Adjustable mechanical range limiter

Abstract

The present disclosure relates to an adjustable mechanical range of motion limiting apparatus configured for placement between a pair of connecting members of a haptic device, comprising a mechanical motion limiting device movable relative to a first connecting member independent of an active feedback device, with respect to the first connecting member, the first mechanical motion limiting device having a locked position that limits the available range of motion between the first connecting member and a second connecting member by mechanical contact.

Description

[Technical Field]

[0001] FIELD OF THE INVENTION The present invention relates generally to haptic devices, and more particularly to a mechanical device that limits the range of motion between movable linkage members of a haptic device. [Background technology]

[0002] Haptic devices generally include movable user interface members, actuators, and mechanical linkages to provide force and / or torque feedback to a user. Mechanical range-of-motion limits between the movable linkages typically constrain the workspace that can be reached when moving the user interface members. These motion limits or end stops occur at fixed locations between the movable linkages and typically ensure that individual joints, kinematic chains, transmissions, actuators, sensors, and / or electrical cables operate within their allowable ranges of motion. Summary of the Invention

[0003] SUMMARY The present disclosure relates to a mechanical device for limiting the range of motion between movable linkage members of a haptic device.

[0004] In general, the present disclosure relates to an adjustable mechanical motion range limiting apparatus configured for placement between a pair of connecting members of a haptic device, comprising a mechanical motion limiting device movable relative to a first connecting member FLM independent of an active feedback device, with respect to the first connecting member FLM, the first mechanical motion limiting device FMMLD having a locking position that limits the available range of motion between the first connecting member FLM and a second connecting member SLM by mechanical contact.

[0005] In some aspects, the present disclosure relates to an adjustable mechanical motion range limiting device for mechanically limiting relative motion between a pair of linkage members of a haptic device, the haptic device comprising: - an active feedback device for providing active force and / or torque feedback towards a user of the haptic device; a movable user interface member; the pair of connecting members includes a first connecting member and a second connecting member that are movable relative to each other; - a range of motion of the pair of linkage members controls the range of motion of the movable user interface member; Adjustable mechanical range limiter - a first mechanical motion limiting device movable relative to the first linkage member independently of the active feedback device; a second mechanical motion limiting device coupled to the second linkage member; The first mechanical motion limiting device has a locked position relative to the first connecting member, in which the first mechanical motion limiting device mechanically engages the second mechanical motion limiting device, thereby at least limiting the range of motion between the first connecting member and the second connecting member.

[0006] The second mechanical motion limiting device may be provided in a fixed position relative to the second linkage member.

[0007] The second mechanical motion limiting device may be movable relative to the second linkage member.

[0008] The first mechanical motion limiting device may be coupled to the first linkage member by at least one of the following: a first mechanical motion limiting device coupled to the first linkage member; - Rotational joint, - linear joint, - Cardan joint, - universal joint, - spherical joint, - cylindrical joints, - screw joints, - Plane joints, - elastically deformable joints, - hinges, - flexible beam, - A guide for the linear movement of the first mechanical motion limiting device.

[0009] The adjustable mechanical motion range limiting device may include a passive energy storage and release device configured to provide a force and / or torque to the first mechanical motion limiting device.

[0010] The passive energy storage and release device may comprise at least one of the following: - elastically deformable materials, - springs, - flexible beam, - magnet, - Movable mass.

[0011] The adjustable mechanical motion range limiting device may include a controllable active actuator associated with at least one of the first linking member and the second linking member.

[0012] The controllable active actuator may be adapted to provide a force and / or a torque to the first mechanical motion limiting device.

[0013] The controllable active actuator may comprise at least one of the following: - electromagnetic motor, - Voice coil actuator, - moving magnet actuator, - permanent magnets, - monostable solenoid, - bistable solenoid, - pneumatic actuators, - piezoelectric actuators, - Hydraulic actuator.

[0014] The adjustable mechanical motion range limiter may include an actuator controller.

[0015] The actuator controller may be configured to control the position and / or movement and / or velocity and / or acceleration and / or force and / or torque of the controllable active actuator.

[0016] The actuator controller may be configured to control the position and / or movement and / or velocity and / or acceleration and / or force and / or torque of the actuator depending on the relative position and / or movement and / or velocity and / or force and / or torque between the first connecting member and the second connecting member.

[0017] The actuator controller may comprise at least one of the following: - switch, - user interface, - Computer, - Joystick or joypad, - Touch screen, - Closed loop feedback.

[0018] The adjustable mechanical motion range limiting apparatus may comprise a sensor device configured to detect a position and / or a movement and / or a force and / or a torque of the first mechanical motion limiting device.

[0019] The sensor device may comprise at least one of the following: - electrical contacts, - Electrical and / or mechanical switches, - position encoder, - linear encoder, - rotary encoder, - potentiometer, - capacitive sensors, - inductive sensors, - piezoelectric sensors, - optical sensors, - Hall effect sensors, - magnetic sensors, - accelerometer, - Inclinometer, - Strain gauges.

[0020] The adjustable mechanical motion range limiting device may include a control member configured for a user to manually do at least one of the following: - placement of a first mechanical movement limiting device; - moving the first mechanical movement limiting device; - applying a force to a first mechanical motion limiting device; - Applying a torque to a first mechanical motion limiting device.

[0021] The control member may comprise at least one of the following: - button, - slider, - Wheels, - knob, - Ring, - lever, - Pull tab

[0022] 10. The adjustable mechanical motion range limiting apparatus of any one of the preceding claims, further comprising a damping device coupled to at least one of the first mechanical motion limiting device and the second mechanical motion limiting device, the damping device configured to damp at least one of a force and / or a torque acting on at least one of the first mechanical motion limiting device and the second mechanical motion limiting device upon engagement of the first mechanical motion limiting device with the second mechanical motion limiting device.

[0023] The attenuation device may comprise at least one of the following: - springs, - elastically deformable materials, - flexible beam, - viscoelastic materials, - rubber, - viscous fluid, - electrorheological fluids, - magnetic fluid, - lever, - magnet, - Piston.

[0024] The adjustable mechanical motion range limiter may include a transmission mechanism coupled to the first mechanical motion limiting device.

[0025] The transmission mechanism may be configured to couple the first mechanical motion limiting device to at least one of the passive energy storage and release device, the controllable active actuator, and the control member.

[0026] The transmission mechanism may comprise at least one of the following: - lead screw, - screw nut arrangement, - Bar connection arrangement, - lever, - crank mechanism, - slider mechanism, - operational linkage, - yoke mechanism, - Gear, - planetary gear train, - Distorted wave drive, - Cycloid drive, - rack and pinion arrangement, - Cable drive, - Belt drive, - Cam.

[0027] The first mechanical movement limiting device may comprise at least one of the following: - Pin, - Bolt, - lever, - slider, - Ratchet, - eccentric wheels, - protrusion, - depressions, - Wedge, - disk, - Ring, - screws, - screw-nut mechanism, - crank mechanism, - slider mechanism, - operational linkage, - yoke mechanism, - Gear, - Cam.

[0028] The second mechanical motion limiting device may comprise at least one of the following: - a hole in the second connecting member; - an opening in the second connecting member; - protrusion, - depressions, - teeth, - Pin, - Wedge, - Bolt, - lever, - slider, - Ratchet, - eccentric wheels, - disk, - Ring, - screws, - screw-nut mechanism, - crank mechanism, - slider mechanism, - operational linkage, - yoke mechanism, - Gear, - Cam.

[0029] Adjustable mechanical range limiter - at least one further first mechanical movement limiting device; and at least one further second mechanical movement limiting device.

[0030] The adjustable mechanical motion range limiting apparatus may be adapted to limit the range of motion between the first and second connecting members such that when the first and second mechanical motion limiting devices are engaged, relative motion between the first and second connecting members is constrained and / or locked in place.

[0031] In a further aspect, the present disclosure provides a method for producing a pharmaceutical composition comprising: a pair of connecting members; - an active feedback device for providing active force and / or torque feedback towards a user of the haptic device; - a movable user interface member; A haptic device comprising: The pair of connecting members comprises a first connecting member and a second connecting member that are movable relative to each other, and the range of motion of the pair of connecting members controls the range of motion of the movable user interface member.

[0032] The haptic device may further comprise an adjustable mechanical range of motion limiter in line with each of the foregoing disclosures.

[0033] The haptic device may comprise at least one of the following: - Pure translational basic structure, - parallel kinematics translation basic structure, - Rotating wrist mechanism, - gripping mechanism, - Hand detection sensor.

[0034] The haptic device may be configured by at least one of the following: - Operator console for one- or two-handed operation, - a teleoperation system in which a haptic device is configured to remotely operate a virtual or real robotic device; - medical devices, - surgical devices, - simulation devices, - training devices, - Rehabilitation devices.

[0035] In the haptic device, at least one of the at least one adjustable mechanical motion range limiting device in line with the disclosure above is adapted to constrain and / or lock at least one translational motion and / or at least one rotational motion of the movable user interface member.

[0036] The haptic device may comprise or be part of a watch interaction simulator.

