms which have a terminal device, such as claws, pincers or jaws, which are employed as mechanical analogs of the human hand. The manipulator arms are usually jointed and have several axes of movement. The users of remotely operated manipulators have traditionally monitored manipulator position and motion through the use of closed circuit television. This enables the operator to see the effects of his control inputs in real time and make appropriate adjustments.
Video feedback systems, while very useful, do not provide sufficient information concerning manipulator force. Various schemes exist for providing user feedback information and force, speed, displacement and the like.
Many of the prior art systems are analogous to the well-known force feedback devices used to give a natural "feel"
to pilot controls on large aircraft which use boosted control systems. Other prior art systems utilize various ~235787 1 transducers to sense displacement, speed, and force and use the information derived therefrom to operate a duplicate manipulator which is placed proximately to the operator ~or direct viewing. An additional system for providing user feedback information on force and speed is disclosed in applicant's co-pending Canadian application Serial No.430,522, filed June 16, 1983.
The prior art discloses a number of systems for providing the user with information related to the forcer speedr and displacement of the remotely controlled manipulator device~ While these systems are highly useful, they do not provide the user with a sense of "touch". The great dexterity of the human hand i~ heavily dependent upon tactile sensitivity more commonly referred to as the sense of touch. The great importance of the sense of touch in performing del;cate tasks can be clearly appreciated b~
observing the great reduction in dexterity which occurs when the sense of touch is dulled by cold weather or a local anesthetic. A person with very cold hands has unimpaired visual feedback, and can, through the sensin~ of muscle contraction and tendon displacement, obtain some information relating to manual force exerted in the hand.
As is well known, however, a normally dexterous person with very cold hands will find his or her manual dexterity
2~ severely impaired due to the lack of tactile feedback from the fingertips ~nd the other surfaces of the hand.
The prior art is noticeably lacking in devices which give the user of remotely operated manipulator devices some semblance of a sense of touch. Force/
displacement, and speed feedback information is highly useful but it is not equivalent to a sense of touch. Users of such prior art systems receive little or no information relating to the texture of the objects which are being manipulated. By providing the operator with an intuitively interpretable feedback signal from a tactile transducer mechanically coupled to the manipulator arm itself, the heretofore missing sense of touch is created. This feedback greatly improves controllability of the
The prior art is noticeably lacking in devices which give the user of remotely operated manipulator devices some semblance of a sense of touch. Force/
displacement, and speed feedback information is highly useful but it is not equivalent to a sense of touch. Users of such prior art systems receive little or no information relating to the texture of the objects which are being manipulated. By providing the operator with an intuitively interpretable feedback signal from a tactile transducer mechanically coupled to the manipulator arm itself, the heretofore missing sense of touch is created. This feedback greatly improves controllability of the
-3- ~2357~
1 manipulator arm, especially when used to perfor~ intricate tasks or manipulate delicate materials. The addition of a sense of touch to remote manipulator arm assemblies makes the analogy to a human hand much more complete and the operation of the robot arm can begin to closely approximate the motion and dexterity of a human arm and hand.
~ ccordingly, it is an object of the present invention to provide a method and apparatus for providing tactile feedback to operators of remotely controlled manipulators~
Another object of the present invention is to provide a tactile feedback system which can be used on a wide variety of robotic devices and is capable of operation in a wide range of operating environments.
A further object of the present invention is to provide a feedback system which allows a user to control a remotely operated manipulator with precision and dexterity heretofore unobtainable.
A still further object of the present invention is to provide an apparatus which provides the operator of a xemotely controlled manipulator information in an audible form which can be intuitively related to the texture and hardness of the surface which is in contact with the manipulator arm.
The apparatus and method of the instant invention has other objects and features of advantage which will be set forth in and become apparent from the following description of the preferred embodiment and the accompanying drawings.
DIS~OSURE OF THE INV~NTION
In contrast to the aforementioned feedback systems of the prior art, the present invention provides tactile feedback in the form of audible sound. The instant invention supplements the visual feedback syste~s of the prior art and other systems which provide force, speed, and displacement information. The essential principles of the invention can be used with all types of remotely operated
1 manipulator arm, especially when used to perfor~ intricate tasks or manipulate delicate materials. The addition of a sense of touch to remote manipulator arm assemblies makes the analogy to a human hand much more complete and the operation of the robot arm can begin to closely approximate the motion and dexterity of a human arm and hand.
~ ccordingly, it is an object of the present invention to provide a method and apparatus for providing tactile feedback to operators of remotely controlled manipulators~
Another object of the present invention is to provide a tactile feedback system which can be used on a wide variety of robotic devices and is capable of operation in a wide range of operating environments.
A further object of the present invention is to provide a feedback system which allows a user to control a remotely operated manipulator with precision and dexterity heretofore unobtainable.
A still further object of the present invention is to provide an apparatus which provides the operator of a xemotely controlled manipulator information in an audible form which can be intuitively related to the texture and hardness of the surface which is in contact with the manipulator arm.
The apparatus and method of the instant invention has other objects and features of advantage which will be set forth in and become apparent from the following description of the preferred embodiment and the accompanying drawings.
