Multi-degrees-of-freedom hand controller

• US 10,324,540 B1
• Filed: 01/15/2019
• Issued: 06/18/2019
• Est. Priority Date: 05/03/2012
• Status: Active Grant

• Current Assignee: Fluidity Technologies, Inc. (Safran SA)
• Original Assignee: Fluidity Technologies, Inc. (Safran SA)
• Inventors: Parazynski, Scott Edward
• Primary Examiner(s): Feild, Joseph H
• Assistant Examiner(s): Point, Rufus C
• Application Number:
  US16/248,597
• Time in Patent Office: 154 Days
• CPC Class Codes: A61B 2560/0487 Special user inputs or interfaces
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 5/7475 User input or interface means, e.g. keyboard, pointing device, joystick
• CPC Class Codes: G05B 2219/45123 Electrogoniometer, neuronavigator, medical robot used by surgeon to operate
• 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: G08C 19/16 in which transmission is by pulses

Abstract

Disclosed is a controller including a first control member, a second control member that extends from a portion of the first control member, and a controller processor that is operable to produce a rotational movement output signal in response to movement of the first control member, and a translational movement output signal in response to movement of the second control member relative to the first control member. The rotational movement output signal may be any of a pitch movement output signal, a yaw movement output signal, and a roll movement output signal, and the translational movement output signal may be any of an x-axis movement output signal, a y-axis movement output signal, and a z-axis movement output signal. In exemplary embodiments, the first control member may be gripped and moved using a single hand, and the second control member may be moved using one or more digits of the single hand, thus permitting highly intuitive, single-handed control of multiple degrees of freedom, to and including, all six degrees of rotational and translational freedom without any inadvertent cross-coupling inputs.

Claims

1. A controller for a remotely piloted aircraft movable forward and backward along an x-axis of the remotely piloted aircraft, side to side along a y-axis of the remotely piloted aircraft, and up and down along a z-axis of the remotely piloted aircraft, the controller comprising:

a first control member configured to be grasped by the fingers of a user'"'"'s hand, the first control member having a top surface and a cavity extending into the first control member from the top surface,

a second control member having a ball-shaped coupling member, a support portion extending from the coupling member, and an actuation portion coupled to the support portion and defining a thumb channel configured to be engaged by the thumb of the user'"'"'s hand,

the coupling member positioned in the cavity of the first control member for rotational movement relative to the first control member to enable the actuation portion to be moved through a first, forward and backward degree of freedom, and a second, side to side degree of freedom,

the second control member further being coupled to the first control member to enable the actuation portion to be moved relative to the first control member through a third, up and down degree of freedom,

the first control member and the second control member being configured so that while the first control member is grasped by the fingers of the user'"'"'s hand, the second control member is movable by the user'"'"'s thumb, disposed in the thumb channel, relative to the first control member through the three degrees of freedom to provide in response thereto a corresponding set of three control inputs;

wherein movement of the actuation portion of the second control member in the first degree of freedom produces an x-axis control input, in the second degree of freedom produces a y-axis control input, and in the third degree of freedom produces a z-axis control input; and

a controller processor connectable to receive the set of control inputs and generate therefrom a set of control signals for the remotely-piloted aircraft, the set of control signals including;

an x-axis control signal corresponding to the x-axis control input and commanding the remotely-piloted aircraft to move along the remotely-piloted aircraft'"'"'s x-axis,

a y-axis control signal corresponding to the y-axis control input and commanding the remotely-piloted aircraft to move along the remotely-piloted aircraft'"'"'s y-axis, and

a z-axis control signal corresponding to the z-axis control input and commanding the remotely-piloted aircraft to move along the remotely-piloted aircraft'"'"'s z-axis.

2. The controller of claim 1, further comprising a transmitter connectable to the controller processor to receive the set of control signals and transmit the set of control signals to the remotely-piloted aircraft.

3. The controller of claim 1, further comprising:

a control button located on the first control member and operable by a finger of the user when the first control member is grasped by the user'"'"'s hand, the control button operable to actuate a system on the remotely-piloted aircraft.

