Tremor suppressing hand controls

• US 4,689,449 A
• Filed: 10/03/1986
• Issued: 08/25/1987
• Est. Priority Date: 10/03/1986
• Status: Expired due to Fees

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Rosen, Michael J.
• Primary Examiner(s): SCOTT, JAMES R
• Application Number:
  US06/915,230
• Time in Patent Office: 326 Days
• Field of Search: 200/6 A, 200/153 K, 338/128-131, 338/98, 338/132, 464/180, 464/181, 128/739
• US Class Current: 200/6.00A
• CPC Class Codes: G05G 2009/04707 with ball joint
• CPC Class Codes: G05G 2009/04748 Position sensor for rotary movement, e.g. potentiometer
• CPC Class Codes: G05G 2009/04774 with additional switches or sensors on the handle
• CPC Class Codes: G05G 25/02 Inhibiting the generation or transmission of noise suppression of noise or vibrations in selector apparatus for gearings F16H59/0208
• CPC Class Codes: G05G 9/04796 for rectilinear control along the axis of the controlling member
• CPC Class Codes: H01H 25/06 Operating part movable both angularly and rectilinearly, the rectilinear movement being along the axis of angular movement
• CPC Class Codes: H01H 3/60 Mechanical arrangements for preventing or damping vibration or shock

Abstract

A hand control capable of suppressing tremors and other unwanted vibrations is disclosed which incorporates viscous damping in two degrees of freedom to mechanically filter the forces applied by the user'"'"'s hand. To suppress pathological intention tremors, the damping characteristics are chosen so as to selectively reduce the amplitude of movements at or above about 3 Hertz. The hand control includes a chamber filled with a viscous fluid, a position-sensing actuator assembly and a damping element connected to the actuator and disposed within the chamber to suppress involuntary movements of the actuator. The volume of the chamber, size of the damping element and viscosity of the fluid are chosen to achieve a damping constant of about 2 to 20 lbf-sec/ft., preferably from about 5 to about 15 lbf-sec/ft. The viscous fluid is preferably a silicone oil having a viscosity of about 300,000 to about 900,000 cstokes.

Claims

1. A hand control device capable of suppressing vibrations during operation by a user, the device comprising:

a handle adapted to be held by the user;

a chamber filled with a viscous fluid;

a shaft connected to said handle at one end and disposed within the fluid of the chamber at the other end, the shaft further including a drag element which cooperates with the fluid to damp spurious motion; and

position-sensing means disposed about the shaft for sensing the position of shaft relative to a reference point and for generating electrical signals indicative of said position;

said position-sensing means including at least a first sensing element and a second sensing element which are activated by said shaft during operation to generate electrical signals when said shaft is displaced from said reference point.

2. The device of claim 1 wherein drag element and the fluid cooperate to achieve a damping constant of about 2 to about 20 lbf-sec/ft.

3. The device of claim 1 wherein drag element and the fluid cooperate to achieve a damping constant of about 5 to about 15 lbf-sec/ft.

4. The device of claim 1 wherein the position sensing means further comprises first and second orthogonally positioned potentiometers coupled to the shaft such that displacement of the shaft rotates one or both of the potentiometers.

5. The device of claim 1 wherein the position sensing means further includes means for defining a dead zone in which displacement of the shaft relative to the reference point does not result in a change in the electrical signals.

6. The device of claim 1 wherein the device further comprises an activation switch connected to a motor-driven machine to control the operation of the motor and the position sensing means is also connected to said machine such that the electrical signals generated by said position sensing means control directional movement of said machine, said directional movement not occurring unless said activation switch is activated by the user.

7. The device of claim 6 wherein the motor driven machine is a vehicle.

8. The device of claim 7 wherein the vehicle is a wheelchair.

9. The device of claim 6 wherein the motor driven machine is a robot arm.

10. The device of claim 1 wherein the drag element disposed within the fluid filled chamber comprises a spherical ball.

11. The device of claim 1 wherein the viscous fluid comprises a silicone oil having viscosity ranging from about 100,000 to about 900,000 cstokes.