ACCOMPLISHMENTS
As part of the contract, Cybernet developed
prototypes of the hand-controller, a flight-yoke, the control
hardware, and control software. The prototypes were called “CyberImpact
devices.” A virtual reality engine runs a world simulation system,
which calls for a force to be generated from its internal world model.
Significant technical achievements to date:
- The CyberImpact 6-DOF hand controller
is a commercially mature backdrivable robot controller which moves
in six degrees of freedom. It consists of six successively distal
stages, the proximal three of which are prismatic and the distal
three are revolute. The prismatic stages combine to form a Cartesian
XYZ platform, thus providing end effector spatial locations. The
distal stages combine, in a mutually orthogonal yaw/pitch/roll arrangement,
to provide end effector spatial orientation. Each distal stage has
an angular travel of ±45°. Each stage is driven by a
brushless DC servomotor, through rack/pinion (prismatic) and gear/pinion
(revolute) drivetrains. The device thus serves as a true haptic
input/position output device. Incremental optical encoders mounted
on the motor backshafts provide position information to the driving
computer, while torque serving the motors provides force reflection
to the operator.
- Cybernet’s Dexterous Master
(DM) consist of four identical finger assemblies and one thumb assembly
that is composed of a standard finger assembly and an additional
actuated DOF. All mechanical components were constrained to exist
along the dorsal surface of the hand, in order to minimize the probability
of finger/mechanism collision. The orientation of each intermediate
master finger joint is not transduced, but is left to the discretion
of the slave computer. Five identical servo-controlled actuator
units use a small electric brushless motor to drive a synchronous
belt drivetrain of ratio 3:7:1. The auxiliary motor for the thumb
is the same model, but operates through a bevel gear drivetrain.
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COMMERCIALIZATION
- Based on the work
of these two contracts, Cybernet developed a number of DOF
and 3 DOF products which were sold in small units to various companies,
including Lawrence Livermore National Lab, Ford, McDonnell Douglas,
Wright Patterson Air Force Base, University of Delaware, Case Western
Reserve, BMW, FAA, INCO Limited, DISAM Escuela, High Techsplanation,
Sandia National Labs, S.A. Sodetek, University of Nevada, and Battelle.
The total sales in force feedback devices exceeded $500,000.
- In May 1999, Cybernet
received a net $5 Million inflow of capital from Immersion Corporation
as part of the merger of Cybernet’s Force Feedback intellectual
property and business with Immersion's. Based on the current NASDAQ
value of Immersion stock, this inflow is now valued at approximately
$40 million.
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GOVERNMENT/SCIENCE
APPLICATIONS
Cybernet has entered
into a strategic alliance with Immersion Corporation. The firms target
market was mainly the gaming sector and flight simulators. However,
instead of pursuing that market and competing with Immersion Corporation,
we instead decided to join forced with them.
Patents:
- Feb 16, 1999:
5,872,438 Whole-body kinesthetic display.
- Dec 1, 1998:
5,844,392 Haptic Browsing.
- Nov. 3, 1998:
5,831,408 Force feedback system
- May 19, 1998:
5,754,023 Gyro-stabilized platforms for force-feedback
applications
- May 13, 1997:
5,629,594 Force feedback system
- Oct 17, 1995:
5,459,382 Method and system for providing a tactile
virtual reality and manipulator defining an interface device therefor.
- Feb 14, 1995:
5,389,865 Method and system for providing a tactile
virtual reality and manipulator defining an interface device therefor.
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