Multi-directional controller having resiliently biased cam and cam follower for tactile feedback
First Claim
1. A multi-directional controller comprising a reference frame and a carrier, means for guiding the carrier with respect to the reference frame in first and second generally orthogoal directios while restraining motion of the carrier with respect to the reference frame in a third direction generally orthogonal to said first and second diectios, manipulator means connected to the carrier for manually positioning the carrier with respect to the reference frame in the first and second directions, and means for sensing the displacement of the carrier with respect to the reference frame along said first and second directions,wherein said multi-directional controller further comprises cam and cam follower means disposed between said carrier and said reference frame for providing forces between said carrier and said reference frame which are a predetermined function of the displacement of said carrier with respect to said frame in each of said first and second orthogonal directions, and wherein said cam and cam follower means includs a cam follower and a cam, said cam follower engaging said cam and travelling in two orthogonal directions over a two-dimensional regin of said cam as said carrier is manually positioned with respect to said reference frame over a two-dimensional region of trave defined by said first and second orthogonal directions, and said two-dimensional region of said cam is programmed to provide a desired reaction force as a predetermined function of position of said carrier with respect to said frame.
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Abstract
A multi-directional contactless controller senses the displacement of a manipulator with respect to a reference frame along two orthogonal directions and is also provided with a resiliently biased cam and cam follower disposed between the manipulator and the reference frame for providing tactile feedback and returning the manipulator to a central position. For specific applications, the cam surface is programmed with various regions having different restoring forces or rest positions. Access to these regions can be conditioned by selectively activated solenoids or by a requirement for overt operator input. Similarly, a selectively activated solenoid can be used to conditionally prohibit exit from these regions or to selectively return the controller to the central null position.
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Citations
20 Claims
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1. A multi-directional controller comprising a reference frame and a carrier, means for guiding the carrier with respect to the reference frame in first and second generally orthogoal directios while restraining motion of the carrier with respect to the reference frame in a third direction generally orthogonal to said first and second diectios, manipulator means connected to the carrier for manually positioning the carrier with respect to the reference frame in the first and second directions, and means for sensing the displacement of the carrier with respect to the reference frame along said first and second directions,
wherein said multi-directional controller further comprises cam and cam follower means disposed between said carrier and said reference frame for providing forces between said carrier and said reference frame which are a predetermined function of the displacement of said carrier with respect to said frame in each of said first and second orthogonal directions, and wherein said cam and cam follower means includs a cam follower and a cam, said cam follower engaging said cam and travelling in two orthogonal directions over a two-dimensional regin of said cam as said carrier is manually positioned with respect to said reference frame over a two-dimensional region of trave defined by said first and second orthogonal directions, and said two-dimensional region of said cam is programmed to provide a desired reaction force as a predetermined function of position of said carrier with respect to said frame.
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18. A multi-direction controller of the kind having a reference frame and a manipulator which is grasped by an operator and moved to a selected position within a region of operation defined by two orthogonal axes, and means for generating an electrical signal indicating the selected position of said manipulator,
wherein said multi-directional controller includes a cam contacting a cam follower disposed between said manipulator and said reference frame for returning said manipulator to a predetermined reference position when said operator fails to grasp said manipulator, said cam follower travels in two orthogonalo directions over a two-dimensional region of said cam as said manipulator is moved to different positions within said region of operation, and said two-dimensional region of said cam is programmed to provide a desired return force on said manipulator of a predetermined function of position of said carrier.
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20. A multi-directional controller of the kind having a reference frame and a manipulator which is grasped by an operator and moved to a selected position within a region of operation defined by two orthogonal axes, and means for generating an electrical signal indicating the selected position of said manipulator,
wherein said multi-directional controller includes a cam fixed to said reference frame and a cam follower mounted to said manipulator and urged by a spring to contact a surface of said cam, said cam follower travels in two orthogonal directions over a two-dimensional surface of said cam as said manipulator is moved to different positions within said region of operation, said two-dimensional surface of said cam is programmed to provide a desired force on said manipulator as a predetermined function of position of said carrier, and said cam surface includes a plurality of regions for providing forces of different respective magnitude and direction on said manipulator for tactile feedback to said operator.
Specification