CA2184038A1 - 6 degree of freedom control device for human-machine interface - Google Patents
6 degree of freedom control device for human-machine interfaceInfo
- Publication number
- CA2184038A1 CA2184038A1 CA002184038A CA2184038A CA2184038A1 CA 2184038 A1 CA2184038 A1 CA 2184038A1 CA 002184038 A CA002184038 A CA 002184038A CA 2184038 A CA2184038 A CA 2184038A CA 2184038 A1 CA2184038 A1 CA 2184038A1
- Authority
- CA
- Canada
- Prior art keywords
- control device
- connector members
- hand grip
- rest position
- grip member
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/1006—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals having additional degrees of freedom
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
There is disclosed a control device for the human-machine interface. The control device is a hand-operated, 6 degree-of-freedom controller useful in applications including virtual reality, telerobotics and 3D data manipulation. The control device includes a hand-held manipulator tautly suspended by an adjustable elastic support and held in a null or rest position.
The elastic support allows movement or compliance, both rotational and translational, in all directions away from the rest position thereby avoiding the inherent limitations present in movement of base mounted controllers. The manipulator is moved by the user's fingers or full hand and the control device more fully utilizes the human somatosensory information feedback system. The elastic support is self-centring so that the manipulator is promptly returned to the null or rest position thereby facilitating use in the rate (velocity) control mode.
A position and orientation sensing device is included to monitor the location of the manipulator.
The elastic support allows movement or compliance, both rotational and translational, in all directions away from the rest position thereby avoiding the inherent limitations present in movement of base mounted controllers. The manipulator is moved by the user's fingers or full hand and the control device more fully utilizes the human somatosensory information feedback system. The elastic support is self-centring so that the manipulator is promptly returned to the null or rest position thereby facilitating use in the rate (velocity) control mode.
A position and orientation sensing device is included to monitor the location of the manipulator.
Description
FIELD OF THE INVENTION
The present invention relates to 6 degree-of-freedom control devices used in human-machine interactive applications such as computer input devices, robot controllers, machine controllers and the like.
BACKGROUND OF THE INVENTION
Various human-machine interactive areas such as telerobotics, virtual reality and scientific data visualization are all emerging as important new technologies, an important feature of which is the interactive human-machine 10 interface. A key component of the human-machine interface in these applications is the control device or controller which allows users to manipulate 3 dimensional objects, real or virtual. These control devices are referred to as 6 degree-of-freedom (DOF) controllers because they have three translational degrees of freedom and three rotational degrees of freedom. In computer 15 applications the control device is normally referred to as an input controller. The 6 DOF controller allows a user to manipulate 3 dimensional real or virtual objects under computer control. Typical commercial computer input devices such as the computer mouse and track ball have two degrees of freedom.
There are several different manipulation schemes available upon 20 which currently known 6-DOF input devices are based. The majority of these manipulation schemes can be classified as either isotonic or isometric, or some combination of these. The word isotonic literally means "equal tension" and in relation to muscle contractions the word is defined by Webster's Ninth New Collegiate Dictionary as: "relating to, or being muscular contraction in the absence of siynifica"l resistance, with marked shortening of muscle fibres, and without great increase in muscle tone". In relation to the classification of control devices the word isotonic refers to the general case in which the forces or torques opposing any control input are constant. This general case therefore 5 includes the case of negligible or essentially zero opposing forces, as is the case when a transducer is used to sense the free movement of a user's limb.
The word isometric literally means "equal measure" and in relation to muscle contractions the word is defined by Webster's Ninth New Collegiate Dictionary as: "of, relating to, or being muscular contraction against resistance, 10 without significant shortening of muscle fibres and with marked increase in muscle tone". In relation to the classification of control devices the word isometric refers to devices which sense forces and torques exerted upon them without exhibiting significant translational or rotational displacements.