[0037] Embodiments of the present disclosure will now be described, by way of example, with reference to the accompanying drawings, in which: [Brief explanation of the drawings]

[0038] [Figure 1A] FIG. 1A is a diagram that schematically illustrates an example of an adjustable mechanical motion range limiting device. [Figure 1B] FIG. 1B is a diagram that schematically illustrates an example of an adjustable mechanical motion range limiting device. [Figure 1C] FIG. 1C is a diagram that schematically illustrates an example of an adjustable mechanical motion range limiting device. [Figure 1D] FIG. 1D is a diagram that schematically illustrates an example of an adjustable mechanical motion range limiting device. [Figure 1E] FIG. 1E is a diagram that schematically illustrates an example of an adjustable mechanical motion range limiting device. [Figure 1F] FIG. 1F is a diagram that schematically illustrates an example of an adjustable mechanical motion range limiting device. [Figure 2] FIG. 2 is a diagram illustrating a schematic example of an adjustable mechanical motion range limiter comprising a damping device. [Figure 3] FIG. 3 is a diagram illustrating a further example of an adjustable mechanical motion range limiter comprising a damping device. [Figure 4] FIG. 4 is a diagram illustrating a schematic example of an adjustable mechanical motion range limiter that includes an energy storage and release device. [Figure 5]FIG. 5 is a diagram that schematically illustrates a further example of an energy storage and emission device. [Figure 6] FIG. 6 is a diagram illustrating a schematic example of an adjustable mechanical motion range limiter with an actuator for positioning the mechanical motion limiting device. [Figure 7] FIG. 7 is a diagram illustrating a further example of an adjustable mechanical motion range limiting apparatus comprising an actuator for positioning the mechanical motion limiting device. [Figure 8] FIG. 8 is a diagram illustrating a schematic example of an adjustable mechanical motion range limiter with a position sensor device. [Figure 9] FIG. 9 is a diagram illustrating schematically an example of an adjustable mechanical motion range limiter that provides a gradual motion limiting characteristic. [Figure 10] FIG. 10 is a diagram illustrating a further example of an adjustable mechanical motion range limiter that provides a gradual motion limiting characteristic. [Figure 11] FIG. 11 is a diagram illustrating an example of an adjustable mechanical motion range limiter that includes a mechanical motion limiting device that provides a stop / block feature. [Figure 12] FIG. 12 is a diagram illustrating a schematic example of an adjustable mechanical motion range limiter comprising a rotatable mechanical motion limiting device. [Figure 13] FIG. 13 is a diagram illustrating schematically an example of an adjustable mechanical motion range limiting apparatus comprising a mechanical motion limiting device for limiting rotational movement of a first linking member and a second linking member relative to one another. [Figure 14] FIG. 14 is a diagram illustrating a schematic example of an adjustable mechanical range of motion limiting device comprising indirectly coupled first and second linking members. [Figure 15A] FIG. 15A is a diagram schematically illustrating an example of an adjustable mechanical motion range limiting apparatus comprising a mechanical motion limiting device for limiting multiple degrees of freedom between a first connecting member and a second connecting member. [Figure 15B]FIG. 15B is a diagram schematically illustrating an example of an adjustable mechanical motion range limiting apparatus comprising a mechanical motion limiting device for limiting multiple degrees of freedom between a first connecting member and a second connecting member. [Figure 16] FIG. 16 is a diagram that schematically illustrates an example of a haptic device having a pair of linking members with a mechanical movement limiting device. [Figure 17A] 17A is a diagram illustrating the first and second linking members of FIG. 16 coupled to first and second mechanical motion restriction devices, respectively. [Figure 17B] FIG. 17B is a diagram illustrating the first and second linking members of FIG. 16 coupled to first and second mechanical motion restriction devices, respectively. [Figure 18] FIG. 18 is a diagram that schematically illustrates a further example of an adjustable mechanical range of motion limiter, for example, for a haptic interaction simulation device. [Figure 19] FIG. 19 is a diagram that schematically illustrates a further example of an adjustable mechanical motion range limiter, for example for a haptic device wrist mechanism. DETAILED DESCRIPTION OF THE INVENTION

[0039] Reference numbers are not repeated in each drawing, rather, unless otherwise stated, a reference number illustrated in a drawing can be assumed to be a part of another drawing.

[0040] Generally, a haptic device comprises a user interface member with which a user can interact. Manipulation of the user interface member allows the user to control the haptic device. Conversely, the haptic device may provide feedback to the user, particularly at the user interface member, to provide the user with haptic sensations representative of movement at an output site of and / or at an output member of the haptic device. Typically, actuators are used to provide feedback to the user.

[0041] User interface members are generally constrained to move within an accessible workspace by fixed range of motion limits between the movable members of their kinematic structures.

[0042] The relative motion between two members can be limited in a given direction. This motion limit is called an end stop. When two moving members are connected by a joint with a single degree of freedom (e.g., a revolute or prismatic joint), the range of motion in each of the two directions along that degree of freedom can be limited by an end stop. End stops can also be implemented in higher order joints (e.g., Cardan or revolute joints) or in complex joint arrangements with one or more mechanical contacts between or mounted on selected moving members.

[0043] Such fixed end stops do not allow for adjustment of the (relative) range of motion between members of the kinematic structure relative to one another. However, it would be advantageous to be able to adjust the available range of motion of the haptic device. The available range of motion can, for example, be set before use of the haptic device, changed during use, and / or reduced to a blocked position at the end of use.

[0044] Below are given illustrative examples of possible embodiments.

[0045] Prevent the user from moving the user interface members into certain or "off-limits" areas of the workspace (e.g., to prevent the tip of a remotely controlled surgical instrument from damaging delicate tissue in certain anatomical areas for patient safety reasons). · Avoiding collisions or mechanical interference (e.g., between two haptic devices in a two-handed configuration). · Avoid singular configurations that result in poor kinematic or stiffness properties (e.g. in parallel kinematic structures). Avoid passive movement when touching the user interface members after the haptic device is turned off or moved to another location (e.g., before moving a haptic device on a wheeled base frame to another operating room, the user interface members must be fixed in a predefined rest position). · Mechanical guide constraints for the user (e.g., to help the surgeon perform movements along anatomical features). · Rendering certain movement restrictions to the user when performing a given manipulation task (for example, when inserting a surgical instrument through a narrow opening). Rendering to the user the motion limitations present in the simulated or physical robotic equipment being operated via the haptic device (e.g., the grasping degrees of freedom of the haptic device are configured to limit the same range of motion as a particular teleoperated robotic instrument).

[0046] In general, the adjustable mechanical motion range limiting devices described herein can be used to mechanically limit the relative motion between a pair of linkage members of a haptic device. The haptic device is assumed to include an active feedback device and a user interface member. The active feedback device can be adapted to provide active force and / or torque feedback to a user of the haptic device. In some examples, the active feedback device is coupled to the movable user interface member and applies a force and / or torque to the movable user interface member to provide feedback to the user via the user interface member. It is further assumed that the pair of linkage members includes a first linkage member FLM and a second linkage member SLM, and that the first linkage member FLM and the second linkage member SLM are movable relative to each other. It is further assumed that the current range of motion of the pair of linkage members at least partially controls the range of motion of the movable user interface member.

[0047] 1A-1F schematically illustrate an example of an adjustable mechanical motion range limiter AMMRLA for a haptic device / for a pair of connecting members of a haptic device. The pair of connecting members comprises a first connecting member FLM and a second connecting member SLM. The first connecting member FLM and the second connecting member SLM are movable relative to each other as indicated by the arrow RM. According to these figures, the second connecting member SLM can be moved translationally relative to the first connecting member FLM (or vice versa, or both connecting members can be moved simultaneously relative to each other). The available motion range between the first connecting member FLM and the second connecting member SLM is indicated by ARM.

[0048] The adjustable mechanical motion range limiting apparatus comprises a first mechanical motion limiting device FMMLD movable relative to the first connecting member FLM. The first mechanical motion limiting device FMMLD may be movable relative to the first connecting member FLM independent of the active feedback device of the haptic device.

[0049] 1A-1F, the first mechanical movement restriction device FMMLD comprises a pin P passing through an opening A in the first connecting member FLM. The pin P can be moved relative to the first connecting member FLM as shown by the arrow FM. The mechanical movement restriction device has a first contact area 2 and a second contact area 4 arranged at / in an engagement portion 6 of the first mechanical movement restriction device FMMLD. In some examples, the engagement portions 6 of the mechanical movement restriction devices can each be considered as portions adapted for engagement with another mechanical movement restriction device.

[0050] The first mechanical movement restriction device FMMLD may further include an input unit 8. The input unit of a mechanical movement restriction device may be considered, for example, as a part where energy for actuating (e.g., moving, rotating) the mechanical movement restriction device may be provided to the mechanical movement restriction device. In some examples, the input unit may provide a structural feature formed in / within the mechanical movement restriction device. Such an input unit may be for inputting, for example, mechanical force, torque, translational movement, rotational movement, etc. In some examples, the input unit is part of the mechanical movement restriction device, and, for example, electrical energy, magnetic energy, hydraulic energy, pneumatic energy, etc. may be input to the mechanical movement restriction device.

[0051] The second mechanical movement limitation device SMMLD comprises a concave shape formed for engagement with the pin P. The concave shape may be formed in the second connecting member SLM or may be formed as a separate component and attached to the second connecting member SLM. The second mechanical movement limitation device SMMLD comprises a first contact area 10 and a second contact area 12.

[0052] 1B, the second connecting member SLM can be moved in the direction indicated by the arrow RM and the first mechanical movement limitation device FMMLD can be moved in the direction indicated by the arrow FM, thereby limiting the relative movement of the first connecting member FLM and the second connecting member SLM with respect to each other.

[0053] As illustrated in FIG. 1C , the first mechanical motion limiting device FMMLD is in a position where the first mechanical motion limiting device FMMLD and the second motion limiting device cannot engage with each other, even when the second connecting member SLM is moved (see arrow RM). In such a scenario, the relative movement of the first connecting member FLM and the second connecting member SLM with respect to each other is not limited by the first mechanical motion limiting device FMMLD and / or the second mechanical motion limiting device SMMLD. A position (or positions) of the first mechanical motion limiting device FMMLD where the first mechanical motion limiting device FMMLD and the second mechanical motion limiting device SMMLD cannot engage with each other and where a predetermined (e.g., maximum possible or maximum allowed) range of movement AMR between the first connecting member FLM and the second connecting member SLM is at least limited may be referred to as a release position. The position of the first mechanical motion limiting device FMMLD illustrated in FIG. 1C is the release position.