DIS~OSURE OF THE INV~NTION
In contrast to the aforementioned feedback systems of the prior art, the present invention provides tactile feedback in the form of audible sound. The instant invention supplements the visual feedback syste~s of the prior art and other systems which provide force, speed, and displacement information. The essential principles of the invention can be used with all types of remotely operated
-4- ~' ~235787 1 manlpulator systems including hydraulic, pneuma~ic, and electric types.
In its simplest formv the instant invention employs a microphone, accelerometerr or other vibration sensitive transducer which is mechanically coupled to the manipulator arm assembly. The electrical signal output from the transducer is amplified and, if necessary, processed and then supplied to the user through a speaker or headphone in the form of an acoustic signal. When employed in connection with manipulator arm assemblies of the type disclosed in applicant's co-pending ~anadian appli-cation Serial No. 430,523, filed June 15, 1985 :the usefulness and dexterity of the overall manipulato~ system was found to be greatly increased. The apparatus and method of the instant invention are extremely simple to implement and provide easily interpretable information which can, even to a relatively new operator, provide easily interpretable inforrnation relating to the texture, hardness, and overall "feel" of the object being touched by the manipulator.
BRIEF DESCRIPTION OF THE DRAWINGS
FIGURE 1 is a block functional diagram of an apparatus employing the present invention.
FIGURE 2 is a simplified electrical schematic diagram of an embodiment of the present invention.
FIGURE 3 is a schematic block diagram of an alternative embodiment of the present employing additional transducers for noise canceling.
BEST MODE OF CARRYING OUT THE
INVENTION AND INDUSTRIAL APPLICABILITY
Figure 1 illustrates a remotely operated manipulator arm 2 of a type typically employed in undersea applications. The gripping portion of manipulator arm 2 has jaw portions 3 and 4 which open and close in a manner similar to a crab claw. In a simple embodiment, the 3~ instant invention employs a vibration sensitive transducer
In its simplest formv the instant invention employs a microphone, accelerometerr or other vibration sensitive transducer which is mechanically coupled to the manipulator arm assembly. The electrical signal output from the transducer is amplified and, if necessary, processed and then supplied to the user through a speaker or headphone in the form of an acoustic signal. When employed in connection with manipulator arm assemblies of the type disclosed in applicant's co-pending ~anadian appli-cation Serial No. 430,523, filed June 15, 1985 :the usefulness and dexterity of the overall manipulato~ system was found to be greatly increased. The apparatus and method of the instant invention are extremely simple to implement and provide easily interpretable information which can, even to a relatively new operator, provide easily interpretable inforrnation relating to the texture, hardness, and overall "feel" of the object being touched by the manipulator.
BRIEF DESCRIPTION OF THE DRAWINGS
FIGURE 1 is a block functional diagram of an apparatus employing the present invention.
FIGURE 2 is a simplified electrical schematic diagram of an embodiment of the present invention.
FIGURE 3 is a schematic block diagram of an alternative embodiment of the present employing additional transducers for noise canceling.
BEST MODE OF CARRYING OUT THE
INVENTION AND INDUSTRIAL APPLICABILITY
Figure 1 illustrates a remotely operated manipulator arm 2 of a type typically employed in undersea applications. The gripping portion of manipulator arm 2 has jaw portions 3 and 4 which open and close in a manner similar to a crab claw. In a simple embodiment, the 3~ instant invention employs a vibration sensitive transducer
5 which is mechanically coupled to the manipulator assembly 1, preferably in close proximity to the gripping portion 2 ~5_ ~235787 1 of the manipulator. The output signal from transducer 5 is carried through cable 6 to amplifier 7 which has its output connected to electro-acoustic speaker means 8 for audibly reproducing the output of said transducer for operator listening. While mounting transducer 5 in close proximity to gripping portion 2 can be expected to provide the best results, it has been found that alternate locations more distant from portion 2 provides surprisingly good results.
There are a great number of different types of transducers which can provide useful information when employed in accordance with the present invention. It has been found, however, that an accelerometer gives highly desirable results and provides a certain amount of freedom from the effects of acoustic noise in the environments surrounding the manipulator arm l.
Various types of accelerometers can be used in connection with the instant invention including instrumentation accelerometers having one or more axes of sensitivity. When an accelerometer is employed as transducer 5, the user will hear sounds from speaker 8 which can be intuitively interpreted as indicators or texture, hardness, and general "feeli' of the object being touched by gripping portion 2 of manipulator arm l. The different sounds produced by touching steel, as opposed to plastic, are easily distinguishable and interpretable by the user and greatly aid in dexterous operation of the manipulator assembly.
An additional feature afforded by use of the instant invention is that vibrations relating to the operation of the manipulator arm can be heard giving the user additional information on actuator speeds, forces, and other related parameters of performance. It has been found, in actual use, that the focus motor of an attached video camera can be heard clearly as can the various manipulator motor drives thus giving the operator an additional means for monitoring and trouble shooting various manipulator and related or attached e~uipment operations.