Isotonic 6 DOF input devices include the Ascension BirdTM, the 15 LogitechTM 6 D mouse, the Flying MouseTM and the PolhemusM . In all such devices the user holds a control handle (or wears a glove) and moves his/her hand without support. These devices usually utilize position control mapping (pure gain control) in which the user's hand motion is sensed and proportionally mapped to the position and orientation of a selected 3D object on a computer 20 screen. A major drawback to the isotonic position mode is its comparatively large operating volume and resultant fatiguing which occurs from a user moving his/her arm about unsupported. An inherent limitation of these isotonic position control devices relates to the restricted operational range of translational motion due to limited arm length and limited rotational movement due to limited rotation of the hand and arm. In the case of glove type 6 DOF input devices this limitation is overcome by adduction wherein the user continuously clutches (closes) and declutches (opens) their hand. When the hand is opened the manipulated object typically remains fixed and while closed it follows the hand 5 movement. The position of the user's hand is sensed relative to a starting position at which point the hand starts to close (adduction) and the distance travelled is determined and mapped onto the virtual 3D object. This is not a completely satisfactory solution since it requires potentially fatiguing translational and rotational movement of the user's hand.
Another isotonic input control device is the immersion PROBETM
(produced by Immersion Human Interface Corporation, P.O., Box 8669, Palo Alto, CA) comprising a stylus mounted on the end of a series of mechanical linkages. This device works in the position control mode wherein the manipulated 3D object moves in proportion to the movement of the stylus. While 15 the mechanical linkage system provides support to the stylus, a loose series of linkages to give a nearly free moving stylus does not adequately support the user's hand so that fatiguing still occurs while too tight a series of linkages requires greater effort to move the stylus also leading to fatiguing.
The second class of 6 DOF input controllers are isometric devices.
20 Known controllers based on this principle include the SpaceballTM (US Patent No. 4,811,608). Another device based on this principle is the Space Control Mouse made by DFL in Germany. Isometric devices are generally used in the rate control mode so that the force and torque applied to a control handle is converted to a velocity of the virtual or real 3D object. A major drawback to this type of controller is that the user's hand operates in a substantially stationary posture which limits the amount of somatosensory feedback experienced by the user, as will be more fully discussed below.
Another control device, which is neither isotonic nor isometric, is 5 the CAE 6 DOF hand controller having a control grip mounted on an elastic mounting base. A drawback to this device is that a user's control movement is prone to being limited by the mounting base.
Investigations of target acquisition performance, for example, have demonstrated that isotonic position control and isometric rate control have 10 certain advantages over isotonic rate control and isometric position control. One reason isotonic position control gives better results is because it uses movements similar to those used routinely by the user, namely free limb movement. However, as mentioned above a drawback to the isotonic position mode is the requirement of a large operating volume and resultant fatiguing 15 which occurs from a user moving his/her arm about unsupported.
Superior performance with isotonic position and isometric rate over the other schemes is related to compatibility and control "feel". High compatibility is achieved when certain properties of a particular sensing mode (e.g. isometric) match certain modes of transfer function (e.g. rate control). For 20 example, the self-centring property of isometric devices facilitates rate control, which may require reversed actions for stable execution of certain repositioning and reorientation tasks.
The "feel" of a controller is related to proprioceptive feedback.
Neurophysiological research has shown that humans are equipped with at least ' 21 84038 four distinctive types of somatosensory receptors which form the proprioceptive sensory feedback system and include joint receptors, Golgi tendon organs, muscle spindles and cutaneous receptors. Each type of receptor is responsible for detecting specific stimuli and inputting the information to the central nervous 5 system with the latter integrating the various types of input.
A drawback to the known 6 DOF input devices discussed above is that none make full, simultaneous use of all available somatosensory receptors. For example, during use of an isometric controller such as the Sp~ceb~ll the joint angles in a user's arm are usually stationary so that generally 10 only the force sensitive Golgi tendon organs and cutaneous receptors on the finger tips are utilized.
Accordingly, it would be advantageous to provide a 6-DOF control device which more fully utilizes the human somatic information feedback system and which does not result in rapid fatiguing.
SUMMARY OF THE INVENTION
The present invention provides a six degree-of-freedom control device which more fully utilizes the somatosensory feedback system receptors.
In one aspect the present invention provides a six degree-of-20 freedom control device for controlling movement of a real or virtual object. Thedevice comprises a member adapted to be moved by a user, a support means operably coupled to the member for supporting the member in a rest position, the member being translationally and rotationally movable from the rest position in suL.slanlially any direction. The support means includes restoring force means 21 ~4038 for developing a restoring force when said member is moved from said rest position to urge the member back to the rest position. The device is provided with a sensor means for sensing the position and orientation of said member with respect to said rest position. A processor means is connected to the sensor 5 means for processing the sensed position and orientation of said member to provide information for controlling the motion of a real or virtual object being manipulated by the control device. The control device can be operated in a mode selected from the group consisli,lg of velocity control mode, a combination of position and velocity control mode, and higher order control modes.