4. The controller of claim 1, further comprising the remotely piloted aircraft.

5. The controller of claim 1, wherein the remotely-piloted aircraft is a drone.

6. The controller of claim 1, wherein the coupling member enables the actuation portion to be moved through a full range-of-motion in a two-dimensional plane that is parallel with the top surface of the first control member.

7. The controller of claim 1, wherein the remotely-piloted aircraft is a virtual aircraft.

8. The controller of claim 1, wherein the remotely-piloted aircraft is further movable in yaw, the first control member is configured so that while the first control member is grasped by the fingers of the user'"'"'s hand, at least a portion of the first control member is movable by the user to provide in response thereto a yaw control input, and the controller processor can receive the yaw control input and generate therefrom a yaw control signal commanding the remotely-piloted aircraft to yaw.

9. A method of controlling the movement of a remotely-piloted aircraft movable forward and backward along an x-axis of the remotely-piloted aircraft, side to side along a y-axis of the remotely-piloted aircraft, and up and down along a z-axis of the remotely-piloted aircraft, using a controller having a first control member having a top surface, a second control member having an actuation portion disposed above the top surface of the control member, having a thumb channel, and movable relative to the first control member through a first, forward and backward degree of freedom, a second, side to side degree of freedom, and a third, up and down degree of freedom, movement of the actuation portion of the second control member in the first degree of freedom producing an x-axis control input, in the second degree of freedom producing a y-axis control input, and in the third degree of freedom producing a z-axis control input, a controller processor configured to receive the set of control inputs and generate a set of control signals, and a transmitter connected to the controller processor to receive the set of control signals and transmit the set of control signals to the remotely-piloted aircraft, the set of control signals including an x-axis control signal corresponding to the x-axis control input and commanding the remotely-piloted aircraft to move along the aircraft'"'"'s x-axis, a y-axis control signal corresponding to the y-axis control input and commanding the remotely-piloted aircraft to move along the aircraft'"'"'s y-axis, and a z-axis control signal corresponding to the z-axis control input and commanding the remotely-piloted aircraft to move along the aircraft'"'"'s z-axis, the method comprising:

grasping with the fingers of a user'"'"'s hand the first control member below the top surface;

inserting the thumb of the user'"'"'s hand into the thumb channel of the actuation portion of the second control member;

moving the actuation portion forward relative to the first control member to cause the controller to generate an x-axis control input and thereby to cause the controller to generate an x-axis control signal to cause the remotely-piloted aircraft to move forward along the aircraft'"'"'s x-axis;

moving the actuation portion to a first side relative to the first control member to cause the controller to generate a y-axis control input and thereby to cause the controller to generate a y-axis control signal to cause the remotely-piloted aircraft to move to a first side along the remotely-piloted aircraft'"'"'s y-axis; and

moving the actuation portion upward relative to the top surface of the first control member to cause the controller to generate a z-axis control input and thereby to cause the controller to generate a z-axis control signal to cause the remotely-piloted to move upward along the remotely-piloted aircraft'"'"'s z-axis.

10. The method of claim 9, further comprising moving the actuation portion backward relative to the first control member to cause the controller to generate an x-axis control input and thereby to cause the controller to generate an x-axis control signal to cause the remotely-piloted aircraft to move backward along the aircraft'"'"'s x-axis.

11. The method of claim 9, further comprising moving the actuation portion to a second side, opposite to the first side, relative to the first control member to cause the controller to generate a y-axis control input and thereby to cause the controller to generate an y-axis control signal to cause the remotely-piloted aircraft to move to a second side, opposite to the first side, along the aircraft'"'"'s y-axis.

12. The method of claim 9, further comprising moving the actuation portion downward relative to the first control member to cause the controller to generate a z-axis control input and thereby to cause the controller to generate a z-axis control signal to cause the remotely-piloted aircraft to move downward along the aircraft'"'"'s z-axis.

13. The method of claim 9, wherein the controller further includes a control button located on the first control member and operable to actuate a system on the remotely-piloted aircraft, the method further comprising:

positioning a finger of the user on the control button while the user is grasping the first control member; and

operating the control button with the user'"'"'s finger to cause the controller to generate, and the transmitter to transmit to the remotely-piloted aircraft, a control signal to actuate the system on the remotely-piloted aircraft.