[0054] As illustrated in FIG. 1D , the first mechanical motion limiting device FMMLD is in a position where it can engage with the second mechanical motion limiting device SMMLD, depending on the relative positions of the first connecting member FLM and the second connecting member SLM. FIG. 1D illustrates a situation where a first contact area 2 of the first mechanical motion limiting device FMMLD engages with a first contact area 10 of the second mechanical motion limiting device SMMLD. This contact limits the range of movement between the first connecting member FLM and the second connecting member SLM, where the second connecting member SLM cannot move further to the right (according to the illustration).

[0055] The second connecting member SLM can be moved to the left (according to the figure). However, such movement is only possible until the second contact area 4 of the first mechanical movement limiting device FMMLD engages with the second contact area 12 of the second mechanical movement limiting device SMMLD. In such a situation, the contact between the first mechanical movement limiting device FMMLD and the second mechanical movement limiting device SMMLD limits the range of movement between the first connecting member FLM and the second connecting member SLM, and now the second connecting member SLM cannot be moved further to the left (according to the figure).

[0056] The position of the first mechanical movement limiting device FMMLD relative to the first connecting member FLM, in which the first mechanical movement limiting device FMMLD is in a position where it can engage with the second mechanical movement limiting device SMMLD, is also referred to as the locked position, in which the range of movement between the first connecting member FLM and the second connecting member SLM is limited as indicated by LMR.

[0057] When the first mechanical movement limiting device FMMLD is not in the locked position, the full range of movement ARM between the first connecting member FLM and the second connecting member SLM is available.

[0058] The example of Figure 1D illustrates a scenario in which only a limited central portion LMR of the total available movement range AMR is available, however, relative movement between the first connecting member FLM and the second connecting member SLM is still possible.

[0059] 1E and 1F illustrate examples where relative movement between the first connecting member FLM and the second connecting member SLM is not only limited but also prevented.

[0060] 1E illustrates a scenario in which the second connecting member SLM is limited (according to the illustration) to a position to the left of the entire available movement range AMR. To this end, the first mechanical movement limiting device FMMLD is in a locked position in which the contact area 2 of the first mechanical movement limiting device FMMLD and the contact area 14 of the second mechanical movement limiting device SMMLD are in contact with each other.

[0061] 1F illustrates a scenario in which the second connecting member SLM is limited to a position to the right of the entire available movement range AMR (according to the illustration). To this end, the first mechanical movement limiting device FMMLD is in a locked position in which the contact area 4 of the first mechanical movement limiting device FMMLD and the contact area 16 of the second mechanical movement limiting device SMMLD are in contact with each other.

[0062] Such a scenario may be referred to as a stop or blocking position and may be used, for example, when it is necessary to avoid accidental movement of the first connecting member FLM and the second connecting member SLM relative to each other.

[0063] The adjustable mechanical motion range limiter AMMRLA may include a damping device DD that damps at least one of the force and / or torque acting on at least one of the first mechanical motion limiter FMMLD and the second mechanical motion limiter SMMLD when the first mechanical motion limiter FMMLD and the second mechanical motion limiter SMMLD are engaged with each other. Figures 2 and 3 are schematic diagrams based on the example of Figures 1A to 1F. However, the principles of Figures 2 and 3 may be applied to any adjustable mechanical motion range limiter AMMRLA in accordance with the present disclosure.

[0064] According to FIG. 2, a damping device DD is arranged on the second contact area 12 of the second mechanical movement limiting device SMMLD. In a further example, the damping device DD may alternatively or additionally be arranged on the first contact area 10 of the second mechanical movement limiting device SMMLD. The illustrated damping device DD comprises a spring SD connected to the second contact area 12 and a contact pad CD arranged on the free end of the spring SD. As shown, when the first mechanical movement limiting device FMMLD is in the locked position, contact between the first mechanical movement limiting device FMMLD and the second mechanical movement limiting device SMMLD is possible. In this case, when the second connecting member SLM is moved to the left (according to the figure), the second contact area 4 of the first mechanical movement limiting device FMMLD comes into contact with the contact pad CD, which compresses the spring SD when the second connecting member SLM is moved further in the same direction. As a result, the limitation on the range of motion is alleviated in that movement does not suddenly stop when the second contact area 4 of the first mechanical motion limiting device FMMLD comes into contact with the second contact area 12 of the second mechanical motion limiting device SMMLD.

[0065] According to FIG. 3, the damping device DD is arranged in the second contact area 4 of the first mechanical movement limiting device FMMLD. In a further example, the damping device DD may alternatively or additionally be arranged in the first contact area 2 of the first mechanical movement limiting device FMMLD. The illustrated damping device DD comprises a spring SD connected to the second contact area 4 of the first mechanical movement limiting device FMMLD and a contact pad CD arranged at the free end of the spring SD. As shown, when the first mechanical movement limiting device FMMLD is in the locked position, contact between the first mechanical movement limiting device FMMLD and the second movement limiting device FMMLD is possible. In this case, if the second connecting member SLM is moved to the left (according to the figure), the second contact area 12 of the second mechanical movement limiting device SMMLD may come into contact with the contact pad CP, compressing the spring SD when the second connecting member SLM is moved further in the same direction. As a result, the motion range limitation is relaxed in that movement does not suddenly stop when the second contact area 4 of the first mechanical motion limiting device FMMLD comes into contact with the second contact area 12 of the second mechanical motion limiting device SMMLD.

[0066] In a further example, the examples of Figures 2 and 3 may be combined.

[0067] The function of the spring SD in Figures 2 and 3 may be provided by an elastic or viscoelastic material in at least a part of at least one of the first mechanical motion limiting device FMMLD, the second mechanical motion limiting device SMMLD, and the contact pad CD.

[0068] The adjustable mechanical motion range limiting device AMMRLA may include an energy storage and emission device. Illustrative examples of the energy storage and emission device include an elastically deformable material, a spring, a flexible beam, a magnet, and a movable mass. The passive energy storage and emission device may be configured to provide a force and / or a torque to the first mechanical motion limiting device FMMLD. FIGS. 4 and 5 are schematic diagrams based on the examples of FIGS. 1A-1F. However, the principles of FIGS. 4 and / or 5 may be applied to any adjustable mechanical motion range limiting device AMMRLA according to the present disclosure.

[0069] 4, an energy storage and release device ESRD is provided in a first mechanical movement limiting device FMMLD. The energy storage and release device ESRD includes a spring SED. According to the example, the first mechanical movement limiting device FMMLD penetrates the spring SED of the energy storage and release device ESRD. In other examples, the mechanical movement limiting device and the spring (or any other exemplary energy storage and release device) may be disposed in other spaces relative to each other, as long as the energy storage and release device can store energy and output the stored energy at least partially as mechanical energy to the mechanical movement limiting device.

[0070] The stored energy may be provided from one or more sources including at least one of electrical energy, magnetic energy, gravitational energy, elastic energy, kinetic energy, and thermal energy.

[0071] The output mechanical energy may include at least one of a force and a torque.

[0072] According to the figure, the spring SED of the energy storage and release device ESRD is supported between the base BED and the first connecting member FLM. The base BED is coupled to the input 8 of the first mechanical movement limiting device FMMLD and provides a support surface SFB on which the end of the spring SED can act. The other end of the spring is supported by the first connecting member FLM. Adjacent to the engagement portion 6, the first mechanical movement limiting device FMMLD is provided with a collar COL. The collar COL can be arranged so that it does not come into contact with the second mechanical movement limiting device SMMLD when the first mechanical movement limiting device FMMLD is in the locked position. This example makes it possible to separate the functions of the collar COL and the engagement portion 6. In another example, the collar COL can be arranged to also function as the engagement portion 6. The collar COL is optional and can be used, for example, if the spring SED is biased (in some way) between the base BED and the first connecting member FLM. In one example (according to the figure), when the first mechanical movement limitation device FMMLD is in the release position, the collar COL is in contact with the first connecting member FLM.

[0073] 4 illustrates the first mechanical movement limiting device FMMLD in the release position. When the range of movement between the first connecting member and the second connecting member SLM is limited, the first mechanical movement limiting device FMMLD is in a locked position, such as the locked position illustrated in FIG. 1D. This process compresses the spring and stores energy. This energy remains stored in the spring as long as the first mechanical movement limiting device FMMLD is in the locked position.

[0074] When the range of motion between the first connecting member FLM and the second connecting member SLM is not (anymore) limited, the first mechanical motion limitation device FMMLD is put into a released position. To this end, the energy stored by the spring SED can be used, at least in part, to support such a change of position. By way of example, the spring returning to a released (or, if applicable, biased) configuration acts on the first mechanical motion limitation device FMMLD, putting it into the released position.

[0075] In a further example, the spring SED is disposed between the collar COL and the first coupling member FLM, the spring storing energy in a released position of the first mechanical movement limiting device FMMLD. The energy stored by the spring SED may be used, at least in part, to support a change in the position of the first mechanical movement limiting device FMMLD from the released position to the locked position, whereby the spring SED returns to the released (or biased, if applicable) configuration.

[0076] 5, the left first mechanical movement limiting device FMMLD1 is provided with an energy storage and release device ESRD1. The energy storage and release device includes a spring SED. According to the example, the spring SED is coupled between the first mechanical movement limiting device FMMLD1 and the support SUP.

[0077] In the illustrated position of the first mechanical movement limiting device FMMLD1, the first mechanical movement limiting device FMMLD1 is in a locked position, in which contact between the contact area 2 of the engagement portion 6 of the first mechanical movement limiting device FMMLD1 and the contact area 16 of the second mechanical movement limiting device SMMLD limits the range of movement between the first connecting member FLM and the second connecting member SLM.

