초록 ▼

A control device including a housing and a carrier moveable with respect to the housing in a first rotary degree of freedom. A first sensor senses the movement of the carrier and outputs a first control signal. A roller rotatably coupled to the carrier rotates with the carrier in the first degree of

A control device including a housing and a carrier moveable with respect to the housing in a first rotary degree of freedom. A first sensor senses the movement of the carrier and outputs a first control signal. A roller rotatably coupled to the carrier rotates with the carrier in the first degree of freedom and rotates independently of the carrier in a second rotary degree of freedom. A second sensor senses rotary motion of the roller and outputs a second control signal. Preferably, an arm member coupled between carrier and housing pivots about an axis. A third sensor, such as a switch, can be used to detect when the carrier has been pushed in a direction substantially orthogonal to a plane of rotation of the arm member. Force feedback can also be provided in the rotary degrees of freedom of the control device.

대표청구항 ▼

That which is claimed is: 1. An apparatus comprising:a manipulandum movable in a first rotary degree of freedom and a second rotary degree of freedom, wherein an axis of rotation of the first rotary degree of freedom is substantially perpendicular to an axis of rotation of the second rotary degree o

That which is claimed is: 1. An apparatus comprising:a manipulandum movable in a first rotary degree of freedom and a second rotary degree of freedom, wherein an axis of rotation of the first rotary degree of freedom is substantially perpendicular to an axis of rotation of the second rotary degree of freedom;a sensor configured to detect a movement of the manipulandum and to output a first sensor signal associated with the movement;a first actuator operable to provide tactile feedback to the manipulandum in the first rotary degree of freedom, the tactile feedback associated with the first sensor signal;a second actuator operable to provide tactile feedback to the manipulandum in the second rotary degree of freedom, the tactile feedback associated with the first sensor signal; anda first processor operable to control the first actuator and the second actuator and to receive the first sensor signal from the sensor.