Hand-held robot end effector controller having movement and force control

• US 4,795,296 A
• Filed: 11/17/1986
• Issued: 01/03/1989
• Est. Priority Date: 11/17/1986
• Status: Expired due to Fees

• Current Assignee: California Institute of Technology
• Original Assignee: California Institute of Technology
• Inventors: Jau, Bruno M.
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): NOT, DEFINED
• Application Number:
  US06/931,269
• Time in Patent Office: 778 Days
• Field of Search: 414/1, 414/2, 414/4, 414/5, 414/6, 74/523, 74/491, 244/223, 244/228, 244/234, 244/236, 901/33, 901/34
• US Class Current: 414/5
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: G05G 1/02 Controlling members for hand actuation by linear movement, e.g. push buttons
• CPC Class Codes: G05G 1/06 Details of their grip parts G05G1/10 takes precedence
• CPC Class Codes: G05G 5/03 Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce arrangements for indicating the position of the controlling member G05G1/015
• 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: Y10T 74/20396 Hand operated
• CPC Class Codes: Y10T 74/20612 Hand

Abstract

A hand-held controller for a robot end effector having force and position control is disclosed. A single tactile area of the operator'"'"'s hand, such as one finger, responds to two distinct feedback "feels" which are created by movement of a single element in two degrees of freedom that are both pivotable and rotatable in nature. Rotation of the trigger contacting element about its longitudinal axis is responsive to and reflects the amount of grasp force exerted by the end effector. Deflection of a guard encasing that trigger around a pivot point is responsive to and reflects the amount of movement of the end effector. The operator controls the position and grasp force of an end effector by exerting pressure against the trigger guard and, in turn, can "feel" two distinct feedbacks at the control finger. The feedback is indicative of both the grasp force and position of the controlled end effector. The trigger and its guard both pivot as a single unit in order to reflect position feedback, whereas the trigger within the guard rotates to reflect grasp force feedback.

Claims

1. A hand-held controller of the pistol-grip type with a trigger element in a trigger guard housing adapted for contact with a single finger of an operator'"'"'s controlling hand, said trigger element in said housing being capable of two-degrees-of-freedom movement in response to feedback control signals applied thereto, wherein feedback-induced movement at said trigger element reflects at least a pair of controlled parameters at a unit that is being controlled by said hand-held controller, said controller comprising:

a finger-sized opening in said housing adapted to receive an operator'"'"'s finger with the inner surface of the finger in contact with said trigger element and the outer surface of the finger in contact with a trigger guard portion of said housing so that inward or outward movement of that finger develops an inward or an outward force on said housing;

means responsive to the inward or outward force developed by the operator'"'"'s finger on said trigger element or on said guard portion, respectively, for creating control signals to be emitted from said controller;

means responsive to a first electrical feedback signal for controlling one degree of movement of said trigger element, which movement can be sensed by said single finger of said operator'"'"'s hand, said one degree of movement comprising movement in unison of said housing and trigger element; and

means responsive to a second feedback signal for controlling the other degree of movement of said trigger element within said housing, which other movement can also be sensed separately from said first-degree-of-freedom movement by the same finger of said operator'"'"'s hand, said other degree of movement comprising rotation or pivoting of the trigger element independent of the housing.

2. A hand-held controller in accordance with claim 1 wherein said trigger element further comprises a trigger contact piece located within a pivotable trigger guard with said trigger contact piece further comprising:

an outwardly facing cylindrical shape which conforms to the operator'"'"'s finger'"'"'s inner surface when the contact piece is in a first given position; and

means rotatably holding said trigger contact piece in said trigger guard for rotation of said contact piece'"'"'s cylindrical shape into a non-conforming position against said operator'"'"'s finger'"'"'s inner surface in response to said second feedback signal.

3. A hand-held controller in accordance with claim 2 and wherein:

said trigger contact piece in response to said second feedback signal is rotatably mounted for clockwise and counter-clockwise motion in said trigger housing; and

said hand-held controller'"'"'s first feedback responsive means further comprises;

means for pivotably mounting, in unison, both said trigger guard and said rotatably mounted trigger contact piece therein for pivotal movement of both as a single unit.

4. A hand-held controller in accordance with claim 3 wherein said first feedback responsive means further comprises:

means for receiving said first electrical feedback signal; and

means translating said first electrical feedback signal into a mechanical pivotable movement of said trigger guard and said trigger contact piece as a single unit about said pivotable mounting means.

5. A hand-held controller in accordance with claim 2 wherein said trigger guard forms the finger-sized opening in said housing and further comprises:

an outer curved section shaped to generally conform to the operator'"'"'s outer finger surface when the operator'"'"'s finger is received within said trigger guard; and

said hand-held controller'"'"'s second feedback responsive means further comprises;

means for pivotably mounting, in unison, both said trigger guard and said rotatably mounted trigger contact piece therein for pivotal movement of both as a single unit.

6. A hand-held controller in accordance with claim 3 wherein said second feedback responsive means further comprises:

means for receiving said second electrical feedback signal; and

means for translating said second electrical feedback signal into a rotational movement of said trigger contact piece in said trigger guard.