James Ray Colgate

8405618, Mar 26, 2013

Mar 21, 2007

11/726391

James Edward Colgate - Evanston IL, US
Michael Peshkin - Chicago IL, US
John Glassmire - Chicago IL, US
Laura Winfield - Evanston IL, US

Northwestern University - Evanston IL

G09G 5/00
G06F 3/033
G06F 3/041

345173, 345156, 345158, 341 22

A haptic device provides indirect haptic feedback and virtual texture sensations to a user by modulation of friction of a touch surface of the device in response to one or more sensed parameters and/or time. The sensed parameters can include, but are not limited to, sensed position of the user's finger, derivatives of sensed finger position such as velocity and/or acceleration, sensed finger pressure, and/or sensed direction of motion of the finger. The touch surface is adapted to be touched by a user's bare finger, thumb or other appendage and/or by an instrument such as a stylus held by the user.

8525778, Sep 3, 2013

Oct 19, 2009

12/589178

James Edward Colgate - Evanston IL, US
Michael Peshkin - Evanston IL, US

Northwestern University - Evanston IL

G09G 5/00
G06F 3/041

345156, 345173

A haptic device includes a substrate that is subjected to lateral motion such as lateral oscillation with one or more degrees of freedom together with modulation of a friction reducing oscillation in a manner that can create a shear force on the user's finger or on an object on the device.

20090284485, Nov 19, 2009

Mar 19, 2009

12/383120

James Edward Colgate - Evanston IL, US
Michael Peshkin - Evanston IL, US
Laura Winfield Alexander - Sunbury OH, US
Mario Schirru - Rome, IT

G06F 3/041
G06F 3/033
G06F 3/01

345173, 345184, 715702

A haptic device is provided having a substrate with a touch surface and one or more actuators for vibrating the substrate in a multiplicity of higher resonant modes, each of which has a high enough frequency to be inaudible and high enough amplitude to create a friction reduction effect at a plurality of vibrating regions on the substrate touch surface.

20110260988, Oct 27, 2011

Jan 18, 2011

12/930790

James Edward Colgate - Evanston IL, US
Michael Peshkin - Evanston IL, US
Erik Chubb - San Francisco CA, US

G08B 6/00
G06F 3/041

345173

A haptic device capable of providing a force on a finger or object in contact with a substrate surface includes a substrate having a touch surface, includes a substrate having a touch surface, at least one first actuator for subjecting the substrate to out-of-plane ultrasonic oscillations controlled to provide relatively low and high friction states of the touch surface and at least one second actuator for subjecting the substrate to lateral oscillations while the substrate is alternated between the low and high friction states in a manner to generate a force felt by a user's finger on the touch surface. A control device provides signals to the at least one first actuator to establish relatively low and high friction states of the touch surface. An electrical damping circuit between the control device and the at least one first actuator is implemented for reducing the transition time between the low and high friction states. Reduction of the transition time increases forces felt by a user's finger on the touch surface.

53263740, Jul 5, 1994

Dec 1, 1992

7/983658

Michel N. Ilbawi - Oak Brook IL
James E. Colgate - Evanston IL
David A. Johnson - Evergreen Park IL

A61M 110

623 3

A body-implantable device for controlling the size of a fluid flow passageway within the body, typically for use in a Fenestrated Fontan operation. A housing is provided and secured within the body, typically to the artificial septum sutured into place in the Fontan operation. A flow passageway extends through the housing. An antenna is responsive to electromagnetic signals emitted from outside the body and conveyed through the body without wires to the antenna. Means are provided for varying the cross-section of the flow passageway in a manner responsive to signals received by the antenna.

52352250, Aug 10, 1993

Aug 31, 1990

7/575965

James E. Colgate - Evanston IL
Mark E. Axland - Glenview IL

Northwestern University - Evanston IL

H02K 4100

310 12

Miniaturized linear electrostatic motor comprising a plurality of parallel stators and a flexible rotor disposed between adjacent stators. The stators may be fabricated by depositing a plurality of conductive electrodes on each facing surface of the stator or the electrodes may alternatively be placed on the flexible rotor element. The electrodes are selectively energized by a commutating circuit in a manner to effect movement of the rotor relative to the stator in a perpendicular to parallel motion. The electrostatic motor is particularly suitable for fabrication using photo-lithographic techniques and the formation of multi-layered, concatenated motor structures.

59231394, Jul 13, 1999

Feb 23, 1996

8/605997

James E. Colgate - Evanston IL
Michael A. Peshkin - Skokie IL

Northwestern University - Evanston IL

G05B 1101

318566

A passive constraint device for implementing a programmable virtual constraint surface, comprises one or more non-holonomic kinematic transmission element for coupling velocities of motion and having a steering angle. A user moves the handle of the passive constraint device relative to the virtual surface. A steering motor sets the steering angle of the non-holonomic element in response to the proximity of the handle to the virtual surface. When in contact with the virtual surface, the steering angle is set so as to prohibit any motion which would penetrate the surface. When not in contact with the virtual surface, the steering motor adjusts the steering angle in response to the user's applied forces, to provide apparent freedom of motion to the user.

59527960, Sep 14, 1999

Oct 28, 1997

8/959357

James E. Colgate - Evanston IL
Michael A. Peshkin - Skokie IL

H02K 700

318 1

An apparatus and method for direct physical interaction between a person and a general purpose manipulator controlled by a computer. The apparatus, known as a collaborative robot or "cobot," may take a number of configurations common to conventional robots. In place of the actuators that move conventional robots, however, cobots use variable transmission elements whose transmission ratio is adjustable under computer control via small servomotors. Cobots thus need few if any powerful, and potentially dangerous, actuators. Instead, cobots guide, redirect, or steer motions that originate with the person. A method is also disclosed for using the cobot's ability to redirect and steer motion in order to provide physical guidance for the person, and for any payload being moved by the person and the cobot. Virtual surfaces, virtual potential fields, and other guidance schemes may be defined in software and brought into physical effect by the cobot.