Compact Haptic Interface with Nested Yoke and Carrier Mechanism
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Solution Overview
Problem
Conventional haptic interfaces are not compact enough to be practical for mobile or portable robot operations, as they are typically designed for desktop use and lack the necessary form factor to integrate effectively with existing laptop-style controllers used in robotic systems.
Innovation Solution
A compact haptic interface design featuring a base with a yoke and carrier system, including multiple motors and drive couplings, that allows for rotation and linear movement, enabling haptic feedback in a mechanically compact and lightweight form factor suitable for integration with laptop computers, with a focus on high haptic force output in preferred directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional haptic interfaces are designed for desktop usage, then haptic feedback capability is provided, but the form factor becomes too large for mobile or portable robot operations
Solution Approach 1:
The patent implements nesting by placing the carrier assembly (containing second and third motors) inside the yoke assembly (which contains the first motor). This nested configuration allows multiple haptic actuators to be compactly arranged within a small footprint, enabling the device to fit on laptop-style controllers while maintaining full haptic functionality for mobile robotic operations
Solution Approach 2:
The patent utilizes three-dimensional spatial arrangement by orienting motor axes in different directions (first motor axis, second motor axis transverse to first, third motor axis transverse to second). This multi-dimensional layout maximizes the use of available space within the compact housing, allowing complex haptic mechanisms to coexist in a small volume suitable for portable applications
2Reliability
If conventional haptic interfaces are designed with full haptic functionality, then haptic feedback is provided, but the device complexity increases making it impractical for portable use
Solution Approach 1:
The patent divides the haptic system into three independent motor assemblies (first motor in base, second motor in yoke, third motor in carrier), each responsible for a specific degree of freedom. This segmentation allows each motor to be optimized for its specific function while maintaining overall system compactness, reducing structural complexity compared to a single large haptic actuator
Solution Approach 2:
The patent implements a dynamic hierarchical structure where the carrier can rotate relative to the yoke, and the grip can rotate relative to the carrier. This dynamic configuration allows the system to provide complex haptic feedback through coordinated movement of multiple degrees of freedom, maintaining full haptic functionality while keeping each individual component simple and compact
Data Source
AI summary
Compact haptic interface (100) includes a base (102) and a yoke (304) rotatably disposed within the base. A first drive coupling (312) between a first motor (301) and the yoke rotates the yoke about a yoke axis (308). A carrier (306) is mounted to the yoke and rotatable about a carrier axis (310) transverse to the yoke axis. A rod (110) mounted to the carrier extends along a rod axis (346) transverse to the yoke axis and the carrier axis. A second drive coupling (314) rotates the carrier about the carrier axis responsive to operation of a second motor (302) which is mounted to the yoke. A third motor (303) is supported on the carrier and rotatable with the carrier about the carrier axis of rotation. A third drive coupling (340) facilitates linear movement of the rod along a linear direction responsive to operation of the third motor.