In another aspect of the invention there is provided a hand operated six degree-of-freedom control device for controlling movement of a real or virtual object. The device comprises a hand grip member and a support means operably coupled to the hand grip member for supporting the hand grip member in a rest position. The hand grip member is translationally and 15 rotationally movable from the rest position in substantially any direction. The support means includes restoring force means for developing a restoring force when said member is moved from the rest position to urge the member back to the rest position. The control device is provided with a sensor means for sensing the position and orientation of the hand grip member and a processor means 20 connected to the sensor means for processing the sensed position and orientation of the hand grip member to provide information for controlling the motion of a real or virtual object being manipulated by the control device. The control device may be operated in a mode selected from the group consisting of velocity control mode, a combination of position and velocity control mode, and higher order control modes.
In another aspect of the invention there is provided a method of supporting a hand grip member in a six degree-of-freedom controller. The method comprises supporting the hand grip member in a rest position under compliant tension so that it can be translationally and rotationally moved in any direction away from the rest position whereupon the hand grip member is urged back to the rest position.
BRIEF DESCRIPTION OF THE DRAWINGS
The 6 DOF control device forming the present invention will now be described, by way of exa",p'e only, rererence being had to the accompanying drawings, in which:
Figure 1 is a perspective view of a 6 DOF control device constructed in accordance with the present invention;
Figure 2(a) is a perspective view of the control device of Figure 1 being moved translationally by a user;
Figure 2(b) is a perspective view similar to Figure 2(a) but with the controller undergoing rotational movement;
Figure 3 is a view along arrow 3 of Figure 1;
Figure 4 is a view along arrow 4 of Figure 1;
Figure 5 is a perspective view of another embodiment of a 6 DOF
controller constructed in accordance with the present invention;
Figure 6 is partial sectional view, broken away, of a tensioning device forming part of the present control device;
The present invention relates to 6 degree-of-freedom control devices used in human-machine interactive applications such as computer input devices, robot controllers, machine controllers and the like.
BACKGROUND OF THE INVENTION
Various human-machine interactive areas such as telerobotics, virtual reality and scientific data visualization are all emerging as important new technologies, an important feature of which is the interactive human-machine 10 interface. A key component of the human-machine interface in these applications is the control device or controller which allows users to manipulate 3 dimensional objects, real or virtual. These control devices are referred to as 6 degree-of-freedom (DOF) controllers because they have three translational degrees of freedom and three rotational degrees of freedom. In computer 15 applications the control device is normally referred to as an input controller. The 6 DOF controller allows a user to manipulate 3 dimensional real or virtual objects under computer control. Typical commercial computer input devices such as the computer mouse and track ball have two degrees of freedom.
There are several different manipulation schemes available upon 20 which currently known 6-DOF input devices are based. The majority of these manipulation schemes can be classified as either isotonic or isometric, or some combination of these. The word isotonic literally means "equal tension" and in relation to muscle contractions the word is defined by Webster's Ninth New Collegiate Dictionary as: "relating to, or being muscular contraction in the absence of siynifica"l resistance, with marked shortening of muscle fibres, and without great increase in muscle tone". In relation to the classification of control devices the word isotonic refers to the general case in which the forces or torques opposing any control input are constant. This general case therefore 5 includes the case of negligible or essentially zero opposing forces, as is the case when a transducer is used to sense the free movement of a user's limb.
The word isometric literally means "equal measure" and in relation to muscle contractions the word is defined by Webster's Ninth New Collegiate Dictionary as: "of, relating to, or being muscular contraction against resistance, 10 without significant shortening of muscle fibres and with marked increase in muscle tone". In relation to the classification of control devices the word isometric refers to devices which sense forces and torques exerted upon them without exhibiting significant translational or rotational displacements.
Isotonic 6 DOF input devices include the Ascension BirdTM, the 15 LogitechTM 6 D mouse, the Flying MouseTM and the PolhemusM . In all such devices the user holds a control handle (or wears a glove) and moves his/her hand without support. These devices usually utilize position control mapping (pure gain control) in which the user's hand motion is sensed and proportionally mapped to the position and orientation of a selected 3D object on a computer 20 screen. A major drawback to the isotonic position mode is its comparatively large operating volume and resultant fatiguing which occurs from a user moving his/her arm about unsupported. An inherent limitation of these isotonic position control devices relates to the restricted operational range of translational motion due to limited arm length and limited rotational movement due to limited rotation of the hand and arm. In the case of glove type 6 DOF input devices this limitation is overcome by adduction wherein the user continuously clutches (closes) and declutches (opens) their hand. When the hand is opened the manipulated object typically remains fixed and while closed it follows the hand 5 movement. The position of the user's hand is sensed relative to a starting position at which point the hand starts to close (adduction) and the distance travelled is determined and mapped onto the virtual 3D object. This is not a completely satisfactory solution since it requires potentially fatiguing translational and rotational movement of the user's hand.