[0078] When the first mechanical movement limiting device FMMLD1 is rotated as indicated by the arrow FM1 to the position indicated by the dashed line on the left, the first mechanical movement limiting device FMMLD1 is in a released position, in which the first mechanical movement limiting device FMMLD1 does not affect the limiting of the range of movement between the first connecting member FLM and the second connecting member SLM.

[0079] The energy storage and release device ESRD1 supports at least maintaining the first mechanical motion limiting device FMMLD1 in the locked and released positions, and in some examples, this can be achieved without requiring any further energy input for this purpose.

[0080] During the change of the first mechanical motion limiting device FMMLD1 from the locked position to the released position (and vice versa), initially, when at least the first mechanical motion limiting device FMMLD1 is in the starting position (i.e., the locked or released position), the first mechanical motion limiting device FMMLD1 must overcome the force of the spring SED until the first mechanical motion limiting device FMMLD1 is in an approximately intermediate position between the starting position (i.e., the locked or released position) and the target position (i.e., the released or locked position). At or near the intermediate position, the spring SED exerts a force / torque on the first mechanical motion limiting device FMMLD1 to at least support the movement of the first mechanical motion limiting device FMMLD1 toward the target position (i.e., the released or locked position).

[0081] The first mechanical movement limiting device FMMLD2 on the right side of Figure 5 provides an "internal" energy storage and release device ESRD2, where the energy storage and release device is the gravitational potential of the mass of the first mechanical movement limiting device FMMLD2.

[0082] In the illustrated position of the first mechanical movement limiting device FMMLD2, the first mechanical movement limiting device FMMLD2 is in a locked position, in which contact between the contact area 2 of the engagement portion 6 of the first mechanical movement limiting device FMMLD2 and the contact area 14 of the second mechanical movement limiting device SMMLD limits the range of movement between the first connecting member FLM and the second connecting member SLM.

[0083] When the first mechanical movement limiting device FMMLD2 is moved, as indicated by the arrow FMM2, to the position indicated by the dashed line on the right, the first mechanical movement limiting device FMMLD2 is in a release position, in which the first mechanical movement limiting device FMMLD2 does not affect the limiting of the range of movement between the first connecting member FLM and the second connecting member SLM.

[0084] The energy storage and release device ESRD2 supports maintaining at least the first mechanical motion limiting device FMMLD2 in the locked and released positions, and in some examples, this can be achieved without requiring any further energy input for this purpose.

[0085] During the change of the first mechanical motion limiting device FMMLD2 from the locked position to the released position (and vice versa), initially, at least when the first mechanical motion limiting device FMMLD2 is in the starting position (i.e., the locked or released position), gravity acting on the center of mass of the first mechanical motion limiting device FMMLD2 must be overcome until the first mechanical motion limiting device FMMLD2 is in an approximately intermediate position between the starting position (i.e., the locked or released position) and the target position (i.e., the released or locked position). At or near the intermediate position, gravity exerts a force / torque on the center of mass of the first mechanical motion limiting device FMMLD2, at least supporting the movement of the first mechanical motion limiting device FMMLD2 toward the target position (i.e., the released or locked position).

[0086] The adjustable mechanical motion range limiter AMMRLA may include a controllable active actuator. Illustrative examples of the controllable active actuator include an electromagnetic motor, a voice coil actuator, a moving magnet actuator, a monostable solenoid, a bistable solenoid, a pneumatic actuator, a piezoelectric actuator, and a hydraulic actuator.

[0087] Figure 6 is a schematic diagram based on the example of Figures 1A-1F, however, the principles of Figure 6 may be applied to any adjustable mechanical motion range limiter AMMRLA in accordance with the present disclosure.

[0088] 6 illustrates an example in which a controllable active actuator is associated with the first connecting member FLM. According to FIG. 6, the controllable active actuator may comprise a bistable solenoid SOL operatively engaged with the first mechanical movement limitation device FMMLD. Here, operative engagement particularly means that when the solenoid SOL is activated and capable of providing a magnetic force and / or a torque, at least one of the magnetic force and / or the torque can interact with the respective mechanical movement limitation device. In particular, such interaction allows the respective mechanical movement limitation device to be moved and / or positioned.

[0089] According to Figure 6, the solenoid SOL is arranged on and / or within the first connecting member FLM in a position where the first mechanical movement limitation device FMMLD passes through an opening A in the first connecting member FLM, which allows operative engagement of the solenoid SOL with the first mechanical movement limitation device FMMLD.

[0090] The first mechanical movement limiting device FMMLD comprises a first movement range limiter that limits the movement range of the first mechanical movement limiting device FMMLD in a first direction, which is downward according to the figure. The first movement range limiter may be a color COL. The color COL may be similar to the color COL according to Fig. 4 or may be formed differently.

[0091] The first mechanical motion limiting device FMMLD may comprise a second motion range limiter that limits the motion range of the first mechanical motion limiting device FMMLD in a second direction, which according to the figure is the upward direction. The second motion range limiter may be formed as an end stop ES and may also act as a base, for example like the base BED in FIG. 4.

[0092] In further examples, the first operating range limiter and / or the second operating range limiter may not be used, and in such examples, other means may be used to limit the operating range of each of the first mechanical operation limiting devices FMMLD.

[0093] FIG. 6 illustrates an operating state of the solenoid SOL when the first mechanical motion limiting device FMMLD is in the released position. For this purpose, the solenoid SOL may be activated to act on the first mechanical motion limiting device FMMLD to maintain it in the released position. In a further example, the solenoid SOL may be only partially activated, and an additional device may be used to maintain the first mechanical motion limiting device FMMLD in the released position. For example, a spring SED arranged as illustrated in FIG. 4 may be used for this purpose. In a further example, a permanent magnet may be arranged between the collar COL and the first connecting member FLM for this purpose. In another example, for this purpose, the direction of movement of the first mechanical motion limiting device FMMLD is the direction in which gravity acts on the mass of the first mechanical motion limiting device FMMLD.

[0094] When the range of motion between the first connecting member FLM and the second connecting member SLM is limited, the first mechanical motion limiting device FMMLD is brought to and maintained in a locked position.

[0095] For the latter purpose, the solenoid SOL is activated, which acts on the first mechanical movement limiting device FMMLD to keep it in the locked position.

[0096] In a further example, the solenoid SOL is only partially activated and a further device may be used to maintain the first mechanical movement limiting device FMMLD in a locked position, for example a spring SED arranged between the collar COL and the first connecting member FLM may be used for this purpose.

[0097] In a further example, for this purpose a permanent magnet can be arranged between the end stop ES and the first connecting member FLM. In another example, for this purpose the direction of movement of the first mechanical movement limitation device FMMLD is the direction in which gravity acts on the mass of the first mechanical movement limitation device FMMED.

[0098] In a further example, to move the first mechanical movement limiting device FMMLD from the released position to the locked position, the solenoid SOL is simply activated so that the solenoid SOL can act on the first mechanical movement limiting device FMMLD in the released position. When the first mechanical movement limiting device FMMLD is in the released position, the solenoid SOL may not be permanently activated.

[0099] In a further example, to move the first mechanical movement limiting device FMMLD from the locked position to the released position, the solenoid SOL is simply activated so that the solenoid SOL can act on the first mechanical movement limiting device FMMLD in the locked position. When the first mechanical movement limiting device FMMLD is in the locked position, the solenoid SOL may not be permanently activated.

[0100] Combinations of the two preceding examples are also within the scope of this disclosure.

[0101] FIG. 7 illustrates an example in which a controllable active actuator is associated with the first connecting member FLM. According to FIG. 7, the controllable active actuator may include a voice coil actuator VCA. The voice coil actuator VCA includes a coil COIL and a core COR. According to the figure, the coil COIL is coupled to the first mechanical motion limiting device FMMLD, while the core COR is provided in a fixed position relative to the first connecting member FLM. In such an example, if the first mechanical motion limiting device FMMLD further includes an end stop ES, the coil COIL may be coupled to the end stop ES. In another example, the core COR is coupled to the first mechanical motion limiting device FMMLD, and the coil COIL is provided in a fixed position relative to the first connecting member FLM.

[0102] The voice coil actuator VCA is operatively engaged with the first mechanical movement limitation device FMMLD. Here, operative engagement particularly means that when the voice coil actuator VCA is activated and capable of providing a magnetic force and / or a torque, at least one of the magnetic force and / or the torque can interact with the respective mechanical movement limitation device. In particular, such interaction allows movement and / or positioning of the respective mechanical movement limitation device.

[0103] The first mechanical movement limiting device FMMLD comprises a first movement range limiter that limits the movement range of the first mechanical movement limiting device FMMLD in a first direction, in the downward direction according to the figure. The first movement range limiter may be a color COL. The color COL may be similar to the color COL according to Fig. 4 or may be formed differently therefrom.

[0104] The first mechanical motion limiting device FMMLD may comprise a second motion range limiter that limits the motion range of the first mechanical motion limiting device FMMLD in a second direction, in the upward direction according to the figure. The second motion range limiter may be formed as an end stop ES and may also act as a base, for example like the base BED in FIG. 4.

[0105] In further examples, the first operating range limiter and / or the second operating range limiter may not be used, and in such examples, other means may be used to limit the operating range of each of the first mechanical operation limiting devices FMMLD.

[0106] 7 illustrates an operating state of the voice coil COIL actuator VCO when the first mechanical movement limiting device FMMLD is in the released position. For this purpose, the coil COIL can be activated so as to be maintained in the position illustrated in FIG. 7. In a further example, the voice coil actuator VCA can be kept partially activated only when the first mechanical movement limiting device FMMLD is in the released position, and an additional device can be used to maintain the first mechanical movement limiting device FMMLD in the released position. For example, a spring SED arranged as illustrated in FIG. 4 can be used for this purpose.

