Dynamically balanced, multi-degrees-of-freedom hand controller

• US 10,198,086 B2
• Filed: 08/27/2018
• Issued: 02/05/2019
• Est. Priority Date: 10/27/2016
• Status: Active Grant

• Current Assignee: Fluidity Technologies, Inc. (Safran SA)
• Original Assignee: Fluidity Technologies, Inc. (Safran SA)
• Inventors: Parazynski, Scott Edward, Bull, Jeffrey William, Degnan, Nicholas Michael, Matson, Alinda Mercedes, Tran, Brandon
• Primary Examiner(s): Hicks, Charles
• Application Number:
  US16/114,190
• Publication Number:
  US 20180356907A1
• Time in Patent Office: 162 Days
• CPC Class Codes: A61B 2034/742 Joysticks
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05G 2009/04707 with ball joint
• CPC Class Codes: G05G 2009/04718 with cardan or gimbal type joint
• CPC Class Codes: G05G 2009/04774 with additional switches or sensors on the handle
• CPC Class Codes: G05G 2009/04777 with additional push or pull action on the handle
• CPC Class Codes: G05G 2009/04781 with additional rotation of the controlling member
• CPC Class Codes: G05G 9/04737 with six degrees of freedom
• CPC Class Codes: G05G 9/04792 for rotary control around the axis of the controlling member
• CPC Class Codes: G05G 9/04796 for rectilinear control along the axis of the controlling member
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G06F 3/0338 with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry

Abstract

A controller is capable of controlling an asset or target in physical and/or virtual three-dimensional space using a single hand by generating control inputs in four or more degrees of freedom while also limiting cross-coupling (unintended motions). The controller includes a first control member is configured to be gripped in a user'"'"'s single, second control member is disposed on or near a top end of the first member movable with at least one degree of freedom independently of the movement of the first control member, and a third control member positioned on the first member for displacement by one or more digits of the user'"'"'s single hand and coupled with the second member to move in opposition to movement of the second control member.

Claims

1. A controller for generating control inputs for at least four degrees of freedom, comprising:

a first control member shaped for gripping by a user'"'"'s hand, the first control member being adapted for displacement by the user in at least two degrees of freedom relative to a predetermined frame of reference;

a first sensor for measuring displacement of the first control member in each of at least two degrees of freedom;

a second control member mounted on the first control member for displacement relative to the first control member in two or more degrees of freedom, the second control member being located on the first control member in a position that allows for its displacement in at least one of the second control member'"'"'s two or more degrees of freedom by a thumb or index finger on the user'"'"'s hand while gripping the first control member;

a second sensor for measuring displacement of the second control member in each of its two or more degrees of freedom of relative to first control member; and

a third control member mounted on the first control member for displacement by any one or more of the fingers on the user'"'"'s hand, which are not being used for displacement of the second control member, while the user'"'"'s hand is gripping the first control member, the third control member being coupled with the second control member for displacing the second control member when depressed.

2. The controller of claim 1, wherein the third control member comprises a paddle formed on the grip.

3. The controller of claim 1, wherein the second control member comprises a gantry.

4. The controller of claim 1, wherein the second control member comprises a ball mounted for rotation on the controller for rotation by the thumb or index finger of the user, and wherein the second sensor further measures rotation of the ball one around two axes extending through the center of the ball.

5. The controller of claim 1, wherein each of the first and second sensors for measuring displacement each comprise one or more detectors for measuring angular or linear displacement.

6. The controller of claim 1, wherein the first control member is coupled with a gimbal, and wherein the first sensor for measuring displacement comprises one or more Hall effect detectors arranged for measuring angular displacement of the gimbal about at least two axes.

7. The controller of claim 1, wherein each of the first and second sensors for measuring displacement are each comprised of one or more detectors, each detected selected from a group consisting essentially of inertial measurement units, accelerometers, optical encoders, gyroscopes, photo detectors, rotary potentiometers, linear potentiometers, inductively coupled coils, physical actuators, gyroscopes, switches, load cells, electro-mechanical sensors, and transducers.