14. The controller of claim 9, wherein the remotely-piloted aircraft is a virtual aircraft.

15. A non-transitory computer-readable medium storing code representing instructions to be executed by a processor coupled to a controller having a first control member having a top surface, a second control member having an actuation portion disposed above the top surface of the control member, having a thumb channel, and movable relative to the first control member through a first, forward and backward degree of freedom, a second, side to side degree of freedom, and a third, up and down degree of freedom, movement of the actuation portion of the second control member in the first degree of freedom producing an x-axis control input, in the second degree of freedom producing a y-axis control input, and in the third degree of freedom producing a z-axis control input, the code comprising code to cause the processor to:

receive an x-axis control input produced by movement of the second control member in the first degree of freedom, generate an x-axis control signal corresponding to the x-axis control input and commanding the remotely-piloted aircraft to move along the remotely-piloted aircraft'"'"'s x-axis, and send the x-axis control signal to a transmitter to transmit the control signal to the remotely-piloted aircraft;

receive a y-axis control input produced by movement of the second control member in the second degree of freedom, generate a y-axis control signal corresponding to the y-axis control input and commanding the remotely-piloted aircraft to move along the remotely-piloted aircraft'"'"'s y-axis, and send the y-axis control signal to the transmitter to transmit the control signal to the remotely-piloted aircraft; and

receive a z-axis control input produced by movement of the second control member in the third degree of freedom, generate a z-axis control signal corresponding to the z-axis control input and commanding the remotely-piloted aircraft to move along the remotely-piloted aircraft'"'"'s z-axis, and send the z-axis control signal to the transmitter to transmit the control signal to the remotely-piloted aircraft.

16. The non-transitory computer-readable medium of claim 15, wherein the first control member further includes a control button located on the first control member and operable to produce an additional control input, wherein the code further comprises code to cause the processor to receive the additional control input produced by operation of the control button by the finger of a user, to generate an additional control signal commanding the actuation of a system on the remotely-piloted aircraft, and to send the additional control signal to the transmitter to transmit the additional control signal to the remotely-piloted aircraft.

17. The controller of claim 15, wherein the remotely-piloted aircraft is a virtual aircraft.

18. A controller, comprising:

a first control member configured to be grasped by the fingers of a user'"'"'s hand, the first control member having a top surface,

a second control member having an actuation portion disposed above the top surface of the first control member and defining a thumb channel configured to be engaged by the thumb of the user'"'"'s hand while the first control member is grasped by the fingers of the user'"'"'s hand, the second control member being movable relative to the first control member back and forth through three continuous and independent degrees of freedom to provide in response thereto a corresponding set of three independent control inputs; and

a controller processor connectable to receive the set of control inputs and generate therefrom a set of control signals,

wherein the set of control signals corresponds to three independent translational movements of the control target and are proportional to the displacement of the second control member through the corresponding set of degrees of freedom.

19. The controller of claim 18, wherein the control target is a remotely-piloted aerial vehicle having three independent and continuous translational movements corresponding the set of control signals.

20. The controller of claim 19, wherein the remotely-piloted aerial vehicle is a virtual vehicle.

21. The controller of claim 19, further comprising the remotely-piloted aerial vehicle.

22. The controller of claim 18, further comprising a transmitter connectable to the controller processor to receive the set of control signals and transmit the set of control signals to the control target.

23. The controller of claim 18, wherein the actuation portion of the second control member is coupled to the first control member by a support portion.

24. The controller of claim 23, wherein the support portion is coupled to the first control member by a ball and socket joint.

25. The controller of claim 18, wherein the actuation portion of the second control member is movable by the user'"'"'s thumb in a first, forward and backward degree of freedom, in a second, side to side degree of freedom, and in a third, up and down degree of freedom.

26. The controller of claim 25, wherein movement of the actuation portion of the second control member in the first degree of freedom produces an x-axis movement signal, in the second degree of freedom produces a y-axis movement signal, and in the third degree of freedom produces a z-axis movement signal.

27. The controller of claim 18, further comprising a display screen.

28. The controller of claim 18, further comprising a control button located on the first control member and operable by a finger of the user when the first control member is grasped by the user'"'"'s hand, the control button operable to actuate a system on the control target.