Patent ID: 6435794
Filing Date: 2002-08-20
Classification: B25J,G06F

Abstract:
A force display master interface device for teleoperation wherein the master interface device is used by an operator for simulating interaction between a slave entity and an object in the slave environment, the master interface device comprising:linkage means for connection to the operator and for selectively providing resistance to operator motion, force generation means operatively connected to said linkage means for generation of a force and application of the force to said linkage means; whereby the operative connection between said linkage means and said force generation means includes; a state of physical contact whereby the force generation means provides the force to the linkage means resulting in resistance to operator motion, said state of physical contact occurring in response to the slave entity contact with the object, a maximum offset distance between said linkage means and said force generation means in response to the slave entity separation from the object by more than a predetermined distal separation distance, and at least one intermediate offset distance between said linkage means and said force generation means in response to the slave entity separation from the object by less than at least one predetermined proximal separation distance.