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Methods and apparatus for differentially controlling degrees of freedom of an object

  • US 8,345,004 B1
  • Filed: 07/24/2009
  • Issued: 01/01/2013
  • Est. Priority Date: 03/06/2009
  • Status: Active Grant
First Claim
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1. An input device for controlling an object, the input device comprising:

  • a modal switch for selecting a subset of degrees of freedom of an object;

    a joystick having at least three degrees of freedom for controlling a change over time in a configuration of the selected subset; and

    a computer processor configured to apply a gain to the change over time and to alter the gain in response to proximity of the configuration of the selected subset to a boundary condition,wherein the change over time in the configuration of the selected subset is functionally dependent on both a motion of the joystick and a state of the selected subset.

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