Another isotonic input control device is the immersion PROBETM
(produced by Immersion Human Interface Corporation, P.O., Box 8669, Palo Alto, CA) comprising a stylus mounted on the end of a series of mechanical linkages. This device works in the position control mode wherein the manipulated 3D object moves in proportion to the movement of the stylus. While 15 the mechanical linkage system provides support to the stylus, a loose series of linkages to give a nearly free moving stylus does not adequately support the user's hand so that fatiguing still occurs while too tight a series of linkages requires greater effort to move the stylus also leading to fatiguing.
The second class of 6 DOF input controllers are isometric devices.
20 Known controllers based on this principle include the SpaceballTM (US Patent No. 4,811,608). Another device based on this principle is the Space Control Mouse made by DFL in Germany. Isometric devices are generally used in the rate control mode so that the force and torque applied to a control handle is converted to a velocity of the virtual or real 3D object. A major drawback to this type of controller is that the user's hand operates in a substantially stationary posture which limits the amount of somatosensory feedback experienced by the user, as will be more fully discussed below.
Another control device, which is neither isotonic nor isometric, is 5 the CAE 6 DOF hand controller having a control grip mounted on an elastic mounting base. A drawback to this device is that a user's control movement is prone to being limited by the mounting base.
Investigations of target acquisition performance, for example, have demonstrated that isotonic position control and isometric rate control have 10 certain advantages over isotonic rate control and isometric position control. One reason isotonic position control gives better results is because it uses movements similar to those used routinely by the user, namely free limb movement. However, as mentioned above a drawback to the isotonic position mode is the requirement of a large operating volume and resultant fatiguing 15 which occurs from a user moving his/her arm about unsupported.
Superior performance with isotonic position and isometric rate over the other schemes is related to compatibility and control "feel". High compatibility is achieved when certain properties of a particular sensing mode (e.g. isometric) match certain modes of transfer function (e.g. rate control). For 20 example, the self-centring property of isometric devices facilitates rate control, which may require reversed actions for stable execution of certain repositioning and reorientation tasks.
The "feel" of a controller is related to proprioceptive feedback.
Neurophysiological research has shown that humans are equipped with at least ' 21 84038 four distinctive types of somatosensory receptors which form the proprioceptive sensory feedback system and include joint receptors, Golgi tendon organs, muscle spindles and cutaneous receptors. Each type of receptor is responsible for detecting specific stimuli and inputting the information to the central nervous 5 system with the latter integrating the various types of input.
A drawback to the known 6 DOF input devices discussed above is that none make full, simultaneous use of all available somatosensory receptors. For example, during use of an isometric controller such as the Sp~ceb~ll the joint angles in a user's arm are usually stationary so that generally 10 only the force sensitive Golgi tendon organs and cutaneous receptors on the finger tips are utilized.
Accordingly, it would be advantageous to provide a 6-DOF control device which more fully utilizes the human somatic information feedback system and which does not result in rapid fatiguing.
SUMMARY OF THE INVENTION
The present invention provides a six degree-of-freedom control device which more fully utilizes the somatosensory feedback system receptors.
In one aspect the present invention provides a six degree-of-20 freedom control device for controlling movement of a real or virtual object. Thedevice comprises a member adapted to be moved by a user, a support means operably coupled to the member for supporting the member in a rest position, the member being translationally and rotationally movable from the rest position in suL.slanlially any direction. The support means includes restoring force means 21 ~4038 for developing a restoring force when said member is moved from said rest position to urge the member back to the rest position. The device is provided with a sensor means for sensing the position and orientation of said member with respect to said rest position. A processor means is connected to the sensor 5 means for processing the sensed position and orientation of said member to provide information for controlling the motion of a real or virtual object being manipulated by the control device. The control device can be operated in a mode selected from the group consisli,lg of velocity control mode, a combination of position and velocity control mode, and higher order control modes.
