Force actuated machine controller
First Claim
Patent Images
1. An apparatus for controlling a direction and a speed in which a motive device propels a machine, said apparatus comprising:
- (a) a plurality of force sensors for detecting a translational component of an applied force and for detecting a rotational component of said applied force;
(b) force transfer means formed of a rigid single moving part having a base surface coupled to said plurality of force sensors, for receiving said applied force and transferring said applied force to said plurality of force sensors; and
(c) a motive control circuit, coupled to said plurality of force sensors, for controlling the direction and the speed at which the motive device propels the machine in response to said detected translational component of said applied force and said detected rotational component of said applied force.
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Abstract
An apparatus and method that allows a user to exert a force to control a motive machine. The exerted force is transferred by a force transferring means to force sensors which detect the amount and direction in which the force is exerted. The force sensors convert the applied force into an electrical signal which is used to control the motive features of a machine.
50 Citations
24 Claims
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1. An apparatus for controlling a direction and a speed in which a motive device propels a machine, said apparatus comprising:
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(a) a plurality of force sensors for detecting a translational component of an applied force and for detecting a rotational component of said applied force; (b) force transfer means formed of a rigid single moving part having a base surface coupled to said plurality of force sensors, for receiving said applied force and transferring said applied force to said plurality of force sensors; and (c) a motive control circuit, coupled to said plurality of force sensors, for controlling the direction and the speed at which the motive device propels the machine in response to said detected translational component of said applied force and said detected rotational component of said applied force. - View Dependent Claims (2)
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3. An apparatus for controlling a direction and a speed in which a motive device propels a machine, said apparatus comprising:
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(a) a plurality of force sensors for detecting a translational component of an applied force and for detecting a rotational component of said applied force; (b) force transfer means, formed from a rigid substantially half spherical body coupled to said plurality of force sensors, for receiving said applied force and transferring said applied force to said plurality of force sensors; and (c) a motive control circuit, coupled to said plurality of force sensors, for controlling the direction and the speed at which the motive device propels the machine in response to said detected translational component of said applied force and said detected rotational component of said applied force;
wherein said plurality of force sensors are evenly spaced around a perimeter of a ring concentric with the base of said substantially half spherical body.
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4. An apparatus for controlling a direction and a speed in which a motive device propels a machine, said apparatus comprising:
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(a) a plurality of force sensors for detecting a translational component of an applied force and for detecting a rotational component of said applied force; (b) force transfer means, formed from a substantially half spherical body coupled to said plurality of force sensors, for receiving said applied force and transferring said applied force to said plurality of force sensors, wherein said force transfer means further comprises a plurality of elastomeric bumpers, one for each of said plurality of force sensors, and wherein each of said elastomeric bumpers is positioned above its corresponding force sensor so that said applied force is transferred from said bumpers to said force sensors; and (c) a motive control circuit, coupled to said plurality of force sensors, for controlling the direction and the speed at which the motive device propels the machine in response to said detected translational component of said applied force and said detected rotational component of said applied force;
wherein said plurality of force sensors are evenly spaced around a perimeter of a ring concentric with the base of substantially half spherical body.
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5. An apparatus for controlling a direction and a speed in which a motive device propels a machine, said apparatus comprising:
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(a) a plurality of force sensors for detecting a translational component of an applied force and for detecting a rotational component of said applied force; (b) force transfer means formed of a single moving part having a base surface coupled to said plurality of force sensors, for receiving said applied force and transferring said applied force to said plurality of force sensors, wherein said force transfer means comprises; an assembly member for receiving said applied force; a support member for supporting said plurality of force sensors; and a plurality of elastomeric bumpers for transferring said applied force from said assembly member to said force sensors; and (c) a motive control circuit, coupled to said plurality of force sensors, for controlling the direction and the speed at which the motive device propels the machine in response to said detected translational component of said applied force and said detected rotational component of said applied force. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. An apparatus for controlling a direction and a speed in which a motive device propels a machine, said apparatus comprising:
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(a) a plurality of force sensors for detecting a translational component of an applied force and for detecting s rotational component of said applied force; (b) force transfer means formed of a single moving part having a base surface coupled to said plurality of force sensors, for receiving said applied force and transferring said applied force to said plurality of force sensors;
wherein said plurality of force sensors comprises a first force sensitive ring resistor and a second force sensitive ring resistor; and(c) a motive control circuit, coupled to said plurality of force sensors, for controlling the direction and the speed at which the motive device propels the machine in response to said detected translational component of said applied force and said detected rotational component of said applied force.
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18. An apparatus for controlling a direction and a speed in which a motive device propels a machine, said apparatus comprising:
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(a) a plurality of force sensors for detecting a translational component of an applied force and for detecting a rotational component of said applied force; (b) force transfer means formed of a single moving part having a base surface coupled to said plurality of force sensors, for receiving said applied force and transferring said applied force to said plurality of force sensors; (c) a motive control circuit, coupled to said plurality of force sensors, for controlling the direction and the speed at which the motive device propels the machine in response to said detected translational component of said applied force and said detected rotational component of said applied force;
said motive control circuit comprising;a filter for filtering out noise signals produced by said force sensors wherein said motive control circuit further comprises; a deadband generator for reducing the effect a relatively small applied force has on the control of the motive device. - View Dependent Claims (19, 20, 21)
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22. An apparatus for controlling a direction and a speed in which a motive device propels a machine, said apparatus comprising:
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(a) a plurality of force sensors for detecting a translational component of an applied force and for detecting a rotational component of said applied force; (b) force transfer means formed of a single moving part having a base surface coupled to said plurality of force sensors, for receiving said applied force and transferring said applied force to said plurality of force sensors wherein said force transfer means comprises an assembly member for receiving said applied force from a user'"'"'s hand, a support member for supporting said plurality of force sensors, and a plurality of bumpers for transferring said applied force from said assembly member to said force sensors; (c) a motive control circuit, coupled to said plurality of force sensors, for controlling the direction and the speed at which the motive device propels the machine in response to said detected translational component of said applied force and said detected rotational component of said applied force; and (d) a second plurality of force sensors for detecting a second applied force used to control an additional feature of said motive device wherein said second plurality of force sensors are positioned upon said assembly member to allow an additional axis-of-control to be controlled by one of said user'"'"'s fingers.
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23. An apparatus for controlling a direction and a speed in which a motive device propels a wheelchair, said apparatus comprising:
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(a) a plurality of force sensors for detecting first and second components of an applied force; (b) a force transfer system formed from a single rigid moving part having a base surface coupled to said plurality of force sensors, for receiving said applied force and transferring said applied force to said plurality of force sensors; and (c) a motive control circuit, coupled to said plurality of force sensors, for controlling the direction and the speed at which the motive device propels the wheelchair in response to said detected first and second components of said applied force.
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24. A method of controlling speed and direction of a motive device, said method comprising the steps of:
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(a) applying a force to an assembly member coupled to said motive device, said assembly member formed of a single rigid moving part having a base surface; (b) transferring said applied force from said assembly member to a plurality of force sensors with a force transfer system, said plurality of force sensors positioned proximate said base surface; (c) detecting a translational component and rotational component of said applied force with said force sensors and associated circuitry; (d) translating, with a motive control circuit, the detected translational and rotational components of said applied force into signals to control said motive device.
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Specification