Patent ID: 8716973
Filing Date: 2014-05-06
Classification: A61B,B25J,G05G,G06F,Y10S

Abstract:
1. A haptic arm comprising: a user connection element; a reference; a first linkage connecting said user connection element to said reference, said first linkage configured and arranged to provide at least six independent degrees of freedom between said user connection element and said reference; said first linkage comprising an intermediate link, three force sensors configured and arranged to sense forces applied by a user to said user connection element in three dimensions, and three angle sensors configured and arranged to sense a three dimensional orientation of said user connection element relative to said intermediate link; a second linkage connecting said intermediate link to said reference, said second linkage configured and arranged to power a first powered degree of freedom through a first actuator; said second linkage comprising a position sensor configured and arranged to measure said first powered degree of freedom; a third linkage connecting said intermediate link to said reference, said third linkage configured and arranged to power a second powered degree of freedom through a second actuator; said third linkage comprising a position sensor configured and arranged to measure said second powered degree of freedom; and a fourth linkage connecting said intermediate link to said reference, said fourth linkage configured and arranged to power a third powered degree of freedom through a third actuator; said fourth linkage comprising a position sensor configured and arranged to measure said third powered degree of freedom.