In another aspect of the invention there is provided a hand operated six degree-of-freedom control device for controlling movement of a real or virtual object. The device comprises a hand grip member and a support means operably coupled to the hand grip member for supporting the hand grip member in a rest position. The hand grip member is translationally and 15 rotationally movable from the rest position in substantially any direction. The support means includes restoring force means for developing a restoring force when said member is moved from the rest position to urge the member back to the rest position. The control device is provided with a sensor means for sensing the position and orientation of the hand grip member and a processor means 20 connected to the sensor means for processing the sensed position and orientation of the hand grip member to provide information for controlling the motion of a real or virtual object being manipulated by the control device. The control device may be operated in a mode selected from the group consisting of velocity control mode, a combination of position and velocity control mode, and higher order control modes.
In another aspect of the invention there is provided a method of supporting a hand grip member in a six degree-of-freedom controller. The method comprises supporting the hand grip member in a rest position under compliant tension so that it can be translationally and rotationally moved in any direction away from the rest position whereupon the hand grip member is urged back to the rest position.
BRIEF DESCRIPTION OF THE DRAWINGS
The 6 DOF control device forming the present invention will now be described, by way of exa",p'e only, rererence being had to the accompanying drawings, in which:
Figure 1 is a perspective view of a 6 DOF control device constructed in accordance with the present invention;
Figure 2(a) is a perspective view of the control device of Figure 1 being moved translationally by a user;
Figure 2(b) is a perspective view similar to Figure 2(a) but with the controller undergoing rotational movement;
Figure 3 is a view along arrow 3 of Figure 1;
Figure 4 is a view along arrow 4 of Figure 1;
Figure 5 is a perspective view of another embodiment of a 6 DOF
controller constructed in accordance with the present invention;
Figure 6 is partial sectional view, broken away, of a tensioning device forming part of the present control device;
.
Figure 7 is a perspective view of a 6 DOF controller of the present invention including an acoustic position sensor mounted thereon;
Figure 8 is a perspective view of a 6 DOF controller including a mechanical position sensor coupled thereto;
Figure 9 is a diagra,ll",alic representation of a human-machine interactive system using the present 6 DOF controller as the input controller;
and Figure 10 is a partial sectional view of an alternate embodiment of a connector member showing the connector of Figure 6 modified to include a damping member in parallel with part of the connector.
DETAILED DESCRIPTION OF THE INVENTION
Referring first to Figures 1 and 2 there is shown generally at 20 a six degree-of-freedom (DOF) control device embodying the present invention.
Cont,oller 20 includes a manipulator 22 which is shaped and dimensioned to be readily gripped by either the fingers or palm and fingers of a user's hand.
Manipulator 22 is adapted to be operated by a user's appendage preferably the hand so that manipulator 22 is a hand grip member. Manipulator 22 as shown is ellipsoidal in shape but it will be appreciated by those skilled in the art that it may be of any shape as long as it is adapted to be col~rol lably gripped by auser. Manipulator 22 is provided with a rubbery outer coating designed to improve the user's grip in order to prevent slipping of the fingers during movement of the manipulator. This tacky outer surface permits manipulator 22 to be moved with less force than would be required for a manipulator with a smooth slippery outer surface and in addition it enhances cutaneous haptic fee~h~ck.
Manipulator 22 is supported within a support means comprising a frame 24 and connectors 26. Manipulator 22 is supported under compliant 5 tension which means the manipulator can be moved both rotationally and l,anslalionally with respect to the rest position. Connectors 26 are each attached at one end thereof to manipulator 22 and at the other end to frame 24. Frame 24 is shaped and dimensioned to provide ready access to a users hand for gripping manipulator 22 and to allow for both translational and rotational 10 movement of the manipulator within the frame as shown in Figures ~(a) and (b).
Connectors 26 must satisfy two functional requirements the first being to facilitate rotational and translational movement of manipulator 22 and the second being to return the manipulator to the null or rest position upon releaseof tension thereby providing a self-centring function. Release of tension refers15 to a user allowing manipulator to return to the rest position under user control not necessarily physically releasing the manipulator. Connectors 26 are therefore preferably elastic in nature so that they may be stretched and twistedthereby satisfying these two requirements. The preferred manipulator support is refe"ed to herein as an elastic support which means that manipulator 22 may 20 be moved translationally or rotationally in any direction and doing so builds up a reslori"g force which acts to promptly urge manipulator 22 to the null position when it is released. In the null or rest position manipulator 22 is in a predetermined spatial position and orientation. Figure 1 illustrates controller 20 in the null position and connectors 26 provide sufficient tension to hold manipulator 22 firmly in this position. Figures 3 and 4 illustrate top and front view of connectors 26 connecting frame 24 and manipulator 22.
