Patent ID: 6380925
Filing Date: 2002-04-30
Classification: A63F,G05G,G06F

Abstract:
A force feedback interface device for providing forces on a user manipulating said interface device, said interface device capable of communicating with a host computer, said force feedback interface device comprising:a user manipulandum for physical contact by a user; a sensor operative to detect a position of said user manipulandum in a degree of freedom; an actuator coupled to said user manipulandum operative to apply a force to said user manipulandum; a linkage mechanism coupled between said actuator and said user manipulandum, said linkage mechanism providing said degree of freedom and transmitting said force from said actuator to said user manipulandum; and a coupling device for coupling a spring to said manipulandum, said coupling device coupled to said linkage mechanism and selectively allowing a physical spring to be coupled to said linkage mechanism to provide a spring force on said user manipulandum, wherein said coupling device includes a catch mechanism coupled to said physical spring, said catch mechanism including two catch members which may be selectively engaged and selectively disengaged with each other to selectively allow said spring to be coupled to said linkage mechanism.