Multi-degrees-of-freedom hand held controller

• US 10,664,002 B2
• Filed: 10/27/2017
• Issued: 05/26/2020
• 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, Degnan, Nicholas Michael
• Primary Examiner(s): Rogers, Adam D
• Application Number:
  US15/796,744
• Publication Number:
  US 20190025869A1
• Time in Patent Office: 942 Days
• Field of Search: 74471 XY
• CPC Class Codes: B64C 13/04 actuated personally
• CPC Class Codes: B64C 13/0421 control sticks for primary flight controls
• CPC Class Codes: B64C 27/56 characterised by the control initiating means, e.g. manually actuated
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: G05G 1/01 Arrangements of two or more controlling members with respect to one another double foot control, e.g. for instruction vehicles G05G1/34; mounting units comprising an assembly with two or more pedals G05G1/36
• CPC Class Codes: G05G 1/02 Controlling members for hand actuation by linear movement, e.g. push buttons
• CPC Class Codes: G05G 1/04 Controlling members for hand actuation by pivoting movement, e.g. levers
• 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 2009/04781 with additional rotation of the controlling member
• CPC Class Codes: G05G 9/04788 comprising additional control elements
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry

Abstract

A controller including a first control member and a second control member that extends from a portion of the first control member. A controller processor 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 first control member may be gripped and moved using a single hand, and the second control member may be moved using the thumb of the single hand.

Claims

1. A controller, comprising:

a first control member movable with three degrees of freedom and providing in response thereto a first set of up to three independent control inputs, each indicating an amount of displacement of the first control member in one of the three degrees of freedom relative to a null position, wherein the first control member is configured to be gripped by a user'"'"'s single hand, the first control member including a first inertial motion sensor;

a second control member extending from the first control member that is movable with at least one independent degree of freedom relative to but independently of the first control member and providing in response thereto a second set of at least one independent control inputs indicating an amount of displacement of the second control member in each of the at least one independent degrees of freedom relative to the first control member, where each control inputs of the second set is independent of each of the control input of the first set, wherein the second control member is configured to be manipulated by the a digit of the user'"'"'s single hand;

a forearm brace with which first control member is coupled; and

a second inertial motion sensor operatively connected to the forearm brace, wherein the first inertial motion sensor and the second inertial motion sensor being configured to provide data representative of relative movement between the first control member and the brace,

wherein at least one of the first set of three independent control inputs is provided in response to the movement of the first control member in at least one of the three degrees of freedom relative to the forearm brace.

2. The controller of claim 1, further comprising a linkage extending from the forearm brace, to which the first control member is coupled in a fixed relationship.

3. The controller of claim 2, wherein the linkage comprises at least two members that articulate about a joint with an axis of rotation that, when the forearm brace is mounted on a user'"'"'s forearm and the first control member is gripped by the user'"'"'s hand, extends through the user'"'"'s wrist, wherein movement of the first control member about the axis of rotation corresponds to one of the three degrees of freedom of the first control member.

4. The controller of claim 3, further comprising a sensor for measuring angular displacement of the joint for generating a signal indicative of the amount of the displacement, wherein a first one of the first set of control inputs that indicates the amount of movement of the first control member in the first one of the three degrees of freedom responds to the measured angular displacement.

5. The controller of claim 1, wherein the first control member has an elongated shape with a portion adapted for being gripped by the user'"'"'s hand.

6. The controller of claim 5, further comprising a third control member on the portion adapted for being gripped for being depressed by one or more digits of the user'"'"'s hand while gripping the first control member, wherein the third control member is movable in conjunction with, and in opposition to, movement of the second control member in the at least one independent degree of freedom.

7. A controller comprising:

a first control member shaped to be grasped by a hand of a user, the controller being displaceable by the user in three degrees of freedom of movement about each of three axes of rotation, the controller having at least two control inputs, each of which indicates an amount of angular displacement of the first control member about a separate one of the three axes of rotation relative to a null position, the first control member including a first inertial motion sensor;

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

a frame configured for removably mounting on a part of a user'"'"'s arm for serving as a reference for at least one of the three rotational axes, a second inertial motion sensor operatively connected to the frame, and configured to measure relative movement of the frame and the first control member in at least one of the three rotational degrees of freedom of movement of the controller to generate at least one of the at least two control inputs.

8. The controller of claim 7, further comprising a linkage coupling the frame and the first control member for determining movement of the first control member relative to the user'"'"'s forearm in at least one degree of freedom.

9. The controller of claim 8, wherein the linkage comprises at least two members that articulate about a joint with an axis of rotation corresponding to one of the three axes of rotation of the first control member and that extends through the user'"'"'s wrist when the frame is mounted on the user'"'"'s forearm and the first control member is gripped by the user'"'"'s hand.

10. The controller of claim 9, further comprising a sensor for measuring angular displacement of the joint for generating a signal indicative of the amount of the displacement of the joint and generating in response thereto one of the at least two control inputs.

11. The controller of claim 9, wherein the linkage further comprises a third member and a second joint having an axis of rotation corresponding to a second one of the three axes of rotation of the first control member, the second joint articulating when a user moves the first control member about the second one of the three axes of rotation.

12. The controller of claim 8, wherein the linkage is adjustable for accommodating different users.

13. The controller of claim 7, wherein the frame comprises a brace configured for attachment to the user'"'"'s wrist or forearm.

14. The controller of claim 13, wherein the frame comprises a bracket for holding a visual display in view of the user when the frame is mounted on the user'"'"'s arm and the user is manipulating the controller.

15. The controller of claim 7, wherein the first control member has an elongated shape with a portion adapted for being gripped by a user'"'"'s hand.

16. The controller of claim 7, further comprising a third control member for being depressed by one or more digits of a user'"'"'s single hand while gripping the first control member, wherein the third control member is movable in conjunction with, and in opposition to, movement of the second control member in the at least one degree of freedom of movement.