Simon Fraser University

Temei Li

Shahram Payandeh

Hendrik Van Der Wal

Hendrick Van Der Wal

A user interface system comprises a plurality of linkages connected between a platform and a base. The linkages permit motion of the platform over at least a portion of a spherical surface. A support assembly coupled between the platform and the base comprises a spherical joint having a center of rotation substantially concentric with a center of the spherical surface. The spherical joint constrains motion of the platform to the spherical surface. The system may include a sensor corresponding to each linkage. Each sensor may be coupled to sense a movement of its corresponding linkage in response to motion of the platform over the portion of the spherical surface. A user-manipulable handle may be coupled to the platform so that the user can move the platform.

Spherical linkage and force feedback controls

A method and apparatus for a spherical parallel mechanism are disclosed. The invention involves a platform and at least three kinetic chains. The kinetic chains each comprise a link with one end pivotally coupled to the platform about a first axis and a second end pivotally coupled to an arm about a second axis. The arms in all of the kinetic chains share a common third axis. All of the first, second and third axes for all of the kinetic chains pass through a stationary point in space. Movement of the arms to selected angular positions about the common third axis adjusts an orientation and position of the platform about a spherical surface centered at the stationary point. The parallel mechanism has particular advantages for manipulating implements, such as cameras used in laparoscopic surgery, when the implements are mounted to the mobile platform.

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Chung-Li, Taiwan

Temei Li