Six-degree virtual pivot controller
First Claim
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1. A six degree-of-freedom virtual pivot controller comprising:
- grip means for receiving externally applied force and torque;
force and torque sensing means, connected to said grip means, for sensing the force and torque, from up to six-degrees-of-freedom, applied to said grip means;
first support means, connected to said sensing means, for supporting said sensing means;
second support means for supporting said hand controller;
at least one variable-length member means having a first flexible connector attached to said first support means and a second flexible connector, attached to said second support means, for variable supporting said first support means, wherein said at least one variable-length member means comprises;
translation actuating means connected to said member means, for varying the length of said member means;
translational sensing means, connected to said member means, for sensing a length of said member means;
angular actuating means, connected to said member means, for angularly moving said member means relative to said second support means; and
angular sensing means, connected to said member means, or sensing an angular position of said member means relative to said second support means.
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Abstract
An active virtual pivot hand controller using motors to control reflective forces and torques. Degree of freedom parameters, stops, and reflective force rates may be easily modified without altering hardware. The location of the virtual pivot of the hand controller may be likewise readily changed.
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Citations
12 Claims
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1. A six degree-of-freedom virtual pivot controller comprising:
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grip means for receiving externally applied force and torque; force and torque sensing means, connected to said grip means, for sensing the force and torque, from up to six-degrees-of-freedom, applied to said grip means; first support means, connected to said sensing means, for supporting said sensing means; second support means for supporting said hand controller; at least one variable-length member means having a first flexible connector attached to said first support means and a second flexible connector, attached to said second support means, for variable supporting said first support means, wherein said at least one variable-length member means comprises; translation actuating means connected to said member means, for varying the length of said member means; translational sensing means, connected to said member means, for sensing a length of said member means; angular actuating means, connected to said member means, for angularly moving said member means relative to said second support means; and angular sensing means, connected to said member means, or sensing an angular position of said member means relative to said second support means. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A six degree-of-freedom virtual pivot hand controller comprising:
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a handle; a six-degree-of-freedom force and torque sensor connected to said handle; first support means, connected to said force and torque sensor, for supporting said force and torque sensor; at least one variable-length member assembly comprising; a variable length member; a first connector connected to said member and to said first support means; a second connector connected to said member; a linear actuator connected to said member; a linear sensor connected to said linear actuator; an angular actuator connected to said second connector; and an angular sensor connected to said angular actuator; and second support means, connected to said second connector, for supporting said hand controller. - View Dependent Claims (8, 9, 10, 11)
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12. A six degree-of-freedom virtual pivot hand controller comprising:
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a handle; a six degree-of-freedom force and torque sensor connected to said handle; a base plate; a plurality of extendable legs attached to said force and torque sensor and to said base plate, wherein each extendable leg comprises; a linear actuator for extending and shortening said extendable leg; a first flexible joint for attaching said linear actuator to said force and torque sensor; a second flexible joint for connecting said linear actuator to said base plate; a linear sensor attached to said linear actuator for determining the length of said extendable leg; an angular actuator attached to said second flexible joint for varying angles of inclination of said extendable leg relative to said base plate; an angular sensor connected to said second flexible joint for measuring varying angles of inclination of said extendable leg relative to said base plate; and a processing and control means, connected to said torque and force sensor, to said linear and angular sensors, and to said linear and angular actuators, for receiving signals and from said linear and angular sensors, for processing the signals in relation to a device being controlled by said controller, and for sending signals to said linear and angular actuators to actuate said controller with a response to force and torque inputs.
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Specification