초록

A movable handcontroller that permits control while requiring low force-displacement gradient. The handcontroller may be used in a side-arm configuration in that it allows the operator\s arm to remain essentially motionless in an armrest while control inputs are made about the fulcrum of the wrist.

대표청구항 ▼

A virtual pivot handcontroller, having six degrees of freedom of motion, comprising: a spring-loaded universal joint; a handle connected to said universal joint; at least one spring-loaded, variable-length leg connected to said universal joint; and support means, connected to said at least one leg,

A virtual pivot handcontroller, having six degrees of freedom of motion, comprising: a spring-loaded universal joint; a handle connected to said universal joint; at least one spring-loaded, variable-length leg connected to said universal joint; and support means, connected to said at least one leg, for supporting said virtual pivot handcontroller; and wherein: said handle has first, second and third degrees of rotational motion and first, second and third degrees of translational motion; and said universal joint comprises: a base connected to said at least one leg; a first shaft connected to said base and rotatable about a first axis transverse to said base; a plate rigidly attached to said first shaft; a second shaft connected to said plate and rotatable about a second axis orthogonal to said first axis; a shank rigidly attached to said second shaft and connected to said handle; first spring means for providing spring tension, connected to said plate and to said base in a fashion such that the rotational position of said first shaft is maintained under tension at a neutral position relative to said base and said first shaft requires an external force to be rotated from the neutral position; and second spring means for providing spring tension, connected to said second shaft and to said shank in a fashion such that the rotational position of said second shaft is maintained under tension at a neutral position relative to said first shaft and said second shaft requires an external force to be rotated from the neutral position.