[0107] In a further example, for this purpose a permanent magnet may be arranged between the collar COL and the first connecting member FLM. In another example, for this purpose the direction of movement of the first mechanical movement limitation device FMMLD is the direction in which gravity acts on the mass of the first mechanical movement limitation device FMMLD.

[0108] In the case where the range of motion between the first connecting member and the second connecting member SLM is limited, the first mechanical motion limiting device FMMLD is brought into a locked position and maintained in that position. For this latter purpose, the coil COIL of the voice coil actuator can be activated so that the coil COIL is moved upwards from the position of FIG. 7 according to the figure. This places the first mechanical motion limiting device FMMLD in the locked position. In order to maintain the first mechanical motion limiting device FMMLD in the locked position, the coil COIL can be maintained active.

[0109] In a further example, the voice coil actuator VCA may be kept partially activated only in situations where the first mechanical movement limiting device FMMLD is in the locked position, and a further device may be used to maintain the first mechanical movement limiting device FMMLD in the released position, for example a spring SED arranged between the collar COL and the first connecting member FLM may be used for this purpose.

[0110] In a further example, for this purpose a permanent magnet may be arranged between the end stop ES and the first connecting member FLM.In another example, for this purpose the direction of movement of the first mechanical movement limitation device FMMLD is the direction in which gravity acts on the mass of the first mechanical movement limitation device FMMLD.

[0111] In the case of a controllable active actuator, it is envisaged to provide an actuator controller configured to control the position and / or movement and / or velocity and / or acceleration and / or force and / or torque of the controllable active actuator, such a controller may be part of or configured by the adjustable mechanical motion range limiter AMMRLA according to the present disclosure or may be provided as a separate unit.

[0112] The adjustable mechanical motion range limiting device AMMRLA may include at least one sensor device configured to detect a position and / or movement and / or force and / or torque of at least one of the first mechanical motion limiting device FMMLD and the second mechanical motion limiting device SMMLD. Illustrative examples of such at least one sensor device include at least one of an electrical contact, an electrical switch, a position encoder, a linear encoder, a rotary encoder, a potentiometer, a capacitive sensor, an inductive sensor, a piezoelectric sensor, an optical sensor, a Hall effect sensor, a magnetic sensor, an accelerometer, an inclinometer, and a strain gauge.

[0113] Figure 8 is a schematic diagram based on the example of Figures 1A-1F, however, the principles of Figure 8 may be applied to any adjustable mechanical motion range limiting device consistent with the present disclosure.

[0114] FIG. 8 illustrates an example in which two sensor devices are provided to detect the position of the first mechanical movement limiting device FMMLD. The first sensor device SD1 includes a first switch SW1 having electrical contacts, e.g., three contacts EC11, EC21, and EC31, for connecting the first switch SW1 to a power source, and a switch control for operating the switch. The first switch SW1 includes a first switch lever SWL1. The first switch lever SWL1 can switch the first switch SW1 on and off. The second sensor device SD2 includes a second switch SW2 having electrical contacts, e.g., three contacts EC11, EC21, and EC31, for connecting the second switch SW2 to a power source, and a switch control for operating the switch. The second switch SW2 includes a second switch lever SWL2. The second switch lever SWL2 can switch the second switch SW2 on and off.

[0115] The mechanical movement limiting device may comprise a detection part DP for facilitating interaction with the sensor device. For example, the mechanical movement limiting device may comprise at least one of a coating, a surface, a structure, etc. adapted to take into account the respective sensor device. For example, the mechanical movement limiting device may have a coating and / or a surface adapted for detection by an encoder, an inductive sensor, a capacitive sensor, an optical sensor, a Hall effect sensor, a magnetic sensor.

[0116] According to the figure, the first mechanical movement limiting device FMMLD comprises a detection part DP in the form of a structure adapted for interaction with the first switch lever SWL1 and the second switch lever SWL2. As illustrated, the first mechanical movement limiting device FMMLD has an extension EXT extending downwards from the end stop ES. The extension EXT comprises, at its free end, a contact structure CST.

[0117] 8 illustrates an operating state in which the first sensor device SD1 detects that the first mechanical movement limiting device FMMLD is in the release position. In the release position, the contact structure CST of the first mechanical movement limiting device FMMLD contacts the first switch lever SWL1, so that the first switch SW1 is turned on (or off). The fact that the first switch SW1 is turned on (or off) indicates that the first mechanical movement limiting device FMMLD is in the release position.

[0118] When the range of motion between the first connecting member and the second connecting member SLM is limited, the first mechanical motion limiting device FMMLD is set to the locked position. This process causes the contact structure CST to be released from contact with the first switch lever SWL1. This turns the first switch SW1 off (or on). The fact that the first switch SW1 is off (or on) indicates that the first mechanical motion limiting device FMMLD is not in the released position. In the locked position, the contact structure of the first mechanical motion limiting device FMMLD contacts the second switch lever SWL2, which turns the second switch SW2 on (or off). The fact that the second switch SW2 is on (or off) indicates that the first mechanical motion limiting device FMMLD is in the locked position.

[0119] While the first mechanical movement limiting device FMMLD transitions from the release position to the lock position, neither the first switch SW1 nor the second switch SW2 is turned on (or off). This indicates that the first mechanical movement limiting device FMMLD is neither in the release position nor the lock position. This can be considered to indicate that the first mechanical movement limiting device FMMLD is in an intermediate position between the release position and the lock position.

[0120] Figure 9 illustrates an example of a first mechanical movement limitation device FMMLD comprising a screw SC having an engagement portion 6 with a contact area 2. The screw passes through a threaded opening TA of the first connecting member FLM.

[0121] The second mechanical movement limiting device SMMLD may be equivalent to, for example, the second mechanical movement limiting device SMMLD of Figures 1A to 1F and comprises a contact area 16 arranged on a part of the second mechanical movement limiting device SMMLD that may engage with the contact area 2 of the first mechanical movement limiting device FMMLD depending on the position / movement of the second mechanical movement limiting device SMMLD and / or the first mechanical movement limiting device FMMLD.

[0122] By rotating the screw SC relative to the screw opening TA, the position of the contact area 2 of the first mechanical motion limiting device FMMLD relative to the contact area 16 of the second mechanical motion limiting device SMMLD can be changed and set to define a limited motion range LMR. As long as the contact area 2 of the first mechanical motion limiting device FMMLD and the contact area 16 of the second mechanical motion limiting device SMMLD are not engaged with each other, the first connecting member FLM and the second connecting member SLM can move relative to each other. Such relative movement is limited by the engagement of the contact area 2 of the first mechanical motion limiting device FMMLD with the contact area 16 of the second mechanical motion limiting device SMMLD.

[0123] 9 may also include a further first mechanical motion limiting device FMMLD. For example, the first mechanical motion limiting device FMMLD of FIGS. 1A-1F may be additionally provided. In such an example, the first mechanical motion limiting device FMMLD with the screw SC may be used to define, between the first connecting member FLM and the second connecting member SLM, a limited motion range LMR that is maintained, for example, during an operational use phase (e.g., as a preset), while the first mechanical motion limiting device FMMLD of FIGS. 1A-1F may be used to define, between the first connecting member FLM and the second connecting member SLM, a limited motion range that can be selectively changed, for example, during operation.

[0124] 10 illustrates an example having a first mechanical movement limiting device FMMLD1 and a second mechanical movement limiting device FMMLD2, each of which has an engagement portion 6 with at least one contact area that provides a gradual movement limiting characteristic.

[0125] The engagement portion 61 of the first mechanical movement limiting device FMMLD1 has a contact area 21. The contact area 21 has a surface that is inclined with respect to an axis along which the first mechanical movement limiting device FMMLD1 can be moved (see arrow FM1 below the first mechanical movement limiting device FMMLD1). Depending on the shape of the contact area 21, the first mechanical movement limiting device FMMLD1 can assume one or more locking positions. For example, the first mechanical movement limiting device FMMLD1 can be arranged in a first locking position such that the contact area 14 and a portion 21′ of the contact area 21 come into contact with each other when the second connecting member SLM is moved to the right according to the figure. For example, the first mechanical movement limiting device FMMLD1 can be arranged in a second locking position such that the contact area 14 and a portion 21″ of the contact area 21 come into contact with each other when the second connecting member SLM is moved to the right according to the figure. The second, later locking position of the first mechanical motion limiting device FMMLD1 enables a larger range of movement LMR2 between the first connecting member FLM and the second connecting member SLM compared to the range of movement LMR1 between the first connecting member FLM and the second connecting member SLM that is enabled when the first mechanical motion limiting device FMMLD1 is located in the first, earlier locking position. Depending on the granularity of movement possible for the first mechanical motion limiting device FMMLD1, one, two or up to a virtually infinite number of locking positions therebetween may be possible.

[0126] The engagement portion 62 of the second first mechanical motion limiting device FMMLD2 has a contact area 22. The contact area 22 has a surface inclined with respect to the axis along which the second first mechanical motion limiting device FMMLD2 is moved (see arrow FM2 below the second first mechanical motion limiting device FMMLD2). Depending on the shape of the contact area 22, the second first mechanical motion limiting device FMMLD2 can assume one or more locking positions. For example, the second first mechanical motion limiting device FMMLD2 can be arranged in a first locking position such that the contact area 22 is in a first plane CP1. According to the figure, if the second connecting member SLM is moved to the left, the contact area 16 and a portion 22' of the contact area 22 come into contact with each other at / within the location CP1. For example, the second first mechanical motion limiting device FMMLD2 can be arranged in a second locking position such that the contact area 22 is in a second plane CP2. According to the figure, when the second connecting member SLM is moved to the left, the contact area 16 and the part 22" of the contact area 22 come into contact with each other at / in the location CP2. The second, second locking position of the second first mechanical motion limiting device FMMLD2 enables a larger range of movement LMR4 between the first connecting member FLM and the second connecting member SLM compared to the range of movement LMR3 between the first connecting member FLM and the second connecting member SLM that is enabled when the first mechanical motion limiting device FMMLD1 is located in the first, first locking position. Depending on the granularity of movement possible for the second first mechanical motion limiting device FMMLD2, one, two or a virtually infinite number of locking positions therebetween may be possible.