There are a great number of different types of transducers which can provide useful information when employed in accordance with the present invention. It has been found, however, that an accelerometer gives highly desirable results and provides a certain amount of freedom from the effects of acoustic noise in the environments surrounding the manipulator arm l.
Various types of accelerometers can be used in connection with the instant invention including instrumentation accelerometers having one or more axes of sensitivity. When an accelerometer is employed as transducer 5, the user will hear sounds from speaker 8 which can be intuitively interpreted as indicators or texture, hardness, and general "feeli' of the object being touched by gripping portion 2 of manipulator arm l. The different sounds produced by touching steel, as opposed to plastic, are easily distinguishable and interpretable by the user and greatly aid in dexterous operation of the manipulator assembly.
An additional feature afforded by use of the instant invention is that vibrations relating to the operation of the manipulator arm can be heard giving the user additional information on actuator speeds, forces, and other related parameters of performance. It has been found, in actual use, that the focus motor of an attached video camera can be heard clearly as can the various manipulator motor drives thus giving the operator an additional means for monitoring and trouble shooting various manipulator and related or attached e~uipment operations.
-6- ~357~
1 Rigidly mounting an accelerometer to the gripping portion 2 of manipwlator arm l, greatly reduces the influence of noise in the surrounding environment. In undersea applications, environmental noise which would be deafening if sensed by a hydrophone located proximate to (but not mechanically coupled to) the manipulator assembly ll would not have such a pronounced effect on the output of an accelerometer rigidly affixed to the arm as shown in Figure l. The reason for this is that acoustic noise in the surrounding environment would have to be strong enough to accelerate the manipulator assembly l in order to produce an output from accelerometer transducer 5.
Accordingly, the instant invention can provide useful information relating to the texture and other tactile features of the object which is being manipulated even in a very noisy surrounding environment. This application shows some inherent advantages of employing an accelerometer in place of an ordinary microphone which would be more sensitive to vibrations in the surrounding water unless somehow acoustically shielded.
Referring now to Figure 2, in the preferred embodiment an instrumentation accelerometer l9 is rigidly mounted on a portion of the manipulator assembly proximate to the gripping mechanism 2 similar to the mounting of transducer 5 illustrated in Figure l. Instrumentation accelerometers typically employ a bipolar energizing power supply of plus or minus ~ volts D.C. and provide at their output, a signal which is fed to amplifier 20 through cable 6. Instrumentation accelerometers are typically strain guage type or potentiometer type devices, but include many other types such as piezo electric, moving coil, etc. The output from a velocity transducer can also be differentiated to give dV/dt, thus giving acceleration information. Amplifier 20, employed in connection with the aforementioned instrumentation accelerometer, should be set to exhibit a gain sufficient to provide a useful output to speaker 8~ In actual practice, an ordinary high-fidelity amplifier set at 60dB gain has been used as amplifier 20
1 Rigidly mounting an accelerometer to the gripping portion 2 of manipwlator arm l, greatly reduces the influence of noise in the surrounding environment. In undersea applications, environmental noise which would be deafening if sensed by a hydrophone located proximate to (but not mechanically coupled to) the manipulator assembly ll would not have such a pronounced effect on the output of an accelerometer rigidly affixed to the arm as shown in Figure l. The reason for this is that acoustic noise in the surrounding environment would have to be strong enough to accelerate the manipulator assembly l in order to produce an output from accelerometer transducer 5.
Accordingly, the instant invention can provide useful information relating to the texture and other tactile features of the object which is being manipulated even in a very noisy surrounding environment. This application shows some inherent advantages of employing an accelerometer in place of an ordinary microphone which would be more sensitive to vibrations in the surrounding water unless somehow acoustically shielded.
Referring now to Figure 2, in the preferred embodiment an instrumentation accelerometer l9 is rigidly mounted on a portion of the manipulator assembly proximate to the gripping mechanism 2 similar to the mounting of transducer 5 illustrated in Figure l. Instrumentation accelerometers typically employ a bipolar energizing power supply of plus or minus ~ volts D.C. and provide at their output, a signal which is fed to amplifier 20 through cable 6. Instrumentation accelerometers are typically strain guage type or potentiometer type devices, but include many other types such as piezo electric, moving coil, etc. The output from a velocity transducer can also be differentiated to give dV/dt, thus giving acceleration information. Amplifier 20, employed in connection with the aforementioned instrumentation accelerometer, should be set to exhibit a gain sufficient to provide a useful output to speaker 8~ In actual practice, an ordinary high-fidelity amplifier set at 60dB gain has been used as amplifier 20
7- ~Z35787 1 and provides good results. While linearity of transducer response is not essential, good results are obtained using devices which exhibit substantially linear response to vibration signals over a bandwidth of e.g. 2~ hz - 20 khz which is approximately the bandwidth of human hearing.
When accelerometer 19 is rigidly mechanically affixed to the structure of manipulator arm 1, undersea noise and pressure variations will affect the accelerometer output only as much as they cause acceleration of the relatively massive manipulator assembly. Again, the superiority of performance of the instant invention as compared to a proximately located non-affixed hydrophone is apparent.
