Variable compliance joystick with compensation algorithms

• US 20050195166A1
• Filed: 02/25/2005
• Published: 09/08/2005
• Est. Priority Date: 08/29/2002
• Status: Abandoned Application

• Current Assignee: Donald Spaeth, Rory A. Cooper, Songfeng Guo
• Original Assignee: Donald Spaeth, Rory A. Cooper, Songfeng Guo
• Inventors: Cooper, Rory A., Guo, Songfeng, Spaeth, Donald
• Application Number:
  US11/068,655
• Publication Number:
  US 20050195166A1
• Time in Patent Office: Days
• US Class Current: 345/161
• CPC Class Codes: A61G 2203/14 Joysticks
• CPC Class Codes: A63F 2300/1018 Calibration; Key and button assignment
• CPC Class Codes: G05G 2009/04725 with coil spring
• CPC Class Codes: G05G 2009/04729 melastomeric
• CPC Class Codes: G05G 2009/04762 Force transducer, e.g. strain gauge
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04
• 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 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: Y10T 74/20201 Control moves in two planes

Abstract

The present invention provides variable compliance joysticks with mechanical and software customization, and with an integrated control capability, and a method of systematically determining the best mechanical settings and compensatory algorithms to embed in the joysticks to offer an individual with substantial upper extremity motor impairments a personal fit and maximum function. The joysticks may include components for varying the compliance and dampening of the joystick shaft. The method may include providing the user access to operate the joysticks, operatively connecting the joysticks to a driving simulator, displaying an icon on the driving simulator, controlling movement of the icon by the joysticks, evaluating performance of the user based upon the user'"'"'s ability to control movement of the icon, and modifying hardware settings and software algorithms for the joysticks based upon the evaluation.

Claims

1. A joystick apparatus comprising:

a rigid shaft including a tip; and

a flexible extension operatively connected to said shaft to vary the compliance of said shaft.

2. A joystick according to claim 1, wherein said extension is hollow and encircles said shaft, said extension further includes a frusto-conical cross-section.

3. A joystick according to claim 2, wherein said extension includes a viscous substance disposed therein for dampening motion of said shaft.

4. A joystick according to claim 1, wherein said shaft includes upper and lower shaft segments, said segments including a resilient member disposed between adjacent ends thereof and being adjustable to be spaced away from each other for varying the compliance of said shaft.

5. A joystick according to claim 1, wherein said joystick includes integrated control capability for operating multiple assistive devices.

6. A joystick according to claim 5, wherein said joystick is operatively mounted on an electric powered wheelchair for allowing a user to operate multiple assistive devices.

7. A joystick according to claim 1, further comprising compensation algorithms including an elliptical dead-zone representative of said joystick shaft at rest, said dead-zone representing a minimum range of forces which must be exceeded to produce motion of an electric powered wheelchair including the joystick mounted thereon, said dead-zone further representing a maximum range of forces which must not be exceeded to prevent movement of the wheelchair.

8. A joystick according to claim 1, further comprising compensation algorithms including a determination of an optimal bias axes gain for movement of said joystick shaft in left, right, forward and backward directions.

9. A joystick according to claim 1, further comprising compensation algorithms including at least one software template for at least one of controlling bias of said joystick shaft, decreasing throw of said joystick shaft and reducing degrees of freedom of an output signal of said joystick shaft.

10. A joystick according to claim 9, wherein said software template is based upon the mathematics of super quadratics.

11. A joystick according to claim 10, wherein said software template is one of a square, circular, cross, elliptical and diamond shaped template.

12. A joystick according to claim 1, further comprising compensation algorithms including filtering to reduce the effects of unwanted motions of said joystick shaft.

13. A method for systematically determining the best mechanical settings and compensatory algorithms to embed in a joystick to offer a user a personal fit and maximum function, said method comprising:

providing the user access to operate the joystick;

operatively connecting the joystick to a driving simulator;

displaying an icon on said driving simulator;

controlling movement of said icon by the joystick;

evaluating performance of the user based upon the user'"'"'s ability to control movement of said icon; and

modifying hardware settings and software algorithms for the joystick based upon said evaluation.

14. A method according to claim 13, wherein said modifying hardware settings includes substituting different flexible extensions for varying compliance of a joystick shaft, the extensions being operatively connected to the shaft to encircle the shaft, the extensions further including a frusto-conical cross-section.

15. A method according to claim 13, wherein modifying said software algorithms includes computing an elliptical dead-zone representative of a joystick shaft at rest, said dead-zone representing a minimum range of forces which must be exceeded to produce motion of an electric powered wheelchair including the joystick mounted thereon, said dead-zone further representing a maximum range of forces which must not be exceeded to prevent movement of the wheelchair.

16. A method according to claim 13, wherein modifying said software algorithms includes determining an optimal bias axes gain for movement of a joystick shaft in left, right, forward and backward directions.

17. A method according to claim 13, wherein modifying said software algorithms includes providing at least one software template for at least one of controlling bias of a joystick shaft, decreasing throw of the joystick shaft and reducing degrees of freedom of an output signal of the joystick shaft.

18. A method according to claim 17, wherein said software template is based upon the mathematics of super quadratics.

19. A method according to claim 18, wherein said software template is one of a square, circular, cross, elliptical and diamond shaped template.

