Multi-axis input apparatus
First Claim
1. A multi-axis input apparatus that provides feedback to an operator thereof and that is usable to control position of an item, said apparatus comprising:
- a multi-axis transducer in a hexapod configuration, said transducer operable to generate operator originated signals that change said position of said item in accordance with input provided by said operator; and
a feedback provision system that provides sensible feedback to said operator during operation of said multi-axis transducer,wherein said feedback relates to at least one parameter associated with said item, said parameter selected from the group consisting of;
force applied to said item, position of said item, and velocity of said item.
3 Assignments
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Accused Products
Abstract
The inventive technology, in its various embodiments, relates to improved multi-axis input devices such as joysticks, and associated multi-axis optical displacement measurement means. Certain embodiments of the input devices may comprise elements movable with respect to each other in at least, e.g., three degrees of freedom and comprise ionically conductive elements that are utilized to generate a position signal in, e.g., at least three, or at least six degrees of freedom. Various ergonomic configurations of six axis joystick embodiments which may be facilitated by the compact design of the transducer means are disclosed. Certain embodiments of the input device technology may provide feedback (e.g., relative to force applied to an item whose position is controlled by an operator) to the operator. Means for dynamically adjusting coordinate transformations for construction machinery control are also disclosed.
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Citations
31 Claims
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1. A multi-axis input apparatus that provides feedback to an operator thereof and that is usable to control position of an item, said apparatus comprising:
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a multi-axis transducer in a hexapod configuration, said transducer operable to generate operator originated signals that change said position of said item in accordance with input provided by said operator; and a feedback provision system that provides sensible feedback to said operator during operation of said multi-axis transducer, wherein said feedback relates to at least one parameter associated with said item, said parameter selected from the group consisting of;
force applied to said item, position of said item, and velocity of said item. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A haptic multi-axis input apparatus that provides tactile, force feedback to an operator and that is usable to control position of an item via control of length of struts connected with said item, said apparatus comprising:
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a multi-axis transducer in a hexapod configuration, said transducer operable to generate electronic operator originated signals that effect changes in said extension of said struts, and thus changes in said position of said item wherein said multi-axis transducer is embedded in an elastomeric structure, a force feedback provision system that provides force feedback to said operator during operation of said multi-axis transducer, wherein said force comprises a force applied to said item and encountered during operator control of said position thereof, said force feedback provision system itself comprising; force sensors configured to sense said force applied to said item, said force sensors converting said applied force to an electrical signal; inflatable actuators in said hexapod configuration within said elastomeric structure, wherein pressure within said actuators is governed at least in part by said electrical signals, wherein inflation of said actuators deforms said elastomeric structure.
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27. A haptic multi-axis input apparatus 26 wherein said multi-axis transducer comprises extendable coiled variable inductors in said hexapod configuration.
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28. A haptic multi-axis input apparatus 27 wherein each of said extendable coiled variable inductors are established around a different one of said inflatable actuators.
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29. A haptic multi-axis input apparatus 27 wherein said extendable coiled variable inductors vary in inductance as they change length with operator caused deformation of said elastomeric structure.
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30. A haptic multi-axis input apparatus 29 wherein said variance in inductance enables an electronic representation of a deformed shape of said elastomeric structure.
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31. A haptic multi-axis input apparatus 26 wherein said item is selected from the group consisting of:
- catheter head, machinery attachment, excavating bucket, medical device head and robot component.
Specification