When used in connection with smoothly operating manipulator arms having relatively quiet drive mechanisms, a single vibration transducer or accelerometer has been found to provide highly useful outputs. There may be, however, some applications in which manipulator noise and vibration caused by motors, hydraulic actuatorsr and the like, cause objectionable interference which can be eliminated, or greatly reduced~ by an embodiment of the invention schematically illustrated in Figure 3. In Figure 3, amplifier 21 is a differential amplifier having one input 22 connected to a second vibration sensitive transducer 23 which is mounted proximate to the portion of the manipulator assembly which is producing the objectionable noise~ The output from transducer 19 is connected to input 24 of differential amp 21. Transducer 19 is mounted, as previously explained, proximate to the gripping portion of the manipulator assembly so as to obtain tactile information closest to the gripping surface.
The output from differential amplifier 21 is used to drive loudspeaker 8 which should, if the system is properly installed, reproduce a signal which represents the difference between the noise and the desired vibration signal sensed at the gripping surface which is a combination of noise and desirable si~nal. The resultant sum should be a relatively noise-free signal. Means 25, schematically illustrated as a potentiometer, can be used ~235~7 1 to vary the relative level of the transducer output signals for optimizing the noise canceling effects of the differential amplification performed by amplifier 21.
Other well-known noise canceling techniques ~an be used such as those employed in the commonly available noise canceling microphones used in radio communications.
When accelerometer 19 is rigidly mechanically affixed to the structure of manipulator arm 1, undersea noise and pressure variations will affect the accelerometer output only as much as they cause acceleration of the relatively massive manipulator assembly. Again, the superiority of performance of the instant invention as compared to a proximately located non-affixed hydrophone is apparent.
When used in connection with smoothly operating manipulator arms having relatively quiet drive mechanisms, a single vibration transducer or accelerometer has been found to provide highly useful outputs. There may be, however, some applications in which manipulator noise and vibration caused by motors, hydraulic actuatorsr and the like, cause objectionable interference which can be eliminated, or greatly reduced~ by an embodiment of the invention schematically illustrated in Figure 3. In Figure 3, amplifier 21 is a differential amplifier having one input 22 connected to a second vibration sensitive transducer 23 which is mounted proximate to the portion of the manipulator assembly which is producing the objectionable noise~ The output from transducer 19 is connected to input 24 of differential amp 21. Transducer 19 is mounted, as previously explained, proximate to the gripping portion of the manipulator assembly so as to obtain tactile information closest to the gripping surface.
The output from differential amplifier 21 is used to drive loudspeaker 8 which should, if the system is properly installed, reproduce a signal which represents the difference between the noise and the desired vibration signal sensed at the gripping surface which is a combination of noise and desirable si~nal. The resultant sum should be a relatively noise-free signal. Means 25, schematically illustrated as a potentiometer, can be used ~235~7 1 to vary the relative level of the transducer output signals for optimizing the noise canceling effects of the differential amplification performed by amplifier 21.
Other well-known noise canceling techniques ~an be used such as those employed in the commonly available noise canceling microphones used in radio communications.
Claims (3)
- Claim 1 continued. . .
(ii) means coupled to said accelerometer for audibly reproducing said output signal for operator listening. - 2. The manipulator arm assembly and tactile feedback apparatus as defined in claim 1, wherein, said accelerometer is rigidly coupled directly to said gripping mechanism.
- 3. The manipulator arm assembly and tactile feedback apparatus as defined in claim 2, wherein, said manipulator arm includes a stationary portion and said movably portion is mounted for movement with respect to said stationary portion, and said fluid drive assembly includes at least one master piston-cylinder assembly positioned on said stationary portion and at least one slave piston-cylinder assembly coupled for fluid communication with respect to said master piston-cylinder assembly, said slave piston-cylinder assembly being mounted on said movable portion to drive said movable portion and said gripping mechanism.