[0127] Figure 11 illustrates an example in which the first mechanical movement limiting device FMMLD and the second mechanical movement limiting device SMMLD are formed in such a way that at least one stop / blocking position of the first connecting member FLM and the second connecting member SLM relative to each other can be achieved.

[0128] According to Figure 11, the second mechanical movement limitation device SMMLD has a contact area 10 formed as a recess, in which case the engagement portion 6 of the first mechanical movement limitation device FMMLD and the contact area 10 come into contact with each other, effectively eliminating any range of movement between the first connecting member FLM and the second connecting member SLM.

[0129] The second mechanical movement limitation device SMMLD may have a further contact area 12 formed as a recess, in which case the engagement portion 6 of the first mechanical movement limitation device FMMLD and the contact area 12 come into contact with each other, effectively eliminating any range of movement between the first connecting member FLM and the second connecting member SLM.

[0130] According to Fig. 11, two different stop / blocking positions are provided. In other examples, the second mechanical movement limiting device SMMLD comprises one or more further contact areas equivalent to contact area 10 and / or contact area 12. Such examples provide at least three stop / blocking positions.

[0131] To limit the effect of play in the engagement between the engagement portion 6 and the contact area 10 and / or the contact area 12, the engagement portion 6 may have a wedge shape as illustrated in Figure 11. In other examples, the engagement portion 6 may be formed, for example, as illustrated in Figures 1A to 1F.

[0132] 12 illustrates an example having a rotatable first mechanical motion limiting device FMMLD. The example of FIG. 12 includes the option of manipulating the first mechanical motion limiting device FMMLD to provide a gradual motion limiting characteristic.

[0133] FIG. 12 illustrates the first mechanical motion limiting device FMMLD in the released position (see solid line). The first mechanical motion limiting device FMMLD can rotate as indicated by the arrow. In some examples, the first mechanical motion limiting device FMMLD can be placed in a locked position indicated by dashed lines. In such examples, the first mechanical motion limiting device FMMLD has a single locked position. In the locked position, contact between the contact area 2 of the first mechanical motion limiting device FMMLD and the contact area 16 of the second mechanical motion limiting device SMMLD limits the range of motion RM between the first connecting member FLM and the second connecting member SLM.

[0134] In a further example, the first mechanical movement limiting device FMMLD may provide at least two to a virtually infinite number of locking positions. In such an example, the first mechanical movement limiting device FMMLD may be positioned such that at least a portion of the first mechanical movement limiting device FMMLD extends through the opening A in the first connecting member FLM toward the second mechanical movement limiting device SMMLD.

[0135] The portion protruding towards the second mechanical movement limiting device SMMLD then provides a contact area, and contact between that contact area and the contact area 16 of the second mechanical movement limiting device SMMLD limits the range of movement between the first connecting member FLM and the second connecting member SLM. Depending on the granularity of movement possible for the first mechanical movement limiting device FMMLD, one, two or a virtually infinite number of locking positions therebetween may be possible.

[0136] 13 illustrates an example in which the first connecting member FLM and the second connecting member SLM may (at least) rotate relative to one another, as indicated by the arrow RM. All of the above observations that the first connecting member FLM and the second connecting member SLM may (at least) translate relative to one another apply correspondingly here.

[0137] FIG. 14 illustrates an example in which the first link member FLM and the second link member SLM are not adjacent link members of the kinematic chain. As illustrated, a third link member TLM is disposed between the first link member FLM and the second link member SLM. The second link member SLM can be moved relative to the third link member TLM as indicated by arrow A1. The third link member TLM can be moved relative to the first link member FLM as indicated by arrow A2. The available range of motion between the third link member TLM and the first link member FLM is indicated by AMR. When the third link member TLM and the first link member FLM are moved relative to each other along the direction indicated by arrow A2, the second link member SLM can be moved together with the third link member TLM. The available range of motion between the first link member FLM and the second link member SLM along the direction indicated by arrow A2 is indicated by AMR.

[0138] A first mechanical movement limiting device FMMLD is provided, coupled to the first connecting member FLM. The first connecting member FLM has a contact area 2.

[0139] 14, the second connecting member SLM comprises a portion which acts as a second mechanical movement limiting device SMMLD. The second mechanical movement limiting device SMMLD has a contact area 10.

[0140] Figure 14 illustrates the first mechanical motion limiting device FMMLD in a released position, in which engagement of the first mechanical motion limiting device FMMLD with the second mechanical motion limiting device SMMLD is not possible and therefore the range of motion between the first connecting member FLM and the second connecting member SLM is not affected.

[0141] When the first mechanical movement limiting device FMMLD is moved to the left in accordance with the figure, the first mechanical movement limiting device FMMLD can be placed in a locked position in which the first mechanical movement limiting device FMMLD can engage with the second mechanical movement limiting device SMMLD, thus limiting the range of movement between the first connecting member FLM and the second connecting member SLM. Depending on the granularity of movement possible for the first mechanical movement limiting device FMMLD, one, two or up to a virtually infinite number of locked positions may be possible.

[0142] 15A-15B illustrate an example in which the first connecting member FLM and the second connecting member SLM are coupled via a universal joint UJ, which allows such relative movement in two degrees of freedom indicated by arrows DOF1 and DOF2.

[0143] The first mechanical movement limitation device FMMLD is provided movably relative to the first connecting member FLM. The first mechanical movement limitation device FMMLD comprises an engagement portion 6 in the form of a ring. The inner surface of the ring provides a contact area 2 of the first mechanical movement limitation device FMMLD.

[0144] In the left position (solid line) of the first mechanical motion limiting device FMMLD, the first mechanical motion limiting device FMMLD is in a released position. In the above example, the available range of motion was determined, for example, by the shape, coupling, etc. of at least one of the first connecting member FLM and the second connecting member SLM. Here, the first mechanical motion limiting device FMMLD in the released position at least partially determines the available range of motion AMR between the first connecting member FLM and the second connecting member SLM. The closer the first mechanical motion limiting device FMMLD is positioned toward the universal joint, the greater the available range of motion. If the first mechanical motion limiting device FMMLD exceeds the universal joint, i.e., according to the drawing position to the left of the universal joint, the available range of motion can be even greater.

[0145] According to the figure, the second connecting member SLM also acts as a second mechanical movement limitation device SMMLD, more specifically, a surface of the second connecting member SLM acts as a contact area 10 of the second mechanical movement limitation device SMMLD.

[0146] In the released position, the available range of movement AMR is the range of movement in at least one of the two degrees of freedom DOF1, DOF2 between the first connecting member FLM and the second connecting member SLM as long as contact area 2 and contact area 10 are not engaged with each other.

[0147] The dashed line diagram of the first mechanical motion limiting device FMMLD on the right illustrates the first mechanical motion limiting device FMMLD in the locked position. In the locked position, the range of motion between the first connecting member FLM and the second connecting member SLM is limited as indicated by LMR. Depending on the granularity of movement possible for the first mechanical motion limiting device FMMLD, one, two, or a virtually infinite number of locked positions may be possible. According to FIGS. 15A-15B, any position of the first mechanical motion limiting device FMMLD to the right of the released position may be the locked position.

[0148] 16 illustrates a haptic device HD comprising a user interface member UIM coupled to a base member BM via three kinematic chains KCH1, KCH2, KCH3. Each kinematic chain KCH comprises not only connecting bars but also rotatable connecting members, i.e., kinematic chain KCH1 comprises connecting bars LB11, LB21 and a rotatable connecting member SLM1, kinematic chain KCH2 comprises connecting bars LB12, LB22 and a rotatable connecting member SLM2, and kinematic chain KCH3 comprises connecting bars LB13, LB23 and a rotatable connecting member SLM3.

[0149] The connecting member SLM1 of the base member and the connecting member FLM1 are coupled so that the connecting member SLM1 and the connecting member FLM1 can rotate relative to each other.

[0150] The connecting member SLM2 of the base member and the connecting member FLM2 are coupled such that the connecting member SLM2 and the connecting member FLM2 can rotate relative to each other.

[0151] The connecting member SLM3 of the base member and the connecting member FLM3 are coupled such that the connecting member SLM3 and the connecting member FLM3 can rotate relative to each other.

[0152] In the following, reference will be made to only one of the kinematic chains, for example the kinematic chain KCH1, however, the observations regarding the kinematic chain KCH1 also apply to the other kinematic chains KCH2 and / or KCH3.

[0153] The connecting member FLM1 may be considered a first connecting member in the sense of the present disclosure, and the connecting member SLM1 may be considered a second connecting member in the sense of the present disclosure.

[0154] As illustrated in FIGS. 17A and 17B, the first connecting member FLM and the second connecting member SLM are rotatably coupled via a joint axis JA.

[0155] The first connecting member FLM comprises a first mechanical movement limiting device FMMLD. The first mechanical movement limiting device FMMLD comprises a pin P. The pin P may be operatively engaged with a spring. The spring may be, for example, a spring SED of an energy storage and release device, as illustrated in FIG. 4 . To actuate the pin P, the first mechanical movement limiting device FMMLD may comprise an actuator, for example, a (e.g., bistable) electromagnet EM. An output end of the actuator EM is coupled to the support SUP at the pin P. This arrangement allows a spring-loaded coupling between the actuator EM and the pin P.

