Multi-axis gimbal mounting for controller providing tactile feedback for the null command
First Claim
Patent Images
1. A gimbal support for a control member that pivots about each of two, intersecting axes of rotation, the gimbal support comprising:
- a base for mounting the gimbal;
a post to which a control member of a controller may be coupled;
a first member connected with the base in a fixed relationship;
a second member that is at least partially surrounded by the first member and rotates with respect to the first member around at least one of the two, intersecting axes of rotation, the first member constraining movement of the second member to rotation about at least one of the two, intersecting axes, the post being coupled with the second member and constrained by the first and second members to pivot about each of the two, intersecting axes of rotation, the post having a null position at a predetermined angular displacement about each axis of rotation.
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Accused Products
Abstract
A gimbal support that senses rotational displacement and provides haptic feedback in one, two or three dimensions of a manually-operated control member used to generate control inputs using a single hand while also limiting cross-coupling.
124 Citations
29 Claims
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1. A gimbal support for a control member that pivots about each of two, intersecting axes of rotation, the gimbal support comprising:
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a base for mounting the gimbal; a post to which a control member of a controller may be coupled; a first member connected with the base in a fixed relationship; a second member that is at least partially surrounded by the first member and rotates with respect to the first member around at least one of the two, intersecting axes of rotation, the first member constraining movement of the second member to rotation about at least one of the two, intersecting axes, the post being coupled with the second member and constrained by the first and second members to pivot about each of the two, intersecting axes of rotation, the post having a null position at a predetermined angular displacement about each axis of rotation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 26, 27, 28, 29)
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13. A controller for generating control inputs for at least four degrees of freedom, comprising:
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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 one degree 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 one 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 relative to the first control member; and a gimbal support for pivoting the first control member about each of two, intersecting axes of rotation, the gimbal comprising; a base for mounting the gimbal; a post to which a control member of a controller may be coupled; a first member connected with the base in a fixed relationship; a second member inside the first member and rotatable with respect to the first member around at least one of the two, intersecting axes of rotation, the post being coupled with the second member and constrained by the first member and the second member to pivot about each of the two, intersecting axes of rotation, the post having, for each of the two axes of rotation, a null position at a predetermined angular displacement about the axis of rotation. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
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22. A gimbal support for pivoting of control member about each of a first and second axes of rotation that intersect and are orthogonal, the gimbal comprising:
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a base for mounting the gimbal support; a post to which a control member may be coupled, the post having a central axis intersecting the first and second axes; a first gimbal that supports the post for rotation about the first axis but not the second axis of rotation; a second gimbal that supports the first gimbal within the second gimbal for rotation about the second axis; a collar surrounding and in a fixed relationship with the central axis, the collar having an outermost circumference lying within a plane that is normal to the central axis; a yoke surrounding the post and mounted for translational displacement along a third axis that intersects the first and second axis that remains fixed relative the base, the yoke having a contact surface that remains normal to the third axis when the yoke is displaced along the third axis; wherein the yoke and collar are biased toward each other by a biasing force; and wherein pivoting of the post causes the collar to tilt with respect to the contact surface of the yoke and to displace the yoke against the biasing force. - View Dependent Claims (23, 24)
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25. A gimbal support for pivoting of control member about each of a first and second axes of rotation that intersect and are orthogonal, the gimbal comprising:
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a base for mounting the gimbal support; a post to which a control member may be coupled, the post having central axis intersection the first and second axes; a first gimbal that supports the post for rotation about the first axis but not the second axis of rotation; a second gimbal that supports the first gimbal within the second gimbal for rotation about the second axis, the second axis being fixed with respect to the base; a cap extending from the post and at least partially around the second gimbal; one of the cap and the gimbal supporting a detent and the other of the cap and the gimbal defining spherical surface, the spherical surface and detent spaced apart to depress the detent against a biasing force to a retracted position as the post pivots, the spherical surface having at least one dimple into which the detent extends when aligned, the detent and the dimple being aligned when the post is an in null position with respect to its rotation about one of the two axes of rotation.
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Specification