1. In a combination, a manipulator arm assembly and a tactile feedback apparatus comprising:
(a) a remotely operated manipulator arm having movable portion, a gripping mechanism carried by said movable portion, and a fluid drive assembly coupled to displace said movable portion and said gripping mechanism, said fluid drive assembly being formed for displacement of said movable portion and said gripping mechanism without producing substantial acoustically induced vibration in said arm; and (b) a tactile feedback apparatus including:
(i) an accelerometer formed to provide an electrical output signal and rigidly mechanically coupled to one of said movable portion and said gripping mechanism sufficiently proximate to said gripping mechanism to enable sensing of contact-induced vibrations occurring in said gripping mechanism upon contact of said gripping mechanism with an object and distinguishing of said contact-induced vibrations from background acoustical noise from said fluid drive assembly and from the medium surrounding said manipulator arm; and
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US493,419 | 1983-05-10 | ||
| US06/493,419 US4655673A (en) | 1983-05-10 | 1983-05-10 | Apparatus providing tactile feedback to operators of remotely controlled manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1235787A true CA1235787A (en) | 1988-04-26 |
Family
ID=23960150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000453944A Expired CA1235787A (en) | 1983-05-10 | 1984-05-09 | Method and apparatus providing tactile feedback to operators of remotely controlled manipulators |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US4655673A (en) |
| EP (1) | EP0125895B1 (en) |
| JP (1) | JPS59209797A (en) |
| CA (1) | CA1235787A (en) |
| NO (1) | NO841830L (en) |
Families Citing this family (108)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5103404A (en) * | 1985-12-06 | 1992-04-07 | Tensor Development, Inc. | Feedback for a manipulator |
| US4831531A (en) * | 1987-02-20 | 1989-05-16 | Sargent Industries, Inc. | System for the performance of activity in space |
| CA1294393C (en) * | 1988-07-11 | 1992-01-21 | Juliusz J. Grodski | Myoelectric control of actuators |
| US5184319A (en) * | 1990-02-02 | 1993-02-02 | Kramer James F | Force feedback and textures simulating interface device |
| US5631861A (en) | 1990-02-02 | 1997-05-20 | Virtual Technologies, Inc. | Force feedback and texture simulating interface device |
| JPH05208014A (en) * | 1991-04-10 | 1993-08-20 | Olympus Optical Co Ltd | Treating tool |
| US5339799A (en) * | 1991-04-23 | 1994-08-23 | Olympus Optical Co., Ltd. | Medical system for reproducing a state of contact of the treatment section in the operation unit |
| US5220260A (en) * | 1991-10-24 | 1993-06-15 | Lex Computer And Management Corporation | Actuator having electronically controllable tactile responsiveness |
| US5889670A (en) * | 1991-10-24 | 1999-03-30 | Immersion Corporation | Method and apparatus for tactilely responsive user interface |
| US6801008B1 (en) * | 1992-12-02 | 2004-10-05 | Immersion Corporation | Force feedback system and actuator power management |
| US5629594A (en) * | 1992-12-02 | 1997-05-13 | Cybernet Systems Corporation | Force feedback system |
| US7345672B2 (en) * | 1992-12-02 | 2008-03-18 | Immersion Corporation | Force feedback system and actuator power management |
| US5389865A (en) * | 1992-12-02 | 1995-02-14 | Cybernet Systems Corporation | Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor |
| US5451924A (en) * | 1993-01-14 | 1995-09-19 | Massachusetts Institute Of Technology | Apparatus for providing sensory substitution of force feedback |
| US5701140A (en) | 1993-07-16 | 1997-12-23 | Immersion Human Interface Corp. | Method and apparatus for providing a cursor control interface with force feedback |
| US5776126A (en) * | 1993-09-23 | 1998-07-07 | Wilk; Peter J. | Laparoscopic surgical apparatus and associated method |
| US5625576A (en) | 1993-10-01 | 1997-04-29 | Massachusetts Institute Of Technology | Force reflecting haptic interface |
| US5474566A (en) * | 1994-05-05 | 1995-12-12 | United States Surgical Corporation | Self-contained powered surgical apparatus |
| US5628446A (en) * | 1994-05-05 | 1997-05-13 | United States Surgical Corporation | Self-contained powered surgical apparatus |
| CA2148667A1 (en) * | 1994-05-05 | 1995-11-06 | Carlo A. Mililli | Self-contained powered surgical apparatus |
| US5779130A (en) * | 1994-08-05 | 1998-07-14 | United States Surgical Corporation | Self-contained powered surgical apparatus |
| EP0699418A1 (en) * | 1994-08-05 | 1996-03-06 | United States Surgical Corporation | Self-contained powered surgical apparatus |
| US7445594B1 (en) | 1995-09-20 | 2008-11-04 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