[0156] One or more sensor devices SD1, SD2 for sensing the position and / or movement of the pin P are provided.

[0157] The second connecting member SLM comprises at least one portion which acts as a second mechanical movement limitation device SMMLD, which according to the figure comprises a portion which includes an opening which acts as a contact area 10 of the second mechanical movement limitation device SMMLD.

[0158] When the first mechanical movement limiting device FMMLD indicates the released position, i.e. when the pin P and the contact area 10 are not engaged with each other, the available movement range between the first connecting member FLM and the second connecting member SLM can be used.

[0159] When the first mechanical movement limitation device FMMLD indicates the locked position, i.e. when the pin P and the contact area 10 are engaged with each other, the range of movement between the first connecting member FLM and the second connecting member SLM is limited. Due to the fact that the contact area 10 is provided as an opening, the engagement between the pin P and the contact area makes relative movement between the first connecting member FLM and the second connecting member SLM substantially impossible.

[0160] The second connecting member SLM may provide a further contact area 12 of the second mechanical movement limitation device SMMLD.

[0161] When the first mechanical movement limiting device FMMLD indicates the released position, i.e. when the pin P and the contact area 12 are not engaged with each other, the available movement range between the first connecting member FLM and the second connecting member SLM can be used.

[0162] When the first mechanical movement limitation device FMMLD indicates the locked position, i.e. when the pin P and the contact area 12 are engaged with each other, the range of movement between the first connecting member FLM and the second connecting member SLM is limited. Due to the fact that the contact area 12 is provided as an opening, the engagement between the pin P and the contact area makes relative movement between the first connecting member FLM and the second connecting member SLM substantially impossible.

[0163] The difference between the locking position associated with contact area 10 and the locking position associated with contact area 12 is the different position at which the second connecting member SLM is stopped / blocked.

[0164] The example of Figures 17A-17B also comprises an actuator FAC for providing tactile feedback to the user interface member UIM via the second connecting member SLM and associated connecting bar LB.

[0165] 18 schematically illustrates a further example of an adjustable mechanical motion range limiter for a haptic interaction simulation device, for example, which may be used in a haptic device in the form of a wristwatch interaction simulator.

[0166] The example of Figure 18 comprises a first connecting member FLM, which is the base of the haptic device, and a second connecting member SLM, which is rotatable relative to the first connecting member FLM and the base. The second connecting member SLM comprises a rod RO arranged between a user interface member UIM in the form of a dial and an actuator FAC for providing haptic feedback at the user interface member UIM. A first mechanical movement limiting device FMMLD is coupled to the first connecting member FLM.

[0167] The first mechanical movement limitation device FMMLD comprises a controllable actuator CAC and at least one sensor device SD. All the observations made above regarding controllable actuators and sensors apply here as well.

[0168] The first mechanical motion limiting device FMMLD comprises a belt drive mechanism having a belt BEL coupled between an output OUT of a controllable actuator CAC and a rotatable disk DIS. The rotatable disk DIS comprises a curved opening CAP. The curved opening CAP comprises a first contact area 2 and a second contact area 4.

[0169] The second mechanical movement limiting device SMMLD is coupled to the second connecting member SLM. The second mechanical movement limiting device SMMLD comprises a rod RO passing through the curved opening CAP.

[0170] 18 illustrates a situation in which the user interface member UIM can be rotated clockwise and counterclockwise as long as the rod RO does not contact either contact area 2 or contact area 4. This situation represents a locked position of the first mechanical movement limiting device FMMLD, as the rotation of the second connecting member SLM, and therefore the rotation of the user interface member UIM, is limited by the size of the curved opening CAP.

[0171] By rotating the disk DIS, the position of the curved opening CAP, and therefore the position of the range of motion between the first connecting member FLM and the second connecting member SLM, can be changed. FIG. 18 illustrates an example of a position where the range of motion is near "9 o'clock." Depending on the rotation of the disk DIS, the range of motion can be positioned, for example, near "noon," "3 o'clock," or "5 o'clock." In any of these cases, the first mechanical motion limiting device has a locked position.

[0172] The maximum available range of motion between the first connecting member FLM and the second connecting member SLM can be extended by rotating the disc DIS so that the curved opening CAP moves in the same direction and at approximately the same speed as the rod RO (i.e. the second connecting member SLM and the user interface member UIM), thereby avoiding contact between the rod RO and one of the contact areas 2 and 4 and the second connecting member, and therefore allowing the user interface member UIM to rotate without restriction in at least one direction.

[0173] 19, for example, schematically illustrates a further example of an adjustable mechanical motion range limiter for a haptic interaction device, which may be used, for example, in a wrist mechanism of a haptic device.

[0174] 19 illustrates an adjustable mechanical motion range limiter AMMRLA having a first linking member FLM and a second linking member SLM, both of which are movable relative to each other. By way of example, the first linking member FLM and the second linking member SLM are rotatable relative to each other. By way of example, the first linking member FLM has a bar-like main portion BLMP and an angled portion AP extending therefrom.

[0175] According to the example, the second connecting member SLM has a disk-shaped main part DLMP. The disk-shaped main part DLMP of the second connecting member SLM and the bar-like main part BLMP of the first connecting member FLM are connected via a pivot joint PJ. The first mechanical movement limitation device FMMLD is connected to the first connecting member FLM and comprises a bar connection arrangement BLA.

[0176] The second mechanical motion limiting device SMMLD is coupled to the second connecting member SLM and comprises a plurality of pins PIN extending from the disk-shaped main portion DLMP.

[0177] The bar connection arrangement BLA comprises a first bar B1 having an end B1e rotatable relative to the first connecting member FLM. This is achieved, by way of example, by connecting the end B1e to the bar-shaped main portion BLMP of the first connecting member FLM via a pivot joint PJ1. The other free end or tip B1t of the first bar FB1 is adapted or designed for engagement with one or more pins PIN of the second mechanical motion limiting device SMMLD, as will be explained further below. An end stop may be provided to limit the clockwise rotation of the first bar B1 (according to the example). By way of example, this may include a stop pin STP extending from the first connecting member FLM, and the first bar B1 may include a receiver RP with which the stop pin STP may engage.

[0178] The bar linking arrangement BLA comprises a second bar B2 arranged between the first bar B1 and the third bar B3 of the bar linking arrangement BLA.

[0179] The third bar B3 is rotatable relative to the first connecting member FLM, which is achieved, according to the example, by connecting the end B3e to the angled portion AP of the first connecting member FLM via a pivot joint PJ2.

[0180] The end B2e of the second bar B2 and the end B3t of the third bar B3 are rotatably connected via a pivot joint PJ3, and the second bar B2 and the third bar B3 are rotatable relative to each other. Furthermore, the end B2t of the second bar B2 and the middle portion of the first bar B1 are rotatably connected via a pivot joint PJ4, and the second bar B2 and the first bar B1 are rotatable relative to each other.

[0181] The bar connection arrangement BLA comprises, as an optional energy storage and release device ESRD, in this example a spring coupled between the angle portion AP of the first connection member FLM and the pivot joint PJ3, or alternatively between the angle portion AP of the first connection member FLM and any part of the third bar B3.

[0182] The bar-linked arrangement BLA can operate in a bistable manner.

[0183] In the situation illustrated by the solid lines in FIG. 19, the bar connection arrangement BLA has a locked position in which the tip B1t of the first bar B1 and the pin of the second connecting member SLM can engage with each other. In other words, in the locked position of the bar connection arrangement BLA, the first bar B1 is guided into interaction with the second connecting member SLM. As a result, in the locked position of the bar connection arrangement BLA, the range of movement between the first connecting member FLM and the second connecting member SLM is limited. The locked position of the bar connection arrangement BLA is maintained by the spring ESRD, which biases the bar connection arrangement BLA to this position.

[0184] In the situation illustrated by the dashed lines in FIG. 19, the bar connecting arrangement BLA has a release position in which the tip B1t of the first bar B1 and the pin of the second connecting member SLM cannot engage with each other. In other words, in the release position of the bar connecting arrangement BLA, the first bar B1 is pulled back from interaction with the second connecting member SLM. As a result, in the release position of the bar connecting arrangement BLA, the range of motion between the first connecting member FLM and the second connecting member SLM is not limited. The release position of the bar connecting arrangement BLA is maintained by the spring ESRD, which biases the bar connecting arrangement BLA to the release position.

[0185] The transition of the bar linking arrangement BLA between the locked and released positions and vice versa can be performed by the control device CTD. By way of example, the control device CTD is coupled to the third bar B3 of the bar linking arrangement BLA via a pivot joint PJ2 such that a rotation of the control device CTD causes the third bar B3 to rotate about the axis of the pivot joint PJ2. By rotating the control device CTD, the third bar B3 can be moved between the position illustrated by the solid line (i.e., the position for the locked position of the bar linking arrangement BLA) and the position illustrated by the dashed line (i.e., the position for the locked position of the bar linking arrangement BLA).

[0186] The control device CTD may include a control member or knob CK for manual interaction by a user. The control device CTD may, for example, be arranged between the control member / knob CK and the third bar B3 and may comprise at least one of an encoder ENC, an actuator ACT, and a gear arrangement GE.

[0187] An encoder ENC may be provided to determine and / or control the rotational position of the control device CTD. An actuator ACT may be provided to support rotation caused by manual user interaction via a control member / knob CK. A gear arrangement GE may be provided for increasing or decreasing rotation caused by manual user interaction via the control member / knob CK and / or the actuator ACT.