It will be appreciated that frame 24 may take on a plurality of shapes with the prime design considerations being that a user be able to 5 comfortably grip manipulator 22 without undue stress on his/her arm and wrist and that connectors 26 are spaced apart sufficiently so as not to interfere with the fingers.
In one embodiment the manipulator may be spherical with the connectors symmetrically disposed about the manipulator to provide a 10 subslar,lially uniform compliance in all directions for both rotational and l,dnslalional movements and re~ ri,)g forces urging the manipulator back to the null position. However, it is not essential that the compliance and developed restoring forces be symmetric. The structure of controller 20 has several axes of symmetry and manipulator 22 may be more easily rotated about the vertical 15 major axis of the ellipsoid than about the minor axis. The elastic connectors 26 need not necessarily be disposed symmetrically about manipulator 22.
The present controller with the elastic support operates between the extrema of isometric and isotonic sensing modes. The relative contribution of isometric to isotonic operation of the device may be governed by the tension 20 on connectors 26. As the tension on connectors 26 is increased, the operation of the controller shifts further towards the isometric sensing mode since it becomes more difficult to move manipulator 22. Therefore, by adjusting the tension on connectors 26, the controller may be customized to the particular task at hand.
Figure 5 illustrates a controller 30 wherein each connector 26 is attached to a tensioning device 32 which in turn is attached to frame 24.
Tensioning device 32 includes a bobbin 34 which when rotated increases or decreases tension on connector 26, depending on direction of rotation.
5 Adjusting tensioning device 32 serves to fit the specific task and individual preference.
Connectors 26 may be fabricated of various materials including elaslorileric materials or springs. Figure 6 illustrates a connector 40 comprising a cable portion 42 having a spring 44 attached at one end thereof. Attached to spring 44 is a tensioning device 46 including a threaded shaft 48 and two nuts 50 threaded onto shaft 48, with a nut located on each side of frame 24. The null position of manipulator 22 relative to frame 24 is set by adjusting the tension on cable 42 by increasing or decreasing the length of spring 44 using nuts 50.
Connectors 26 may include a damping or viscous resistance element in parallel with the elastic connector portion. Referring to Figure 10 there is shown at 110 a connector similar to that shown in Figure 6 including a diagrammatic representation of a viscous resistance element 112 connected in parallel with spring 44.
While the controller as described herein is specifically adapted to 20 be manipulated by a user's hand, those skilled in the art will appreciate that the controller may be adapted to be used by other appendages of the user such as his or her foot.
The controller of the present invention distinguishes over previous controllers in that the manipulator is suspended and elastically supported to 21 84û38 permit both rotational and translational movement while many currently available controllers are either free moving or mounted on a base. The base mounted controllers are restricted from being moved translationally away from the base and cannot ul ,deryo rotational movement in all directions about the centre of the 5 manipulator.
As discussed above, the sensing mode of the elastic input controller of the present invention resides part way between the extremum of isotonic operation and the extremum of isometric operation with the result that the self-centring elastically mounted manipulator 22 more fully utilizes the user's 10 somatosensory feedback system. In other words movement by a user's hand excites all known types of proprioceptors in the limb including the Golgi tendon organs, the cutaneous receptors, the joint receptors and the muscle spindles thereby producing a superior control "feel" and hence user performance. This results in a significant advantage of the present controller over previous 15 controllers. Another advantage relates to the fact that manipulator 22 may be operated solely by a user's fingers which have a higher dexterity than a user's palm thereby more fully utilizing the somatosensory information from the fingers.
Further, since the range of translational movement is confined to the interior of frame 24, the user's arm may be partially supported on the elbow which in turn 20 can be supported by a height adjustable elbow rest thereby considerably reducing fatiguing. The frame is preferably rigidly fixed and the user may adjust the arm or elbow rest to find the most comfortable position.