| AU1328597A (en) | 1995-11-30 | 1997-06-19 | Virtual Technologies, Inc. | Tactile feedback man-machine interface device |
| US7225404B1 (en) * | 1996-04-04 | 2007-05-29 | Massachusetts Institute Of Technology | Method and apparatus for determining forces to be applied to a user through a haptic interface |
| US6111577A (en) | 1996-04-04 | 2000-08-29 | Massachusetts Institute Of Technology | Method and apparatus for determining forces to be applied to a user through a haptic interface |
| US6084587A (en) | 1996-08-02 | 2000-07-04 | Sensable Technologies, Inc. | Method and apparatus for generating and interfacing with a haptic virtual reality environment |
| US6024576A (en) * | 1996-09-06 | 2000-02-15 | Immersion Corporation | Hemispherical, high bandwidth mechanical interface for computer systems |
| SE512643C2 (en) | 1997-04-29 | 2000-04-17 | Handevelop Ab | Apparatus for artificial sensation by recording touch sounds |
| SG96541A1 (en) * | 1997-08-14 | 2003-06-16 | Inst Of Microelectronics | Design of a novel tactile sensor |
| IL122111A (en) | 1997-11-04 | 2004-06-01 | Sightline Techn Ltd | Video rectoscope |
| US20080177285A1 (en) * | 1998-02-24 | 2008-07-24 | Hansen Medical, Inc. | Surgical instrument |
| US6692485B1 (en) | 1998-02-24 | 2004-02-17 | Endovia Medical, Inc. | Articulated apparatus for telemanipulator system |
| US7713190B2 (en) | 1998-02-24 | 2010-05-11 | Hansen Medical, Inc. | Flexible instrument |
| US8414598B2 (en) | 1998-02-24 | 2013-04-09 | Hansen Medical, Inc. | Flexible instrument |
| US7789875B2 (en) * | 1998-02-24 | 2010-09-07 | Hansen Medical, Inc. | Surgical instruments |
| US6197017B1 (en) | 1998-02-24 | 2001-03-06 | Brock Rogers Surgical, Inc. | Articulated apparatus for telemanipulator system |
| US6015174A (en) * | 1998-06-04 | 2000-01-18 | Eastman Kodak Company | Universal end effector for robotic applications |
| US6421048B1 (en) | 1998-07-17 | 2002-07-16 | Sensable Technologies, Inc. | Systems and methods for interacting with virtual objects in a haptic virtual reality environment |
| US6552722B1 (en) * | 1998-07-17 | 2003-04-22 | Sensable Technologies, Inc. | Systems and methods for sculpting virtual objects in a haptic virtual reality environment |
| US6985133B1 (en) | 1998-07-17 | 2006-01-10 | Sensable Technologies, Inc. | Force reflecting haptic interface |
| US6435794B1 (en) * | 1998-11-18 | 2002-08-20 | Scott L. Springer | Force display master interface device for teleoperation |
| US8527094B2 (en) | 1998-11-20 | 2013-09-03 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
| US6852107B2 (en) * | 2002-01-16 | 2005-02-08 | Computer Motion, Inc. | Minimally invasive surgical training using robotics and tele-collaboration |
| US6398726B1 (en) * | 1998-11-20 | 2002-06-04 | Intuitive Surgical, Inc. | Stabilizer for robotic beating-heart surgery |
| US6659939B2 (en) | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
| US6452586B1 (en) | 1998-11-30 | 2002-09-17 | Microsoft Corporation | Computer input device providing tactile feedback |
| IL128286A (en) * | 1999-01-29 | 2004-01-04 | Sightline Techn Ltd | Propulsion of a probe in the colon using a flexible sleeve |
| US6315184B1 (en) * | 1999-06-02 | 2001-11-13 | Powermed, Inc. | Stapling device for use with an electromechanical driver device for use with anastomosing, stapling, and resecting instruments |
| US6517565B1 (en) | 1999-06-02 | 2003-02-11 | Power Medical Interventions, Inc. | Carriage assembly for controlling a steering wire steering mechanism within a flexible shaft |
| US6981941B2 (en) * | 1999-06-02 | 2006-01-03 | Power Medical Interventions | Electro-mechanical surgical device |
| US6716233B1 (en) | 1999-06-02 | 2004-04-06 | Power Medical Interventions, Inc. | Electromechanical driver and remote surgical instrument attachment having computer assisted control capabilities |
| US6491201B1 (en) | 2000-02-22 | 2002-12-10 | Power Medical Interventions, Inc. | Fluid delivery mechanism for use with anastomosing, stapling, and resecting instruments |
| US7695485B2 (en) | 2001-11-30 | 2010-04-13 | Power Medical Interventions, Llc | Surgical device |
| US8025199B2 (en) | 2004-02-23 | 2011-09-27 | Tyco Healthcare Group Lp | Surgical cutting and stapling device |
| US6264087B1 (en) | 1999-07-12 | 2001-07-24 | Powermed, Inc. | Expanding parallel jaw device for use with an electromechanical driver device |
| US7032798B2 (en) | 1999-06-02 | 2006-04-25 | Power Medical Interventions, Inc. | Electro-mechanical surgical device |
| US7951071B2 (en) | 1999-06-02 | 2011-05-31 | Tyco Healthcare Group Lp | Moisture-detecting shaft for use with an electro-mechanical surgical device |
| US6793652B1 (en) | 1999-06-02 | 2004-09-21 | Power Medical Interventions, Inc. | Electro-mechanical surgical device |
| US6533157B1 (en) | 2000-02-22 | 2003-03-18 | Power Medical Interventions, Inc. | Tissue stapling attachment for use with an electromechanical driver device |
