The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 19, 2015
Filed:
Mar. 06, 2009
Applicants:
Antony Hodgson, Vancouver, CA;
Christopher Plaskos, New York, NY (US);
Nikolai Hungr, Grenoble, FR;
Inventors:
Assignee:
Perception Raisonnement Action en Medecine, La Tronche, FR;
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
B25J 19/06 (2006.01); A61B 19/00 (2006.01); A61B 17/17 (2006.01);
U.S. Cl.
CPC ...
A61B 19/30 (2013.01); A61B 2019/304 (2013.01); A61B 17/1742 (2013.01); A61B 17/1757 (2013.01); A61B 17/1764 (2013.01); A61B 19/2203 (2013.01); A61B 19/5244 (2013.01); A61B 2019/2292 (2013.01); A61B 2019/303 (2013.01);
Abstract
A method and apparatus for haptic hard surface emulation using a dynamic physical constraint are provided. The movement and position of the dynamic physical constraint is actively controlled in order to emulate a hard surface. The dynamic physical constraint may be controlled by a computer. In another aspect of the invention, the dynamic physical constraint limits the motion of a manipulator joint in space. The position at any time of the dynamic physical constraint is dependent on the position in space of the manipulator's end effector.