Force feedback device including coupling device

Abstract

A method and apparatus which includes a manipulandum that is movable in at least one degree of freedom. A sensor which is configured to sense motion of the manipulandum provides a locative signal to a first processor. A coupling device is coupled to the manipulandum and a first component. The coupling device is configured to allow the manipulandum to freely move a first distance with respect to the first component. An actuator coupled to the first component and configured to output force feedback to the first component in response to receiving a force signal from the first processor, whereby the force feedback to the first component causes resistance to movement of the manipulandum when the manipulandum moves beyond the first distance.

1 . An apparatus, comprising: 
 a manipulandum movable in at least one degree of freedom;    a sensor configured to sense motion of the manipulandum in the at least one degree of freedom, wherein the sensor provides a locative signal to a first processor;    a coupling device coupled to the manipulandum and a first component, wherein the coupling device is configured to allow the manipulandum to freely move a first distance with respect to the first component; and    an actuator coupled to the first component and configured to output force feedback to the first component in response to a force signal from the first processor, wherein the force feedback to the first component causes resistance to movement of the manipulandum when the manipulandum moves beyond the first distance.    
   
   
       2 . The apparatus of  claim 1 , wherein the coupling device allows the manipulandum to move freely along the first distance while the force feedback is applied to the manipulandum.  
   
   
       3 . The apparatus of  claim 1 , wherein the manipulandum is configured to freely move the first distance with respect to the first component rotationally about an axis.  
   
   
       4 . The apparatus of  claim 1 , wherein the manipulandum is configured to freely move the first distance with respect to the first component linearly about an axis.  
   
   
       5 . The apparatus of  claim 1 , wherein the manipulandum is rigidly mounted to the coupling device.  
   
   
       6 . The apparatus of  claim 1 , further comprising a second component coupled to the coupling device and in communication with the first component, wherein the manipulandum is rigidly mounted to the second component.  
   
   
       7 . The apparatus of  claim 1 , wherein the first component and the coupling device are in an interlocked configuration, wherein the first component includes a protrusion and the coupling device includes a gap configured to receive the protrusion therein.  
   
   
       8 . The apparatus of  claim 7 , wherein a dimension of the gap is associated with a resolution of the sensor.  
   
   
       9 . The apparatus of  claim 8 , wherein the sensor has a resolution of approximately 0.1 of a degree and the gap between the first component and the coupling device is approximately 0.001 of an inch.  
   
   
       10 . The apparatus of  claim 1 , further comprising: 
 a second processor remote from the first processor and configured to process the locative signal from the first processor and to generate force feedback information signals to be transmitted to the first processor.    
   
   
       11 . A method for allowing movement of a user interface device, comprising: 
 sensing movement of a manipulandum in at least one degree of freedom, wherein the manipulandum is coupled to a coupling device operatively connected to a first component;    transmitting a locative signal associated with the sensed movement to a first processor, wherein the first processor transmits a force feedback signal based on the locative signal; and    outputting a force feedback to the first component utilizing an actuator, the force feedback being based on the force feedback signal to resist movement of the manipulandum in the at least one degree of freedom, wherein the coupling device allows the manipulandum to freely move a distance with respect to the first component while the force feedback is applied to the first component.    
   
   
       12 . The method of  claim 11 , wherein the manipulandum is configured to freely move the distance with respect to the first component rotationally about an axis.  
   
   
       13 . The method of  claim 11 , wherein the manipulandum is configured to freely move the distance with respect to the first component linearly about an axis.  
   
   
       14 . The method of  claim 11 , wherein the manipulandum is rigidly mounted to the coupling device.  
   
   
       15 . The method of  claim 11 , wherein a second component is coupled to the coupling device and in communication with the first component, wherein the manipulandum is rigidly mounted to the second component.  
   
   
       16 . The method of  claim 11 , further comprising: 
 receiving the locative signal from the first processor at a second processor; and    outputting force feedback information signals to be transmitted to the first processor.    
   
   
       17 . A computer executable program capable of being on a tangible media, the computer executable program configured to perform a method for allowing movement of a user interface device, the method comprising: 
 sensing movement of a manipulandum in at least one degree of freedom, wherein the manipulandum is coupled to a coupling device operatively connected to a first component;    transmitting a locative signal associated with the sensed movement to a first processor, wherein the first processor transmits a force feedback signal based on the locative signal; and    outputting a force feedback to the first component utilizing an actuator based on the force feedback signal, the force feedback to the first component to resist movement of the manipulandum in the at least one degree of freedom, wherein the coupling device allows the manipulandum to freely move a distance with respect to the first component while the force feedback is applied to the first component.    
   
   
       18 . The method of  claim 17 , wherein the manipulandum is configured to freely move the distance with respect to the first component rotationally about an axis.  
   
   
       19 . The method of  claim 17 , wherein the manipulandum is configured to freely move the distance with respect to the first component linearly about an axis.  
   
   
       20 . The method of  claim 17 , further comprising: 
 receiving the locative signal from the first processor at a second processor; and    outputting force feedback information signals to be transmitted to the first processor.    
   
   
       21 . An apparatus, comprising: 
 a manipulandum movable in at least one degree of freedom;    a sensor configured to sense motion of the manipulandum in the at least one degree of freedom, wherein the sensor provides a locative signal to a first processor;    a coupling device coupled to the manipulandum and a first component, wherein the coupling device is configured to allow the manipulandum to freely move a first distance with respect to the first component; and    an actuator coupled to the first component and configured to output force feedback to the first component in response to a force signal from the first processor, wherein the force feedback to the first component alters a resistance to movement of the manipulandum when the manipulandum moves in a second direction opposite to the first direction.