Force and torque converter for use in a computer input device

• US 5,706,027 A
• Filed: 06/07/1995
• Issued: 01/06/1998
• Est. Priority Date: 12/18/1985
• Status: Expired due to Term

• Current Assignee: Labtec, Inc. (Logitech International SA)
• Original Assignee: Spacetec IMC Corporation (Logitech International SA)
• Inventors: Avery, Hal, Hilton, John, Roundtree, Stephan
• Primary Examiner(s): Liang, Regina D.
• Assistant Examiner(s): ACOSTA, JOSEPH J
• Application Number:
  US08/475,660
• Time in Patent Office: 944 Days
• Field of Search: 345/161, 345/156, 73/862.043, 73/862.05
• US Class Current: 345/156
• 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: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: G01L 1/24 by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
• CPC Class Codes: G01L 1/248 using infrared G01L1/241, G01L1/242 take precedence
• CPC Class Codes: G01L 5/1627 of strain gauges using piezoresistors G01L5/162
• CPC Class Codes: G01L 5/166 using photoelectric means
• CPC Class Codes: G01L 5/223 to joystick controls
• CPC Class Codes: G01L 5/226 to manipulators, e.g. the force due to gripping
• CPC Class Codes: G06F 3/03543 Mice or pucks G06F3/03541 takes precedence
• CPC Class Codes: G06F 3/038 Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• CPC Class Codes: G06F 3/041 Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
• CPC Class Codes: H01H 2239/052 Strain gauge

Abstract

A force and torque converter provides an electronic signal in response to at least one of an applied force and an applied torque. The converter includes a base, a movable member that provides movement relative to the base in response to the at least one of the applied force and the applied torque, a controlling mechanism, and a detection circuit. The controlling mechanism has a plurality of resilient mechanisms, connected to the base and co-acting with the movable member, that provide at least one of a restoring force and a restoring torque to the movable member in response to the at least one of the applied force and the applied torque. The controlling mechanism further includes a restraining member, disposed within the movable member, that restrains the movable member when the movable member is in contact with the restraining member. The detection circuit co-acts with the controlling mechanism, to detect the movement of the movable member relative to the base, and provide the electronic signal.

Claims

1. An apparatus for providing an electronic signal in response to at least one of an applied force and an applied torque, the apparatus comprising:

a base;

a movable member that provides movement relative to the base in response to the at least one of the applied force and the applied torque;

a controlling mechanism having

a plurality of resilient mechanisms, connected to the base and co-acting with the movable member, that provide at least one of a restoring force and a restoring torque to the movable member in response to the at least one of the applied force and the applied torque, and

a restraining member, disposed within the movable member, that is free of contact with the movable member when the movable member is disposed in a first position, and contacts the movable member to restrain the movement of the movable member relative to the base when the movable member is moved from the first position to a second position in response to the at least one of the applied force and the applied torque; and

a detection circuit that detects the movement of the movable member relative to the base, and provides the electronic signal.

2. The apparatus of claim 1, wherein the base is disposed within a central area of the restraining member.

3. The apparatus of claim 2, wherein at least a portion of the detection circuit is disposed around the base and within the restraining member.

4. The apparatus of claim 2, wherein at least a portion of the restraining member supports the base and resists movement of the base relative to the restraining member.

5. The apparatus of claim 1, wherein the restraining member has an outer surface, wherein the movable member has an inner surface, and wherein the outer surface of the restraining member is similar in shape to the inner surface of the movable member.

6. The apparatus of claim 5, wherein each of the outer surface of the restraining member and the inner surface of the movable member is spherical in shape.

7. The apparatus of claim 1, wherein at least a portion of the detection circuit includes:

a plurality of rigid members, each rigid member supporting at least one sensor component; and

a plurality of flexible members, the plurality of rigid members and the plurality of flexible members being disposed around the base so that the at least one sensor component of each rigid member is aligned in a predetermined orientation relative to one of the plurality of resilient mechanisms.

8. The apparatus of claim 1, wherein the detection circuit includes:

a plurality of sensor sets, each sensor set being disposed within the restraining member in a predetermined orientation relative to a corresponding one of the plurality of resilient mechanisms, and

signal processing circuitry coupled to the plurality of sensor sets, that provides a predetermined calibrated signal for each sensor set so that each sensor set produces a similar response for a similar displacement of the corresponding one of the plurality of resilient mechanisms.

9. The apparatus of claim 1, wherein the restraining member includes:

at least two portions, each portion having at least one opening through which one of the plurality of resilient mechanisms extends.

10. The apparatus of claim 9, wherein the movable member includes:

at least two portions, each portion having at least one recess that receives an end of one of the plurality of resilient mechanisms.

11. An apparatus for providing an electronic signal in response to at least one of an applied force and an applied torque, the apparatus comprising:

a base;

a movable member that provides movement relative to the base in response to the at least one of the applied force and the applied torque;

controlling means for controlling movement of the movable member relative to the base, the controlling means including;

means for providing at least one of a restoring force and a restoring torque to the movable member in response to the at least one of the applied force and the applied torque, and

means for restraining the movable member when the movable member is moved from a first position to a second position in response to the at least one of the applied force and the applied torque, the means for restraining not restraining the movable member when the movable member is disposed in the first position; and

a detection circuit that detects the movement of the movable member relative to the base, and provides the electronic signal.

12. The apparatus of claim 11, wherein the base is disposed within a central area of the restraining means.

13. The apparatus of claim 12, wherein at least a portion of the detection circuit is disposed around the base and within the restraining means.

14. The apparatus of claim 12, wherein the restraining means includes:

means for supporting the base and resisting movement of the base relative to the restraining member.

15. The apparatus of claim 11, wherein the movable member has an inner surface, and wherein the restraining means includes:

a restraining member having an outer surface, wherein the outer surface of the restraining member is similar in shape to the inner surface of the movable member.

16. The apparatus of claim 15, wherein each of the outer surface of the restraining member and the inner surface of the movable member is spherical in shape.

17. The apparatus of claim 11, wherein at least a portion of the detection circuit includes:

a plurality of rigid members, each rigid member supporting at least one sensor component; and

a plurality of flexible members, the plurality of rigid members and the plurality of flexible members being disposed around the base so that the at least one sensor component of each rigid member is aligned in a predetermined orientation.

18. The apparatus of claim 11, wherein the detection circuit includes:

signal processing circuitry coupled to a plurality of sensor sets co-acting with the controlling means, that provides a predetermined calibrated signal for each sensor set so that each sensor set produces a similar response for a similar sensed detection.

19. The apparatus of claim 11, wherein the resilient means includes a plurality of resilient mechanisms connected to the base, and wherein the restraining means includes:

means for enabling the plurality of resilient mechanisms to co-act with the movable member.

20. The apparatus of claim 19, wherein each of the resilient mechanisms includes:

means for engaging the resilient mechanism with the movable member, and minimizing friction between the resilient mechanism and the movable member.

21. The apparatus of claim 11, wherein the means for restraining includes:

means for contacting the movable member to restrain the movement of the movable member relative to the base when the movable member is moved from the first position to the second position, the means for contacting being free of contact with the movable member when the movable member is disposed in the first position.