05784542 is referenced by 289 patents and cites 6 patents.

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.

Title
Decoupled six degree-of-freedom teleoperated robot system
Application Number
525813
Publication Number
5784542
Application Date
October 23, 1996
Publication Date
July 21, 1998
Inventor
Charles Steve
Germantown
CA, US
Ed Barlow
San Dimas
CA, US
Paul Schenker
Pasadena
CA, US
Eric Paljug
Bridgeville
CA, US
Curtis Boswell
Pasadena
CA, US
Rodriguez Guillermo
La Canada
CA, US
Hari Das
Altadena
CA, US
Timothy Ohm
La Crescenta
CA, US
Agent
Michaelson & Wallace
Assignee
California Institute of Technology
CA, US
IPC
G06F 15/00
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