In addition, the self~enl, i"g function of the compliant manipulator support to return manipulator 22 to the null position facilitates operation of the device in the rate control mode. In rate control mode, repositioning and/or orienl~tion of the real or virtual 3D object requires reversed actions. In order to make an object stop at a certain position the input must return to zero. In the rate control mode the information input to the computer is converted to a velocity 5 of the 3D object. A major advantage of rate control mode therefore is that the object may be moved in an unlimited range, both translationally and rotationally, without the restriction of the hand limit.
Various sensor schemes are commercially available for sensing the position and orientation of manipulator 22. In general, a field sensor may be 10 mounted on the back exterior surface of manipulator 22 or alternatively the sensor may be located in the interior of manipulator 22 and a transmitter placed in prc"~i",ily to the marip~ tcr. The transmitter emits a signal which is detected by the sensor and the position and orientation of the sensor and hence manipulator 22 are determined and inputed to the control program to be 15 transformed into movement of the 3D object.
One field sensing device which may be used in the 6 DOF control device of the present invention is based on a magnetic detection system. This system comprises a receiver with several anlennas which detect signals emitted by a transmitter and inputs the calculated position and orientation to the host 20 computer. The above mentioned Polhemus sensor utilizes an AC magnetic field while the Ascension Bird utilizes a pulsed DC magnetic field. Those skilled in the art will readily u"dersland how such sensor systems may be adapted for the present device. When the 6 DOF controller of the present invention uses magnetic detection the receiver is preferably mounted on the interior of manipulator 22 and the transmitter located in proximity to the controller support frame 24. A further advantage of the control device of the present invention is that because manipulator 22 is confined to movement within frame 24, there is no need for expensive long range transmitter technology as is required with for example glove devices. The transmitter may be mounted on the frame or in close proximity thereto and as a consequence more economical transmitter equipment may be used.
Another position and orientation sensing device which may be used with controller 20 is an acoustic system such as the LogitechTM 6D sensor sold by Logitech Inc. Fremont CA. Referring to Figure 7, ultrasonic pulses are emitted by a generally triangular array of ultrasonic sources 70 and the pulses are detected by 3 miniature microphones 72 mounted on exterior surface of the rear side of manipulator 22 away from the user's hand. It will be appreciated bythose skilled in the art that while ultrasonic systems are prone to line-of-sight occlusion they may still be advantageously employed with the 6 DOF input control device of the present invention by careful positioning of sources 70 andmicrophones 72 as shown in Figure 7.
Figure 8 illustrates a mechanical sensing means shown generally at 80 cor,lprising a plurality of rigid mechanical linkages 82 connected betweenmanip~ or 22 and a base 84. The ends of acljacenl linkages 82 are connected to joints 86 which include potentiometers which give an output signal related tothe location and orientation of the linkages. The various signals are processed to give the translational and rotational position of manipulator 22.
The information generated by the present 6 DOF control device is processed using any one of several known methods to map the 6 DOF
in~o",)alion to the motion of the physical or virtual object 3D being manipulated by the control device. Figure 9 illustrates a typical configuration including controller 90 in which manipulator 22 is wired to an electronic unit 92 which 5 calculates the position and orientation of manipulator 22 with respect to the transmitter. The output of unit 92 is inputed into computer 96 which translates the position of manipulator 22 into a position and/or velocity for the real or virtual 3D object being controlled by controller 90. Typically the controller of the present invention is used in rate or velocity control mode but in special circumstances 10 may be used in a combination of position and rate modes, or even higher derivatives including for example acceleration and angular velocity to mention a few. The control software used in such systems typically employs techniques such as non-linear gain, filtering and thresholding as will be known to those skilled in the art. The computer software can be used to adjust the control gains 15 and other parameters on each degree-of-freedom according to the physical structure of the manipulator device so that the user has a "harmonized" control feel.
The results of studies comparing the present 6-DOF controller which more fully utilizes the somatosensory feedback system with known 20 isometric rate controllers reveal that subjects learn faster in using the elastically supported manipulator and fatiguing is considerably reduced.
While the 6 DOF control device forming the present invention has been described and illustrated with respect to the various embodiments disclosed herein, it will be appreciated by those skilled in the art that numerous variations of these er"bodi",ents may be made without departing from the scope of the invention.
Figure 7 is a perspective view of a 6 DOF controller of the present invention including an acoustic position sensor mounted thereon;
Figure 8 is a perspective view of a 6 DOF controller including a mechanical position sensor coupled thereto;
Figure 9 is a diagra,ll",alic representation of a human-machine interactive system using the present 6 DOF controller as the input controller;
and Figure 10 is a partial sectional view of an alternate embodiment of a connector member showing the connector of Figure 6 modified to include a damping member in parallel with part of the connector.
