HAPTIC SYSTEM AND OPERATING METHOD

Abstract

The application relates to a haptic system comprising a haptic device that has an end effector terminal and a transmission structure which can generate a translational movement as an output variable, said translational movement extending from the transmission structure to the end effector terminal via a boom such that the end effector terminal moves in a manner that is perceptible to a user, the transmission structure being formed by means of driven linear shafts. The application further relates to a method for operating a haptic system comprising a haptic device.

Claims

1. A haptic system having a haptic device which comprises an end effector terminal and a transmission structure, which can generate a translational movement as an output variable, said translational movement extending from the transmission structure to the end effector terminal via a boom such that the end effector terminal moves in a manner that is perceptible to a user, the transmission structure being formed by driven linear shafts.

2. The haptic system according to claim 1, wherein three driven linear shafts extend along the axes of an orthogonal coordinate system.

3. The haptic system according to claim 1, wherein the driven linear shafts are received in a support structure.

4. The haptic system according to claim 3, wherein one or more elements of the support structure extend in longitudinal direction of the driven linear shafts.

5. The haptic system according to claim 2, wherein the support structure is formed with one or more guiding shafts.

6. The haptic system according to claim 1, wherein the driven linear shafts are each formed with a rail and a carriage shiftable thereon in longitudinal direction of the rail.

7. The haptic system according to claim 1, wherein the transmission structure comprises one or more rotatory joints.

8. The haptic system according to claim 1, wherein a haptic controller is coupled to the haptic device.

9. The haptic system according to claim 1, wherein a position and/or speed determination device is provided, which is adapted to determine a spatial position of the end effector terminal operated by the user.

10. The haptic system according claim 1, wherein a force determination device is provided, which is adapted to determine forces and/or moments occurring on the end effector terminal.

11. The haptic system according to claim 1, wherein a force generation device is provided which is adapted to control forces introduced into the end effector terminal during translational movement.

12. The haptic system according to claim 1, wherein a haptic simulator is provided, which is adapted to simulate an interaction with a virtual object.

13. A method for operating a haptic system with a haptic device, which comprises an end effector terminal and a transmission structure, wherein the method comprises the following steps: generating a translational movement as an output variable of the transmission structure and moving the end effector terminal in a translational manner by extending the output variable out of the transmission structure to the end effector terminal via a boom, wherein driven linear shafts in the transmission structure are utilised for generating the output variable.

Description

DESCRIPTION OF EXEMPLARY EMBODIMENTS

[0033] The exemplary embodiments will now be explained in detail with reference to figures of a drawing, in which

[0034] FIG. 1 shows a schematic view of a haptic device,

[0035] FIG. 2 shows a schematic view of a haptic system, in which a haptic device is coupled to a haptic controller,

[0036] FIG. 3 shows a schematic view of a haptic system, in which a haptic manipulator and/or a haptic simulator are coupled to the haptic controller,

[0037] FIG. 4 shows a schematic view of a haptic device with a transmission structure with driven linear shafts and an end effector, to which an output variable (translational movement) of the transmission structure is supplied via a boom,

[0038] FIG. 5 shows a schematic view of the haptic device of FIG. 4,

[0039] FIG. 6 shows a schematic view of a haptic system using the arrangement with transmission structure, boom and end effector terminal of FIG. 4, and

[0040] FIG. 7 shows a schematic view of a further embodiment of the transmission structure of a haptic device.

[0041] FIG. 1 shows a schematic view of a haptic device 1, which is designed to provide an output variable, which is perceptible by a user 2. With the embodiment shown the output variable is a translational movement provided by a transmission structure 3 and supplied via a boom 4 extending out of the transmission structure 3 to the end effector terminal 5, which can be grasped by the user 2 for example with one hand. The translational movement of the end effector 5 may be a spatial movement.

[0042] FIG. 2 shows a haptic system, where the haptic device 1 with transmission structure 3, boom 4 and end effector terminal 5 is coupled to a haptic controller 6 such that signals provided by the haptic controller 6 for generating the output variable (translational movement) are processed in the haptic device 1.

[0043] With the haptic system in FIG. 3 a (tele-) manipulator 7 and/or a haptic simulator 8 are coupled to the haptic controller 6. The (tele-) manipulator 7 may be formed with a position determination device and/or a force determination device (not shown), with which a respective sensor system can be provided for determining the spatial position of the end effector 5 and for determining forces on the end effector terminal 5. Based on the recorded measured data the haptic controller 6 can, taking into account the determined spatial position and/or the force situation recorded on the end effector terminal 5, generate control signals for the transmission structure 3 on the haptic device 1.

[0044] FIG. 4 shows a schematic view of an embodiment of the transmission structure 3 of the haptic device 1, on which driven linear shafts 40, 41, 42 are provided, each of which comprises a guiding shaft 40a, 41a, 42a as well as a driven carriage 40b, 41b, 42b shiftably arranged thereon. In the example shown an orthogonal (e.g. Cartesian) coordinate system is thereby created with the aid of the driven linear shafts 40, 41, 42. Furthermore provision is made for supporting guiding shafts 43, 44, 44a. The transmission structure 3 is coupled to the boom 4, which extends out of the transmission structure 3 and provides a coupling point 45 for the end effector terminal 5. This ensures a translational movement of the end effector terminal 5, the movement being generated as an output variable by the transmission structure 3, thereby allowing the end effector terminal 5 to be shifted in a translational manner, which is a shift perceptible by the user 2.

[0045] FIG. 5 shows a schematic view of the transmission structure of FIG. 4.

[0046] FIG. 6 shows a schematic view of a haptic system 60 using the transmission structure 3 with the driven linear shafts 40, 41, 42.

[0047] The transmission structure 3 is received in a frame structure 61, on which carrying handles 62 are provided. The frame structure 61 is arranged on a base 63 which also has a control cabinet 64 arranged on it, which contains controlling, regulating and/or power elements.

[0048] In the embodiment shown the haptic system 60 comprises supporting rails with a ball rail system. A force determination device 65 is provided on the end effector terminal 5.

[0049] FIG. 7 shows a schematic view of a simplified embodiment of the transmission structure 3 of the haptic device 1. Compared to the embodiment shown in FIGS. 4 and 5 the transmission structure 3 does not have a supporting guiding shaft 43. The other components essentially correspond to the components shown in FIGS. 4 and 5, so that the same reference symbols have been used here.

[0050] The features disclosed in the above description, the claims and the drawing may be of importance both singly and in any combination for realising the different embodiments.