| US6488197B1 (en) | 2000-02-22 | 2002-12-03 | Power Medical Interventions, Inc. | Fluid delivery device for use with anastomosing resecting and stapling instruments |
| US8016855B2 (en) | 2002-01-08 | 2011-09-13 | Tyco Healthcare Group Lp | Surgical device |
| US6860877B1 (en) | 2000-09-29 | 2005-03-01 | Computer Motion, Inc. | Heart stabilizer support arm |
| DE60143909D1 (en) * | 2000-11-28 | 2011-03-03 | Intuitive Surgical Operations | Z AND VASCULAR CLOSURE |
| US6867770B2 (en) * | 2000-12-14 | 2005-03-15 | Sensable Technologies, Inc. | Systems and methods for voxel warping |
| US6958752B2 (en) * | 2001-01-08 | 2005-10-25 | Sensable Technologies, Inc. | Systems and methods for three-dimensional modeling |
| IL143255A (en) | 2001-05-20 | 2015-09-24 | Simbionix Ltd | Endoscopic ultrasonography simulation |
| US9113878B2 (en) | 2002-01-08 | 2015-08-25 | Covidien Lp | Pinion clip for right angle linear cutter |
| AU2003224982A1 (en) * | 2002-04-12 | 2003-10-27 | Fritz H. Obermeyer | Multi-axis joystick and transducer means therefore |
| US6671651B2 (en) | 2002-04-26 | 2003-12-30 | Sensable Technologies, Inc. | 3-D selection and manipulation with a multiple dimension haptic interface |
| US6930590B2 (en) | 2002-06-10 | 2005-08-16 | Ownway Biotronics, Inc. | Modular electrotactile system and method |
| WO2003105702A2 (en) | 2002-06-14 | 2003-12-24 | Power Medical Interventions, Inc. | Surgical device |
| CN100384364C (en) * | 2002-09-30 | 2008-04-30 | 赛特莱恩技术有限公司 | Piston-actuated endoscopic tool |
| US8007511B2 (en) | 2003-06-06 | 2011-08-30 | Hansen Medical, Inc. | Surgical instrument design |
| US7850456B2 (en) | 2003-07-15 | 2010-12-14 | Simbionix Ltd. | Surgical simulation device, system and method |
| US6908428B2 (en) | 2003-09-04 | 2005-06-21 | Sightline Technologies Ltd. | Sleeve for endoscopic tools |
| US6957581B2 (en) * | 2003-10-29 | 2005-10-25 | Infineon Technologies Richmond, Lp | Acoustic detection of mechanically induced circuit damage |
| US7411576B2 (en) * | 2003-10-30 | 2008-08-12 | Sensable Technologies, Inc. | Force reflecting haptic interface |
| US7382378B2 (en) | 2003-10-30 | 2008-06-03 | Sensable Technologies, Inc. | Apparatus and methods for stenciling an image |
| US7095418B2 (en) * | 2003-10-30 | 2006-08-22 | Sensable Technologies, Inc. | Apparatus and methods for texture mapping |
| US7889209B2 (en) * | 2003-12-10 | 2011-02-15 | Sensable Technologies, Inc. | Apparatus and methods for wrapping texture onto the surface of a virtual object |
| US7626589B2 (en) * | 2003-12-10 | 2009-12-01 | Sensable Technologies, Inc. | Haptic graphical user interface for adjusting mapped texture |
| US7149596B2 (en) * | 2004-01-13 | 2006-12-12 | Sensable Technologies, Inc. | Apparatus and methods for modifying a model of an object to enforce compliance with a manufacturing constraint |
| US7794387B2 (en) | 2006-04-26 | 2010-09-14 | Medtronic, Inc. | Methods and devices for stabilizing tissue |
| WO2008087629A2 (en) | 2007-01-16 | 2008-07-24 | Simbionix Ltd. | Preoperative surgical simulation |
| US8543338B2 (en) | 2007-01-16 | 2013-09-24 | Simbionix Ltd. | System and method for performing computerized simulations for image-guided procedures using a patient specific model |
| EP2197363B1 (en) | 2007-09-21 | 2016-11-02 | Covidien LP | Surgical device |
| WO2009039510A1 (en) | 2007-09-21 | 2009-03-26 | Power Medical Interventions, Inc. | Surgical device |
| US20090093856A1 (en) * | 2007-10-05 | 2009-04-09 | Mady Attila | High fidelity electronic tactile sensor and stimulator array, including sexual stimulus |
| EP2534598A4 (en) * | 2010-02-09 | 2017-07-12 | The Trustees Of The University Of Pennsylvania | Systems and methods for providing vibration feedback in robotic systems |
| US8988445B2 (en) | 2010-07-30 | 2015-03-24 | The Trustees Of The University Of Pennsylvania | Systems and methods for capturing and recreating the feel of surfaces |
| 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 |
| US9990856B2 (en) | 2011-02-08 | 2018-06-05 | The Trustees Of The University Of Pennsylvania | Systems and methods for providing vibration feedback in robotic systems |
| 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 |
| US9802364B2 (en) | 2011-10-18 | 2017-10-31 | 3D Systems, Inc. | Systems and methods for construction of an instruction set for three-dimensional printing of a user-customizableimage of a three-dimensional structure |
| US8954195B2 (en) | 2012-11-09 | 2015-02-10 | Harris Corporation | Hybrid gesture control haptic system |
| US8965620B2 (en) | 2013-02-07 | 2015-02-24 | Harris Corporation | Systems and methods for controlling movement of unmanned vehicles |
| US9128507B2 (en) | 2013-12-30 | 2015-09-08 | Harris Corporation | Compact haptic interface |
