The Pen-Based Force Display (PBFD)

Abstract

The pen based force display is a direct-drive, parallel, actuation redundant, two degree-of-freedom haptic device, designed to provide force feedback information generated by either a master-slave system or a virtual simulation. The operator interacts with it using either the fingertip or a freely held pen-like tool.

This device could provide force feedback for applications as diverse as micro-surgery and telemanipulation, or serve as an input device to characterize the human's finger impedance, or serve as a generic virtual reality mechanical interface.

The pen based is a friendly travel companion - robot, electronics and controller fit in a compact case.

Specifications
.

Robotic Graphics for Astronaut Training

Shared Virtual Environments

Virtual Coupling Networks

(*) Note: Most of the BRL publications are available on-line in a PDF format. You may used the publication's reference number as a link to the individual manuscript.

[076]
P. Buttolo, D.Y. Hwang, B. Hannaford, 'Hard Disk Actuators for Mini-Teleoperation,' Proc. SPIE Telemanipulator and Telepresence Technologies Symposium, pp. 55-61, Boston, October 31, 1994.

[081]
P. Buttolo, P. Braathen, B. Hannaford, 'Sliding Control of Force Reflecting Teleoperation: Preliminary Studies,' PRESENCE, vol. 3, pp. 158-172, 1994.

[089]
P. Buttolo, B. Hannaford, 'Pen Based Force Display for Precision Manipulation of Virtual Environments,' Proceedings VRAIS-95, pp. 217-225, Raleigh, NC, March 1995.

[093]
B. Hannaford, P.H. Marbot, P. Buttolo, M. Moreyra, S. Venema, 'Scaling Properties of Direct Drive Serial Arms,' International Journal of Robotics Research, vol. 15, pp. 459-472, 1996.

[094]
P. Buttolo, D. Kung, B. Hannaford, 'Manipulation in Real, Virtual, and Remote Environments,' Video Proceedings, IEEE VRAIS-95, Raleigh, NC, March 1995.

[096]
P. Buttolo, D. Kung, B. Hannaford, 'Manipulation in Real, Virtual, and Remote Environments,' Proceedings, IEEE International Conference on Systems, Man, and Cybernetics, Vancouver, BC, October, 1995.

[097]
B. Hannaford, A.K. Bejczy, P. Buttolo, M. Moreyra, S. Venema, 'Mini-Teleoperation Technology for Space Research,' Procedings International Symposium on Microsystems Intelligent Materials and Robots (MIMR-95), pp. 524-527, Sendai, Japan, September, 1995.

[098]
P. Buttolo, B. Hannaford, 'Advantages of Actuation Redundancy for the Design of Haptic Displays,' Proceedings, ASME Fourth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, vol. DSC-57-2, pp. 623-630, San Francisco, Nov. 1995.

[101]
P. Buttolo, R. Oboe, B. Hannaford, W. McNeely, 'Force Feedback in Shared Virtual Simulations,' Proceedings MICAD, Paris, 1996.

[112]
P. Buttolo, R. Oboe, B. Hannaford, 'Architectures for Shared Haptic Virtual Environments,' Computers and Graphics, vol. 21, pp. 421-9, July-Aug 1997.

[119]
P. Buttolo, B. Hannaford, 'Direct Drive Manipulator for pen-based force display,' U.S. Patent #5,642,469, June 24, 1997 (issued).

[M0054]
P. Buttolo, J. Hewitt, R. Oboe, B. Hannaford, 'Force Feedback in Virtual and Shared Environments,' Poster: IEEE Intl. conf. on System, Man and Cybernetics, Vancouver BC, October 1995.

[Th016]
P. Buttolo, 'Characterization of Human Pen Grasp with Haptic Displays,' Ph.D. Dissertation, University of Washington, Department of Electrical Engineering, June 1996.