3 degree of freedom hand controller
First Claim
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1. Three degrees of freedom hand controller apparatus including a grip for use by a controller'"'"'s hand to produce output motion representative of turning motion of the hand about first, second and third mutually perpendicular axes intersecting at a point inside the grip, comprising:
- first rotatable means (46) mounted within the grip for rotation about the first axis when the controller'"'"'s hand moves the grip about the first axis;
second rotatable means (52) mounted within the grip on the first rotatable means for rotation about the second axis when the controller'"'"'s hand moves the grip about the second axis;
third rotatable means (70) mounted within the grip on the second rotatable means for rotation about the third axis when the controller'"'"'s hand moves the grip about the third axis;
first motion transmitting means connected to the first rotatable means and extending outside the grip to transmit rotary motion of the first rotatable means;
second motion transmitting means connected to the second rotatable means and extending outside the grip to transmit rotary motion of the second rotatable means; and
third motion transmitting means connected to the third rotatable means and extending outside the grip to transmit rotary motion of the third rotatable means.
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Accused Products
Abstract
A hand controller which includes a hand grip having therein a gimble mechanism for allowing rotatory motion about three axes which intersect in the interior of the hand grip and from which motion transmitting members allow the motions about the three axes to be transmitted to remote pick off devices and also along which force feedback signals may be fedback to the gimble structure to provide the correct "feel" for the grip.
227 Citations
22 Claims
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1. Three degrees of freedom hand controller apparatus including a grip for use by a controller'"'"'s hand to produce output motion representative of turning motion of the hand about first, second and third mutually perpendicular axes intersecting at a point inside the grip, comprising:
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first rotatable means (46) mounted within the grip for rotation about the first axis when the controller'"'"'s hand moves the grip about the first axis; second rotatable means (52) mounted within the grip on the first rotatable means for rotation about the second axis when the controller'"'"'s hand moves the grip about the second axis; third rotatable means (70) mounted within the grip on the second rotatable means for rotation about the third axis when the controller'"'"'s hand moves the grip about the third axis; first motion transmitting means connected to the first rotatable means and extending outside the grip to transmit rotary motion of the first rotatable means; second motion transmitting means connected to the second rotatable means and extending outside the grip to transmit rotary motion of the second rotatable means; and third motion transmitting means connected to the third rotatable means and extending outside the grip to transmit rotary motion of the third rotatable means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A three degree of freedom hand controller which minimizes cross coupling between rotations about three mutually perpendicular axes by having the axes intersect at a point interior of the hand controller and which permits motions about the three axes to be transmitted exterior of the hand controller, comprising:
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a first member (46) mounted on a first mechanical connection means (42) which rotates about the first axis; a second member (52) gimbled to the first member and rotatable about the second axis, the second member including second mechanical connection means (94) connected thereto and extending exterior of the hand controller so as to transmit motion of the second member in a direction generally parallel to the first axis; and a third member gimbled (70) to the second member and rotatable about the third axis, the third member including third mechanical connection means (99) connected thereto and extending exterior of the hand controller so as to transmit motion of the third member in a direction generally parallel to the first axis. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A three degree of freedom controller including hand grip means having an interior cavity (39) therein;
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first mechanical motion transmitting means (42) rotatable about a first axis and extending from inside the cavity to a position remote from the hand grip means; a first yolk fixed to the first mechanical motion transmitting means and in the cavity, the first mechanical motion transmitting means operable to transmit motion to and from the first yolk about the first axis; a second yolk gimbled to the first yolk for rotation in the cavity about a second axis perpendicularly intersecting the first axis at a point; a third yolk gimbled to the second yolk for rotation in the cavity a bout a third axis perpendicularly intersecting the first and second axes at the point; second mechanical motion transmitting means (94) connected to the second yolk inside the cavity and extending remote from the grip to transmit motion to and from the second yolk about the second axis; and third mechanical motion transmitting means (99) connected to the third yolk inside the cavity and extending remote from the grip to transmit motion to and from the third yolk about the third axis. - View Dependent Claims (19, 20, 21, 22)
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Specification