| US9600083B2 (en) * | 2014-07-15 | 2017-03-21 | Immersion Corporation | Systems and methods to generate haptic feedback for skin-mediated interactions |
| JP6582549B2 (en) * | 2015-05-25 | 2019-10-02 | ソニー株式会社 | Vibration detection module, vibration detection device, vibration detection method, and surgical system |
| US10462567B2 (en) | 2016-10-11 | 2019-10-29 | Ford Global Technologies, Llc | Responding to HVAC-induced vehicle microphone buffeting |
| US10525921B2 (en) | 2017-08-10 | 2020-01-07 | Ford Global Technologies, Llc | Monitoring windshield vibrations for vehicle collision detection |
| US10562449B2 (en) * | 2017-09-25 | 2020-02-18 | Ford Global Technologies, Llc | Accelerometer-based external sound monitoring during low speed maneuvers |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1054736B (en) * | 1958-06-12 | 1959-04-09 | Gen Mills Inc | Method and device for acoustic gripping force and release display |
| DE1919034A1 (en) * | 1969-04-15 | 1970-10-22 | Erdmann Jesnitzer Dr Ing Habil | Device for controlling electric welding processes |
| US3948093A (en) * | 1975-06-30 | 1976-04-06 | International Business Machines Corporation | Six degree of freedom force transducer for a manipulator system |
| DE2636473C3 (en) * | 1976-08-13 | 1980-04-10 | Maschinenfabrik Augsburg-Nuernberg Ag, 8000 Muenchen | Grippers, in particular for handling devices |
| JPS5532864U (en) * | 1978-08-25 | 1980-03-03 | ||
| SE419709B (en) * | 1979-02-21 | 1981-08-24 | Roland Kaufeldt | SET AND DEVICE FOR ASTADCOMMATING QUICK TIME AND SOFT BRAKING AND AN EXACTLY DETERMINED FINAL ROOM WITH A GREAT ROBOT FRAME |
| JPS5911435B2 (en) * | 1980-12-11 | 1984-03-15 | ファナック株式会社 | Industrial robot safety mechanism |
| DD156784A1 (en) * | 1981-01-05 | 1982-09-22 | Hubert Brodkorb | CONTROL FOR MANIPULATORS |
| US4521685A (en) * | 1982-03-01 | 1985-06-04 | Lord Corporation | Tactile sensor for an industrial robot or the like |
-
1983
- 1983-05-10 US US06/493,419 patent/US4655673A/en not_active Expired - Fee Related
-
1984
- 1984-05-08 NO NO841830A patent/NO841830L/en unknown
- 1984-05-09 CA CA000453944A patent/CA1235787A/en not_active Expired
- 1984-05-09 JP JP59091151A patent/JPS59209797A/en active Pending
- 1984-05-10 EP EP84303178A patent/EP0125895B1/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| US4655673A (en) | 1987-04-07 |
| NO841830L (en) | 1984-11-12 |
| EP0125895B1 (en) | 1987-11-19 |
| EP0125895A1 (en) | 1984-11-21 |
| JPS59209797A (en) | 1984-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA1235787A (en) | Method and apparatus providing tactile feedback to operators of remotely controlled manipulators | |
| EP0440202B1 (en) | Force-reflective teleoperation control system | |
| US5451924A (en) | Apparatus for providing sensory substitution of force feedback | |
| Dennerlein et al. | Vibrotactile feedback for industrial telemanipulators | |
| Hayward | Toward a seven axis haptic device | |
| McMahan et al. | Dynamic modeling and control of voice-coil actuators for high-fidelity display of haptic vibrations | |
| US20170010671A1 (en) | Haptic interface with localized feedback | |
| KR20130006440A (en) | Systems and methods for providing vibration feedback in robotic systems | |
| US4604559A (en) | Apparatus and method for providing useful audio feedback to aid in the operation of remotely controlled powered manipulators | |
| Li et al. | Resonant pneumatic tactile sensing for soft grippers | |
| WO1997003536A1 (en) | Loudspeaker circuit with means for monitoring the pressure at the speaker diaphragm, means for monitoring the velocity of the speaker diaphragm and a feedback circuit | |
| Rajamani et al. | Observers with dual spatially separated sensors for enhanced estimation: Industrial, automotive, and biomedical applications | |
| KR20010076786A (en) | Remote-Controlled Robot System and Method using VR technology | |
| JP3363921B2 (en) | Sound image localization device | |
| US11826900B2 (en) | Manipulation device and manipulation system | |
| JPH04275887A (en) | Master slave manipurator | |
| KR200218509Y1 (en) | Vibration Sensing Type Audible System for Remote Operation of Mechanical Equipment | |
| Vaidyanathan et al. | A dual-mode human-machine interface for robotic control based on acoustic sensitivity of the aural cavity | |
| Mitsuishi et al. | Information transformation-based tele-micro-handling/machining system | |
| CN218788845U (en) | Hearing aid acoustic detection device and system | |
| Kano et al. | Design and prototype of a remote arm-wrestling system | |
| Okuno et al. | Sound and visual tracking for humanoid robot | |
| LEHNERT et al. | Binaural room simulation(Abstract Only) | |
| FIRST et al. | REVIEWS OF ACOUSTICAL PATENTS | |
| Sarweswaran et al. | Analysis of sound wave using active noise cancellation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKEX | Expiry |