Patent ID: 9128507
Filing Date: 2015-09-08
Classification: G05G,Y10T

Abstract:
1. A compact haptic interface, comprising: a base; a yoke rotatably disposed within the base; a first motor mounted stationary to the base; a first drive coupling between the first motor and the yoke arranged to facilitate rotation of the yoke about a yoke axis responsive to operation of the motor; a carrier mounted to said yoke and rotatable about a carrier axis transverse to the yoke axis; a rod mounted to the carrier, and extending along a rod axis transverse to the yoke axis and the carrier axis, to a grip end spaced apart from the yoke; a second motor supported on the yoke; a second drive coupling arranged to facilitate rotation of the carrier about the carrier axis responsive to operation of the second motor; a third motor supported on the carrier and rotatable with the carrier about the carrier axis of rotation; a third drive coupling arranged to facilitate linear movement of the rod along a linear direction defined by the rod axis responsive to operation of the third motor; and a grip assembly disposed at the grip end including a grip which movable relative to the grip end.