Five and six degree of freedom hand controllers
First Claim
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1. Apparatus for use with a wrist motion hand controller comprising:
- stationary means;
arm support means fixedly connected to the hand controller and mounted for movement with respect to the stationary means;
first relative movement responsive means connected to the stationary means and to the arm support means to produce a first output indicative of a first movement between the arm support means and the stationary means; and
second relative movement responsive means connected to the arm support means to produce a second output indicative of a second movement between the arm support means and the stationary means.
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Abstract
A five or six degree of freedom device which includes a two or three degree of freedom wrist action hand controller and in which additional degrees of freedom are provided by motion of an operator'"'"'s forearm connected to a mounting member that carries or supports the wrist action hand controller.
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Citations
36 Claims
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1. Apparatus for use with a wrist motion hand controller comprising:
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stationary means; arm support means fixedly connected to the hand controller and mounted for movement with respect to the stationary means; first relative movement responsive means connected to the stationary means and to the arm support means to produce a first output indicative of a first movement between the arm support means and the stationary means; and second relative movement responsive means connected to the arm support means to produce a second output indicative of a second movement between the arm support means and the stationary means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. Apparatus for use with a wrist motion hand controller comprising:
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stationary means; arm support means fixedly connected to the hand controller and mounted for movement with respect to the stationary means; first relative movement responsive means connected to the stationary means and to the arm support means to produce a first output indicative of a first movement between the arm support means and the stationary means; second relative movement responsive means connected to the stationary means and to the arm support means to produce a second output indicative of a second movement between the arm support means and the stationary means; and third relative movement responsive means connected to the stationary means and to the arm support means to produce a third output indicative of a third movement between the arm support means and the stationary means. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. The method of producing at least five individual control signals with motions of an operator'"'"'s hand-wrist and forearm comprising the steps of:
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(A) producing first, second and third signals utilizing three separate motions of the operator'"'"'s hand-wrist; and (B) producing fourth and fifth signals utilizing first and second motions of the operator'"'"'s forearm, the fourth and fifth signals capable of being produced without affecting the first, second and third signals. - View Dependent Claims (22, 23, 24, 25, 26, 27)
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28. The method of producing at least six individual independent control signals with motions of an operator'"'"'s hand and forearm comprising the steps of:
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(A) producing first, second and third signals utilizing three separate motions of the operator'"'"'s hand-wrist; and (B) producing fourth, fifth and sixth signals utilizing first, second and third motions of the operator'"'"'s forearm, the fourth, fifth and sixth signals capable of being produced without affecting the first, second and third signals. - View Dependent Claims (29, 30, 31)
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32. A six degree of freedom hand controller comprising:
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fixed support means; first movable means connected to the support means and operable to produce a first motion with respect thereto; second movable means connected to the first movable means and operable to produce a second motion with respect thereto; and third movable means connected to the second movable means and operable to produce a third motion with respect thereto, the third movable means adapted to accommodate an operator'"'"'s forearm to produce the first, second and third motions and adapted to carry a three degree of freedom hand-wrist motion hand controller positioned for grasping by the operator'"'"'s hand and operable to produce fourth, fifth and sixth motions with movement of the operator'"'"'s wrist. - View Dependent Claims (33, 34, 35, 36)
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Specification