8. The controller of claim 1, wherein the first sensor for measuring displacement of the first control member measures displacement of the first control member about each of three axes of rotation.

9. The controller of claim 1, wherein the second control member translates in each of the at least two degrees of freedom, and the second sensor for measuring displacement of the second control member measures displacement of the second control member along each of at least two axes of translation.

10. The controller of claim 9, wherein the second sensor measures translation of the second control member along three axes of translation relative to the first control member.

11. The controller of claim 1, wherein the second control member is placed on top of the first control member for manipulation by the thumb.

12. The controller of claim 11, wherein the controller further comprises an index finger loop mounted on the first control member for providing stability.

16. The controller of claim 1, wherein the first control member is shaped like a joystick.

17. The controller of claim 1, wherein first control member has an elongated shape with a portion adapted for being gripped by the user'"'"'s hand, and wherein the third control member is located on the grip for being depressed by one or more of the user'"'"'s fingers.

18. The controller of claim 1, wherein

the first sensor measures displacement of the first control member and generates a signal indicative of displacement of each degree of freedom of the first control member independently of each of the at least two degrees of freedom of the first control member;

the second sensor measures displacement of the second control member and generates a signal indicative of the displacement each of the second member in each of the least two degrees of freedom of the second control member.

19. The controller of claim 1, wherein the second control member comprises a thumb loop.

20. The controller of claim 1, wherein the controller controls a target having at least four degrees of freedom of movement and further comprises a processor for receiving from the first and second sensors signals indicative of an amount of displacement of the first and second sensors and generating a control input for transmission to the target corresponding to each of the at least four degrees of freedom of movement of the target.

21. The controller of claim 20, wherein the second control member is displaceable by the user'"'"'s digit in two more of the at least four degrees of freedom.

22. The controller of claim 20, wherein the two or more degrees of freedom of the first control member comprise rotational displacement of the first control member about at least two axes of rotation, and the one or more degrees of freedom of the second control member each comprise translational movement of the second control member with respect to the frame of reference fixed relative to the first control member.

23. The controller of claim 20, wherein the first control member comprises a joystick, the second control member is mounted on an upper end of the joystick.

24. The controller of claim 23, further comprising a visual display extending from the joystick.

13. The controller of claiml, wherein the first member is coupled to a base for angular displacement relative to the base.

14. The controller of claim 13, further comprising a connector for removably coupling the first control member to the basic, the connecting, the connecting including electronical connectors for transmitting electrical signals between the first control member and the base.

15. The controller of claim 13, further comprising a gimbal mounted within the base for connection to the first control member, and wherein the first sensor for measuring displacement of the first control member measures angular rotation of the gimbal by the first control member.

25. A controller displaceable in at least four degrees of freedom for generating control inputs to control a target having at least four degrees of freedom, the controller comprising:

a first control member shaped for gripping by a user'"'"'s hand and displaceable relevant to a known frame of reference in least two of the four degrees of freedom;

a second control member mounted on the first control member in a location for displacement relative to the first control member in one or more of the four degrees of freedom by a digit on the user'"'"'s hand while gripping the first control member, wherein the digit is the user'"'"'s thumb or index finger and displacement of the second control member in one of the one or more degrees of freedom requires flexion and extension of the digit;

a third control member mounted on the first control member for displacement by any one or more of the fingers on the user'"'"'s hand that are not being used for displacement of the second control member, while the user'"'"'s hand is gripping the first control member;

the third control member being coupled with the second control member for displacing of the second control member in the one of the one or more on degree of freedom;

sensors for measuring an amount of displacement of the first and second control members in each of the at least four degrees of freedom independently of the other of the at least four degrees of freedom; and

at least one processor for receiving from the sensors indications of the measured amounts of displacement of the first and second control members in each of the at least four degrees of freedom and generating at least for control inputs for the target, each control input corresponding to one of the at least four degrees of freedom.