Patent ID: 6377011
Filing Date: 2002-04-23
Classification: A61B,G06F

Abstract:
A haptic apparatus to interface a human user with a tool environment through the interchange of force, the apparatus comprising:a. a user contact element for physically contacting a body member of the user, the contact element comprising a pair of first and second contact members that are movable relative to each other; b. a first elongated member that is translationally fixed to the first contact member; c. a second elongated member that is parallel with the first elongated member, and that is coupled to the second contact member, such that the second elongated member is translatable relative to the first elongated member upon relative motion of the first and second contact members, the second elongated member further being rotatable relative to the first elongated member upon rotation of the first contact member relative to the second elongated member; d. a first actuator, which is coupled to both of the first and second elongated members, such that upon actuation the first actuator actuates relative translation of the first and second elongated members; and e. a second actuator, which is coupled to both of the elongated members, such that upon actuation, the second actuator actuates relative rotation of the first and second elongated members about an axis parallel to their axes of elongation.