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1. (WO1998051451) FORCE-FEEDBACK INTERFACE DEVICE FOR THE HAND

Pub. No.:    WO/1998/051451    International Application No.:    PCT/US1998/009677
Publication Date: Fri Nov 20 00:59:59 CET 1998 International Filing Date: Wed May 13 01:59:59 CEST 1998
IPC: A61B 19/00
G06F 3/00
Applicants: VIRTUAL TECHNOLOGIES, INC.
Inventors: KRAMER, James, F.
YIM, Mark, H.
TREMBLAY, Marc, R.
GOMEZ, Daniel, H.
Title: FORCE-FEEDBACK INTERFACE DEVICE FOR THE HAND
Abstract:
A man-machine interface is disclosed which provides force information to sensing body parts. The interface is comprised of a force-generating device (106) that produces a force which is transmitted to a force-applying device (102) via force-transmitting means (104). The force-applying device applies the generated force to a sensing body part. A force sensor associated with the force-applying device and located in the force applicator (126) measures the actual force applied to the sensing body part, while angle sensors (136) measure the angles of relevant joint body parts. A force-control unit (108) uses the joint body part position information to determine a desired force value to be applied to the sensing body part. The force-control unit combines the joint body part position information with the force sensor information to calculate the force command which is sent to the force-generating device.