20. A method according to claim 13, wherein modifying at least one of said hardware settings and software algorithms includes obtaining a plurality of joystick shaft inputs corresponding to driving performance of an electric powered wheelchair having the joystick mounted thereon.

21. A joystick apparatus comprising:

a joystick shaft having a generally predetermined length, and including upper and lower joystick segments operatively connected to each other, said lower joystick segment being substantially flexible and movable relative to said upper joystick segment to vary compliance of said joystick shaft without substantially changing said predetermined length.

22. A joystick according to claim 21, wherein said upper joystick segment having a longitudinal axis, said joystick further comprising a gimbal assembly substantially surrounding a length of said lower joystick segment for generally maintaining said lower joystick segment in a predetermined extended orientation relative to said longitudinal axis.

23. A joystick according to claim 21, wherein said upper joystick segment includes a handle mounted to an index bushing including internal threads along a length thereof, a drive stud operatively connected to said lower joystick segment and further including external threads operatively engaged with said internal threads such that rotation of said handle in first and second opposite rotational directions respectively moves said lower joystick segment toward and away from said upper joystick segment to vary the compliance of said shaft.

24. A joystick according to claim 21, wherein said upper joystick segment includes a handle mounted to an index bushing including external threads along a length thereof, a chamber column including internal threads operatively engaged with said external threads such that rotation of said handle in first and second opposite rotational directions respectively moves said chamber column away from and toward said upper joystick segment to vary the compliance of said shaft by reducing a bendable length of said lower joystick segment.

25. A joystick according to claim 21, wherein said upper joystick segment includes a handle mounted to an index bushing including internal and external threads along a length thereof, a drive stud operatively connected to said lower joystick segment and further including external threads operatively engaged with said index bushing internal threads, and a chamber column including internal threads operatively engaged with said index bushing external threads, such that rotation of said handle in first and second opposite rotational directions respectively moves said lower joystick segment toward and away from said upper joystick segment, and further respectively moves said chamber column away from and toward said upper joystick segment to vary the compliance of said shaft by reducing a bendable length of said lower joystick segment.

26. A joystick according to claim 25, further comprising a spring biased locking plunger selectively engageable with said index bushing for allowing and preventing rotation of said index bushing when respectively disengaged from and engaged with said index bushing.

27. A joystick according to claim 21, wherein said upper joystick segment includes index bushing means operatively connected to drive stud means such that rotation of a handle of said upper joystick segment in first and second opposite rotational directions respectively moves said lower joystick segment toward and away from said upper joystick segment to vary the compliance of said shaft.

28. A joystick according to claim 21, wherein said upper joystick segment includes index bushing means operatively connected to chamber column means such that rotation of a handle of said upper joystick segment in first and second opposite rotational directions respectively moves said chamber column means away from and toward said upper joystick segment to vary the compliance of said shaft by reducing a bendable length of said lower joystick segment.

29. A joystick according to claim 22, wherein said gimbal assembly includes a gimbal ring operatively connected to said upper joystick segment, said gimbal ring having said lower joystick segment disposed therethrough, said gimbal assembly further being disposed within an enclosure for limiting pivotal movement of said joystick shaft by substantially enclosing said upper joystick segment within an opening in said enclosure.

30. A joystick according to claim 29, wherein said gimbal ring being pivotally mounted within said enclosure for pivotal movement about a first axis of rotation, said upper joystick segment being pivotally mounted to said gimbal ring by at least two yoke legs for rotation about a second axis of rotation substantially orthogonal to said first axis of rotation for thereby enabling substantially universal pivotal movement of said upper joystick segment relative to said lower joystick segment.

31. A joystick according to claim 21, wherein said lower joystick segment being slidably connected to an isometric post, for controlling said joystick, by a sleeve fixedly mounted to said lower joystick segment and further slidably disposed around said isometric post.

32. A joystick according to claim 21, wherein said joystick includes integrated control capability for operating multiple assistive devices.

33. A joystick according to claim 21, wherein said joystick is operatively mounted on an electric powered wheelchair for allowing a user to operate multiple assistive devices.

34. A joystick according to claim 21, further comprising compensation algorithms including an elliptical dead-zone representative of said joystick shaft at rest, said dead-zone representing a minimum range of forces which must be exceeded to produce motion of an electric powered wheelchair including the joystick mounted thereon, said dead-zone further representing a maximum range of forces which must not be exceeded to prevent movement of the wheelchair.

35. A joystick according to claim 21, further comprising compensation algorithms including a determination of an optimal bias axes gain for movement of said joystick shaft in left, right, forward and backward directions.

36. A joystick according to claim 21, further comprising compensation algorithms including at least one software template for at least one of controlling bias of said joystick shaft, decreasing throw of said joystick shaft and reducing degrees of freedom of an output signal of said joystick shaft.

37. A joystick according to claim 36, wherein said software template is based upon the mathematics of super quadratics.

38. A joystick according to claim 37, wherein said software template is one of a square, circular, cross, elliptical and diamond shaped template.

39. A joystick according to claim 21, further comprising compensation algorithms including filtering to reduce the effects of unwanted motions of said joystick shaft.

40. A joystick according to claim 21, wherein said upper joystick segment is detachable from said lower joystick segment for facilitating replacement of said lower joystick segment.