[0188] In this case, when the bar connecting arrangement BLA is in the locked position, the range of movement between the first connecting member FLM and the second connecting member SLM is limited. This limit can be controlled by the spacing between adjacent pins PIN. For example, when the tip B1t of the first bar B1 of the bar connecting arrangement BLA is in the locked position, if two adjacent pins PIN have a spacing that is located between the two adjacent pins, the tip B1t will contact both of the adjacent pins PIN. Then, the first connecting member FLM and the second connecting member SLM cannot move relative to each other.

[0189] When the spacing between two adjacent pins PIN is wider and the tip B1t of the first bar B1 of the bar connection arrangement BLA in the locked position is located between the two adjacent pins, the tip B1t has some freedom to move between the adjacent pins PIN before contacting one of the adjacent pins PIN, and the range of movement between the first connection member FLM and the second connection member SLM is accordingly limited.

[0190] If more than two pins PIN are used, the range of motion limitations can be enabled for different rotational positions of the first connecting member FLM and the second connecting member SLM relative to each other. For example, if the tip B1t in the locked position of the bar connecting arrangement BLA is, according to the example, located between two adjacent pins PIN on the right side of the pin row, the rotational position of the first connecting member FLM and the second connecting member SLM relative to each other will be different from the rotational position relative to each other if the tip B1t in the locked position of the bar connecting arrangement BLA is, according to the example, located between two adjacent pins PIN on the left side of the pin row.

Claims

1. 1. An adjustable mechanical range of motion limiting device for mechanically limiting relative motion between a pair of linkage members of a haptic device, the haptic device comprising: an active feedback device for providing active force and / or torque feedback towards a user of said haptic device; a movable user interface member; the pair of connecting members comprises a first connecting member and a second connecting member movable relative to each other; - the range of motion of said pair of linking members controls the range of motion of said movable user interface member; the adjustable mechanical motion range limiting device; a first mechanical motion limiting device movable relative to said first linkage member independently of said active feedback device; a second mechanical motion limiting device coupled to said second linkage member; an adjustable mechanical range of motion limiting apparatus, wherein the first mechanical motion limiting device has a locked position relative to the first connecting member, and in the locked position, the first mechanical motion limiting device mechanically engages the second mechanical motion limiting device, thereby limiting at least a range of motion between the first connecting member and the second connecting member;

2. the second mechanical motion limiting device - in a fixed position relative to said second connecting member, or An adjustable mechanical range of motion limiting device according to claim 1, which is movable relative to said second connecting member.

3. the first mechanical motion limiting device - revolute joints, - linear joints, - Cardan joint, - universal joints, - spherical joints, - cylindrical joints, - screw joints, - Plane joints, - elastically deformable joints, - hinges, - flexible beams, a guide for the linear movement of said first mechanical movement limitation device; 3. The adjustable mechanical motion range limiting device of claim 1 or claim 2, wherein the adjustable mechanical motion range limiting device is coupled to the first connecting member by at least one of:

4. 4. An adjustable mechanical motion range limiting apparatus according to any one of claims 1 to 3, comprising a passive energy storage and release device configured to provide a force and / or torque to the first mechanical motion limiting device.

5. The passive energy storage and release device comprises: - elastically deformable material, - springs, - flexible beams, - magnet, - moving mass, 5. The adjustable mechanical motion range limiting device of claim 4, comprising at least one of:

6. 6. An adjustable mechanical motion range limiting apparatus according to any one of claims 1 to 5, wherein a controllable active actuator is associated with at least one of the first linking member and the second linking member, the controllable active actuator providing a force and / or torque to the first mechanical motion limiting device.

7. The controllable active actuator comprises: - electromagnetic motors, - Voice coil actuator, - moving magnet actuator, - permanent magnets, - monostable solenoid, - bistable solenoid, - pneumatic actuators, - piezoelectric actuators, - hydraulic actuators, 7. The adjustable mechanical motion range limiting device of claim 6, comprising at least one of:

8. 8. The adjustable mechanical motion range limiting device of claim 6 or claim 7, further comprising an actuator controller configured to control the position and / or movement and / or velocity and / or acceleration and / or force and / or torque of the controllable active actuator.

9. 9. The adjustable mechanical motion range limiting device of claim 8, wherein the actuator controller is configured to control the position and / or movement and / or velocity and / or acceleration and / or force and / or torque of the active actuator in response to a relative position and / or movement and / or velocity and / or force and / or torque between the first and second connecting members.

10. The actuator controller - switch, - user interface, - computers, - Joystick or joypad, - Touch screen, - closed loop feedback, 10. The adjustable mechanical motion range limiting device of claim 8 or claim 9, comprising at least one of:

11. 11. The adjustable mechanical motion range limiting apparatus of claim 1, further comprising a sensor device configured to detect a position and / or a movement and / or a force and / or a torque of the first mechanical motion limiting device.

12. The sensor device - electrical contacts, - electrical and / or mechanical switches, - position encoders, - linear encoder, - rotary encoder, - potentiometer, - capacitance sensors, - inductive sensors, - piezoelectric sensors, - optical sensors, - Hall effect sensors, - magnetic sensors, - accelerometer, - Inclinometer, - strain gauges, 12. The adjustable mechanical motion range limiting device of claim 11, comprising at least one of:

13. - the placement of said first mechanical movement limiting device; - movement of said first mechanical movement limiting device; - application of a force to said first mechanical movement limiting device; - application of a torque to said first mechanical motion limiting device; 13. The adjustable mechanical motion range limiting device of claim 1, further comprising a control member configured to manually operate at least one of the following by a user:

14. The control member - button, - slider, - Wheels, - Knob, - Ring, - Lever, - pull tab, 14. An adjustable mechanical motion range limiting device according to any one of claims 1 to 13, comprising at least one of:

15. 15. The adjustable mechanical motion range limiting apparatus of claim 1, further comprising a damping device coupled to at least one of the first mechanical motion limiting device and the second mechanical motion limiting device, the damping device configured to damp at least one of a force and / or a torque acting on at least one of the first mechanical motion limiting device and the second mechanical motion limiting device upon engagement of the first mechanical motion limiting device with the second mechanical motion limiting device.

16. The attenuation device - springs, - elastically deformable material, - flexible beams, - viscoelastic materials, - rubber, - viscous fluid, - electrorheological fluids, - magnetic fluid, - Lever, - magnet, - piston, 16. The adjustable mechanical motion range limiting device of claim 15, comprising at least one of:

17. 17. The adjustable mechanical motion range limiter of claim 16, further comprising a transmission mechanism coupled with the first mechanical motion limiting device.

18. 20. The adjustable mechanical motion range limiting apparatus of claim 17, wherein the transmission mechanism is configured to couple the first mechanical motion limiting device to at least one of the passive energy storage and release device, the controllable active actuator, and the control member.

19. The transmission mechanism includes: - lead screw, - screw nut arrangement, - Bar connection arrangement, - Lever, - crank mechanism, - slider mechanism, - operational linkage, - yoke mechanism, - Gear, - planetary gear train, - distorted wave drive, - Cycloid drive, - rack and pinion arrangement, - cable drive, - Belt drive, - Cam, 19. An adjustable mechanical motion range limiting device according to claim 17 or claim 18, comprising at least one of:

20. the first mechanical motion limiting device - Pin, - Bolt, - Lever, - slider, - Ratchet, - eccentric wheels, - protrusion, - depressions, - wedge, - disk, - Ring, - screws, - screw-nut mechanism, - crank mechanism, - slider mechanism, - operational linkage, - yoke mechanism, - Gear, - Cam, 20. An adjustable mechanical motion range limiting device according to any one of claims 1 to 19, comprising at least one of:

21. the second mechanical motion limiting device - a hole in said second connecting member, - an opening in the second connecting member; - protrusion, - depressions, - teeth, - Pin, - wedge, - Bolt, - Lever, - slider, - Ratchet, - eccentric wheels, - disk, - Ring, - screws, - screw-nut mechanism, - crank mechanism, - slider mechanism, - operational linkage, - yoke mechanism, - Gear, - Cam, 21. An adjustable mechanical motion range limiting device according to any one of claims 1 to 20, comprising at least one of:

22. at least one further first mechanical movement limiting device; at least one further second mechanical movement limiting device; 22. An adjustable mechanical motion range limiting device according to any one of claims 1 to 21, comprising at least one of:

23. 23. An adjustable mechanical motion range limiting apparatus according to any one of claims 1 to 22, adapted to limit the range of motion between the first and second connecting members such that relative movement between the first and second connecting members is constrained and / or locked in position when the first and second mechanical motion limiting devices are engaged.

24. 1. A haptic device, comprising: a pair of connecting members; an active feedback device for providing active force and / or torque feedback towards a user of said haptic device; a movable user interface member; the pair of connecting members comprises a first connecting member and a second connecting member movable relative to each other; the range of motion of the pair of linkage members controls the range of motion of the movable user interface member; The haptic device further comprises at least one adjustable mechanical motion range limiting device according to any one of claims 1 to 21.

25. - pure translational basic structure, - Parallel kinematics translation basic structure, - Rotating wrist mechanism, - gripping mechanism; - hand detection sensor, 25. The haptic device of claim 24, comprising at least one of:

26. - operator console for one- or two-handed operation, a teleoperation system, in which said haptic device is configured to teleoperate a virtual or real robotic device; - medical devices, - surgical devices, - simulation devices, - training devices, - rehabilitation devices, 26. The haptic device according to claim 24 or 25, comprising at least one of:

27. 27. A haptic device according to any one of claims 24 to 26, wherein the at least one adjustable mechanical motion range limiting device according to any one of claims 1 to 21 is adapted to constrain and / or lock at least one translational movement and / or at least one rotational movement of the movable user interface member.

28. 28. A haptic device according to any one of claims 24 to 27, wherein the haptic device may comprise or be part of a watch interaction simulator.

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