Multi-degrees-of-freedom hand controller

• US 10,481,704 B2
• Filed: 12/29/2016
• Issued: 11/19/2019
• 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:
  US15/394,490
• Publication Number:
  US 20190033987A1
• Time in Patent Office: 1,055 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 control target that is at least one of an aircraft, a submersible vehicle, or a spacecraft, and that is (A) movable in a least one of the following translations:

(1) forward and backward along an x-axis of the control target, (2) side to side along a y-axis of the control target, or (3) up and down along a z-axis of the control target, and (B) movable in at least one of the following rotations;

(1) yaw, (2) pitch, or (3) roll, the controller comprising;

a first control member movable in at least one degree of freedom to produce at least one control signal configured to cause the control target to move in one or more degrees of freedom, all of which are rotational, including at least one of the rotations; and

a second control member movable in at least one degree of freedom to produce at least one control signal configured to cause the control target to move in one or more degrees of freedom, all of which are translational, including at least one of the translations.

2. The controller of claim 1, wherein the first control member is configured to be grasped by a user'"'"'s hand and the second control member defines a channel to be engaged by a thumb of the user'"'"'s hand.

3. The controller of claim 1, wherein the controller includes a base coupled to both the first control member and the second control member, and configured to be engaged by a user'"'"'s first hand, the first control member being disposed between the second control member and the base.

4. The controller of claim 1, wherein the control target is movable in at least one of the translations and at least one of the rotations, (1) in a virtual environment, and (2) in response to the at least one control signal produced by the first control member and the at least one control signal produced by the second control signal.

5. The controller of claim 1, wherein the controller is configured to cause the control target to move in one or more rotational degrees of freedom and one or more translational degrees of freedom when the controller is located remote from the control target.

6. The controller of claim 1, wherein the first control member is movable in at least three degrees of freedom to produce at least three control signals to cause the control target to move in at least three degrees of freedom, including the rotations,

the second controller being movable in only one degree of freedom to produce a control signal configured to cause the control target to move up and down along the z-axis of the control target.

7. A controller for a control target that is at least one of an aircraft, a submersible vehicle, or a spacecraft, and that is (A) movable in a least one of the following translations:

(1) forward and backward along an x-axis of the control target, (2) side to side along a y-axis of the control target, and (3) up and down along a z-axis of the control target, and (B) movable in at least one of the following rotations;

(1) yaw, (2) pitch, and (3) roll, the controller comprising;

a first control member movable in at least one degree of freedom to produce at least one control signal configured to cause the control target to move in one or more degrees of freedom, including at least one of the rotations; and

a second control member movable in at least one degree of freedom to produce at least one control signal configured to cause the control target to move in one or more degrees of freedom, including at least one of the translations,

at least one of (1) movement of the second control member forward and backward along an x-axis of the second control member configured to cause the control target to correspondingly move forward and backward along the x-axis of the control target, (2) movement of the second control member side to side along a y-axis of the second control member configured to cause the control target to correspondingly move side to side along the y-axis of the control target, and (3) movement of the second control member up and down along a z-axis of the second control member configured to cause the control target to correspondingly move up and down along the z-axis of the control target.

8. The controller of claim 7, wherein the control signal of the first control member is configured to cause the control target to move in the one or more degrees of freedom, all of which are rotational,

the control signal of the second control member is configured to cause the control target to move in the one or more degrees of freedom, all of which are translational.

9. The controller of claim 7, wherein the second control member is configured to move in the least one degree of freedom in response to a vertical force vector applied thereto.

10. The controller of claim 7, wherein the control target is movable in at least one of the translations and at least one of the rotations, (1) in a virtual environment, and (2) in response to the at least one control signal produced by the first control member and the at least one control signal produced by the second control member.

11. The controller of claim 7, wherein the controller is configured to cause the control target to move in one or more rotational degrees of freedom and one or more translational degrees of freedom when the controller is located remote from the control target.

12. The controller of claim 7, wherein at least one of:

(1) the at least one control signal produced by the first control member is configured to cause the control target to move in the one or more degrees of freedom, including the at least one of the rotations, such that the control target changes its location within its environment, or (2) the at least one control signal produced by the second control member is configured to cause the control target to move in the one or more degrees of freedom, including the at least one of the translations, such that the control target changes its location within its environment.

13. A controller for a control target that is (A) movable in a least one of the following translations:

(1) forward and backward along an x-axis of the control target, (2) side to side along a y-axis of the control target, or (3) up and down along a z-axis of the control target, and (B) movable in at least one of the following rotations;

(1) yaw, (2) pitch, or (3) roll, the controller comprising;

a first control member configured to be grasped by a user'"'"'s first hand and movable in at least one degree of freedom to produce at least one control signal configured to cause the control target to move in one or more degrees of freedom including at least one of the rotations;

a second control member defining a channel to be engaged by a thumb of the user'"'"'s first hand and being movable in at least one degree of freedom to produce at least one control signal configured to cause the control target to move in one or more degrees of freedom including at least one of the translations; and

a base, the base being coupled to both the first control member and the second control member, and configured to be engaged by a user'"'"'s second hand, the first control member being disposed between the second control member and the base.

14. The controller of claim 13, wherein:

the channel defined by the second control member is axially offset from a vertical axis of the first control member.

15. The controller of claim 13, wherein the control target is movable in at least one of the translations and at least one of the rotations, (1) in a virtual environment, and (2) in response to the at least one control signal produced by the first control member and the at least one control signal produced by the second control signal.

16. The controller of claim 13, wherein at least one of:

(1) the at least one control signal produced by the first control member is configured to cause the control target to move in the one or more degrees of freedom, including the at least one of the rotations, such that the control target changes its location within its environment, or (2) the at least one control signal produced by the second control member is configured to cause the control target to move in the one or more degrees of freedom, including the at least one of the translations, such that the control target changes its location within its environment.

17. A controller for a control target that is (A) movable in a least one of the following translations:

(1) forward and backward along an x-axis of the control target, (2) side to side along a y-axis of the control target, or (3) up and down along a z-axis of the control target, and (B) movable in at least one of the following rotations;

(1) yaw, (2) pitch, or (3) roll, the controller comprising;

a first control member movable in at least one degree of freedom to produce at least one control signal configured to cause the control target to move in one or more degrees of freedom, all of which are rotational, including at least one of the rotations, such that that the control target changes its location within its environment; and

a second control member movable in at least one degree of freedom to produce at least one control signal configured to cause the control target to move in one or more degrees of freedom, all of which are translational, including at least one of the translations, such that the control target changes its location within its environment.

18. The controller of claim 17, wherein the first control member is configured to be grasped by a user'"'"'s hand and the second control member defines a channel to be engaged by a thumb of the user'"'"'s hand.

19. The controller of claim 17, wherein the environment is a virtual environment.

20. The controller of claim 17, wherein the controller is configured to cause the control target to move in one or more rotational degrees of freedom and one or more translational degrees of freedom when the controller is located remote from the control target.