Six degree of freedom hand controller

• US 4,555,960 A
• Filed: 03/23/1983
• Issued: 12/03/1985
• Est. Priority Date: 03/23/1983
• Status: Expired due to Term

• Current Assignee: CAE Incorporated
• Original Assignee: CAE USA Incorporated (CAE Incorporated)
• Inventors: King, Michael
• Primary Examiner(s): Herrmann, Allan D.
• Application Number:
  US06/477,987
• Time in Patent Office: 986 Days
• Field of Search: 74/471 XY, 74/491, 74/523, 73/862.04, 73/862.05, 200/6 A, 338/128, 244/234, 244/236, 244/237, 267/150
• US Class Current: 74/471.0XY
• CPC Class Codes: G05G 2009/04718 with cardan or gimbal type joint
• 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: G05G 9/04737 with six degrees of freedom
• CPC Class Codes: H01H 25/04 Operating part movable angularly in more than one plane, e.g. joystick
• CPC Class Codes: Y10T 74/20201 Control moves in two planes
• CPC Class Codes: Y10T 74/20396 Hand operated
• CPC Class Codes: Y10T 74/20612 Hand

Abstract

The invention relates to a 6 degree of freedom hand controller. The hand controller includes a handgrip member which is substantially spherical in shape and which includes a point disposed substantially centrally of the member. An elongated shaft member supports the handgrip member such that the handgrip member is rotatable, from an initial position, about the point. The rotational motion of the handgrip member about the point is resolvable into motion about a pitch axis, passing through the point, a roll axis at right angles to the pitch axis and also passing through the point, and a yaw axis, at right angles to both the pitch axis and the roll axis and also passing through the point. The elongated shaft member is movably supported such that the handgrip member is movable, from the initial position, in translational motion resolvable into motion along the pitch, roll and yaw axes and through the point. Whereby, the rotational motion of the member comprises motion of the member about the point, and, whereby, the effective lines of thrust of the translational motion of the member pass through the point.

Claims

1. A 6 degree of freedom hand controller, comprising:

a handgrip member being substantially spherical in shape and including a point disposed substantially centrally of said member;

an elongated shaft member for supporting said handgrip member such that said handgrip member is rotatable, from an initial position, about said point, said rotational motion of said handgrip member about said point being resolvable into motion about a pitch axis, passing through said point, a roll axis at right angles to said pitch axis and also passing through said point, and a yaw axis, at right angles to both said pitch axis and said roll axis and also passing through said point;

said elongated shaft member being movably supported such that said handgrip member is movable, from said initial position, in translational motion resolvable into motion along said pitch, roll and yaw axes and through said point;

whereby, said rotational motion of sid member comprises motion of sid member about said point; and

whereby the effective lines of thrust of said translational motion of said member pass through said point;

whereby translational motion is detected by movement of a shaft along a respective translational axis, said means for sensing translational motion comprising a pair of load cells, each one of said pair being disposed on a different side of said shaft in the direction of motion thereof, a spring between each said load cell and its respective shaft, and a button disposed at the free ends of each of said springs;

the space between said shaft and said button comprising the free play of the handgrip member along the respective translational axis;

whereby, when said handgrip member is moved so that said shaft touches said button, this comprises a soft stop; and

when said shaft is moved so that the spring is no longer compressible in that direction, this constitutes a hard stop.

2. A controller as defined in claim 1 and further comprising separate means for sensing motion about each said roll, pitch and yaw axes and along the three translational axes, said means for sensing developing electrical signals representative of said motion.

3. A controller as defined in claim 1 and comprising means for returning said handgrip member to said initial position automatically when said handgrip member has been moved from said initial position.

4. A controller as defined in claim 3 wherein said means for returning said handgrip member having regards to motion about said rotational axes comprises, on each axis, a member, having two load arms movable relative to each other, the free ends of said load arms being joined by a spring, and adjustment means for limiting the motion of said arms by a hard stop.

5. A controller as defined in claim 1 and including means for supporting said handgrip member on said elongated shaft for permitting rotation of said handgrip member about said rotational axes comprises a shaft member, disposed in said handgrip member, along each respective one of said rotational axes, said shaft members being supported in bearings;

whereby to permit rotational motion of said handgrip member about said shaft.

6. A controller as defined in claim 1 and including a frame member;

said elongated shaft being supported for pivoting along said pitch, roll and yaw axes;

whereby said handgrip member is movable in translational motion along said pitch, roll and yaw axes.