05754023 is referenced by 222 patents and cites 4 patents.

Force feedback in large, immersive environments is provided by device which a gyro- stabilization to generate a fixed point of leverage for the requisite forces and/or torques. In one embodiment, one or more orthogonally oriented rotating gyroscopes are used to provide a stable platform to which a force-reflecting device can be mounted, thereby coupling reaction forces to a user without the need for connection to a fixed frame. In one physical realization, a rigid handle or joystick is directly connected to the three-axis stabilized platform and using an inventive control scheme to modulate motor torques so that only the desired forces are felt. In an alternative embodiment, a reaction sphere is used to produce the requisite inertial stabilization. Since the sphere is capable of providing controlled torques about three arbitrary, linearly independent axes, it can be used in place of three reaction wheels to provide three-axis stabilization for a variety of space-based and terrestrial applications.

Title
Gyro-stabilized platforms for force-feedback applications
Application Number
8/736016
Publication Number
5754023
Application Date
October 22, 1996
Publication Date
May 19, 1998
Inventor
Charles J Jacobus
Ann Arbor
MI, US
Gerald P Roston
Whitmore Lake
MI, US
Agent
Gifford Krass Groh Sprinkle Patmore Anderson&Citkowski
Assignee
Cybernet Systems Corporation
MI, US
IPC
B25J 9/00
G05B 13/02
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