05898599 is referenced by 112 patents and cites 174 patents.

An apparatus and method for physically exchanging a force with a user in a user-local environment. The apparatus includes a user connection element and a linkage physically linking the user connection element to a reference. The linkage provides at least six independent degrees of freedom to the user connection element. The linkage has an actuator system which powers at least three degrees of freedom of the user connection element, while at least three degrees of freedom remain unpowered. The method includes providing an apparatus which includes a user connection element and a linkage physically linking the user connection element to a reference, the linkage providing at least six independent degrees of freedom to the user connection element. The linkage of the apparatus provided has an actuator system which powers at least three of the six independent degrees of freedom relative to the reference. The method further includes connecting the user connection element to a body member of a user and powering at least three of the six independent degrees of freedom.

Title
Force reflecting haptic interface
Application Number
130639
Publication Number
5898599
Application Date
December 23, 1996
Publication Date
April 27, 1999
Inventor
J Kenneth Salisbury Jr
Cambridge
MA, US
Thomas H Massie
Vanceburg
KY, US
Agent
Testa Hurwitz & Thibeault
Assignee
Massachusetts Institute of Technology
MA, US
IPC
G05B 11/01
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