Abstract: A robot suitable for micro-surgical application is formed by a robot arm having a position adjustable free end on which are mounted with their respective stators in fixed relationship a master and a slave robot. The position and actuation of the moving element of the master (master floater) and the moving element of the slave (slave floater) are used to couple their moment such that the master floater motion and forces are scaled down and followed by the slave and the slave floater motion and forces are scaled up and followed by the master. The sensed environment forces on the slave floater and sensed hand (environment) forces on the master can be used to improve the coordination between the master and the slave.

Abstract: A platform is mounted by bellows, at least one for each degree of freedom (DOF) of the platform. The bellows may provide either an active or a passive mounting for the platform. By arranging a suitable number of such bellows in supporting relationship a platform or floater for example six degrees freedom can be provided. Using pneumatic bellows in opposed pairs, one pair for each degree of freedom and by controlling the pressure in (and flow to) the bellows selected forces may be applied to the platform to accurately position the platform or to provide feedback for a sensory control e.g. as reflected force applied to the joystick. The position and orientation of the platform, i.e. movement of the platform, may be used to generate signals for example as in a joystick. Sensing the pressure in each of the bellows of each of the pairs permits the forces being applied by or to the platform to be monitored.

Abstract: A programmable computer user input/output (I/O) system having a multiple degree-of-freedom magnetic levitation (maglev) device with a matched electrodynamically levitated flotor and stator combination and an electrodynamic forcer means for receiving coil currents for applying controlled magnetic forces mutual to the flotor and stator. A sensing means measures the relative position and orientation of the flotor and stator. The I/O system includes a maglev I/O device control software module for measuring the relative movement of the flotor-stator combination of the maglev device and for controlling the coil currents provided to the electrodynamic forcer means. At least one active device model module, comprising a software representation of a mechanical I/O device, controls the maglev I/O device control software module to generate signals which emulate the mechanical I/O device represented by the active device model.

Abstract: An optical position determination system is described which determines the six degrees of freedom (i.e. position of orientation) of an object with respect to a two-dimensional position sensing detector. The system comprises at least three energy beams physically connected to the object and directed to corresponding points of incidence on a surface of the position sensing detector. The energy beams are selectively energized to enable the position sensing detector to provide outputs indicative of the positions of the points of incidence. A microcomputer is responsive to those outputs to calculate the position of their common point of intersection. A single position sensing detector is thereby able to provide complete, three-dimensional information on the position of the object.