DETAILED DESCRIPTION OF THE INVENTION
Referring first to Figures 1 and 2 there is shown generally at 20 a six degree-of-freedom (DOF) control device embodying the present invention.
Cont,oller 20 includes a manipulator 22 which is shaped and dimensioned to be readily gripped by either the fingers or palm and fingers of a user's hand.
Manipulator 22 is adapted to be operated by a user's appendage preferably the hand so that manipulator 22 is a hand grip member. Manipulator 22 as shown is ellipsoidal in shape but it will be appreciated by those skilled in the art that it may be of any shape as long as it is adapted to be col~rol lably gripped by auser. Manipulator 22 is provided with a rubbery outer coating designed to improve the user's grip in order to prevent slipping of the fingers during movement of the manipulator. This tacky outer surface permits manipulator 22 to be moved with less force than would be required for a manipulator with a smooth slippery outer surface and in addition it enhances cutaneous haptic fee~h~ck.
Manipulator 22 is supported within a support means comprising a frame 24 and connectors 26. Manipulator 22 is supported under compliant 5 tension which means the manipulator can be moved both rotationally and l,anslalionally with respect to the rest position. Connectors 26 are each attached at one end thereof to manipulator 22 and at the other end to frame 24. Frame 24 is shaped and dimensioned to provide ready access to a users hand for gripping manipulator 22 and to allow for both translational and rotational 10 movement of the manipulator within the frame as shown in Figures ~(a) and (b).
Connectors 26 must satisfy two functional requirements the first being to facilitate rotational and translational movement of manipulator 22 and the second being to return the manipulator to the null or rest position upon releaseof tension thereby providing a self-centring function. Release of tension refers15 to a user allowing manipulator to return to the rest position under user control not necessarily physically releasing the manipulator. Connectors 26 are therefore preferably elastic in nature so that they may be stretched and twistedthereby satisfying these two requirements. The preferred manipulator support is refe"ed to herein as an elastic support which means that manipulator 22 may 20 be moved translationally or rotationally in any direction and doing so builds up a reslori"g force which acts to promptly urge manipulator 22 to the null position when it is released. In the null or rest position manipulator 22 is in a predetermined spatial position and orientation. Figure 1 illustrates controller 20 in the null position and connectors 26 provide sufficient tension to hold manipulator 22 firmly in this position. Figures 3 and 4 illustrate top and front view of connectors 26 connecting frame 24 and manipulator 22.
It will be appreciated that frame 24 may take on a plurality of shapes with the prime design considerations being that a user be able to 5 comfortably grip manipulator 22 without undue stress on his/her arm and wrist and that connectors 26 are spaced apart sufficiently so as not to interfere with the fingers.
In one embodiment the manipulator may be spherical with the connectors symmetrically disposed about the manipulator to provide a 10 subslar,lially uniform compliance in all directions for both rotational and l,dnslalional movements and re~ ri,)g forces urging the manipulator back to the null position. However, it is not essential that the compliance and developed restoring forces be symmetric. The structure of controller 20 has several axes of symmetry and manipulator 22 may be more easily rotated about the vertical 15 major axis of the ellipsoid than about the minor axis. The elastic connectors 26 need not necessarily be disposed symmetrically about manipulator 22.
The present controller with the elastic support operates between the extrema of isometric and isotonic sensing modes. The relative contribution of isometric to isotonic operation of the device may be governed by the tension 20 on connectors 26. As the tension on connectors 26 is increased, the operation of the controller shifts further towards the isometric sensing mode since it becomes more difficult to move manipulator 22. Therefore, by adjusting the tension on connectors 26, the controller may be customized to the particular task at hand.
Figure 5 illustrates a controller 30 wherein each connector 26 is attached to a tensioning device 32 which in turn is attached to frame 24.
Tensioning device 32 includes a bobbin 34 which when rotated increases or decreases tension on connector 26, depending on direction of rotation.
5 Adjusting tensioning device 32 serves to fit the specific task and individual preference.
Connectors 26 may be fabricated of various materials including elaslorileric materials or springs. Figure 6 illustrates a connector 40 comprising a cable portion 42 having a spring 44 attached at one end thereof. Attached to spring 44 is a tensioning device 46 including a threaded shaft 48 and two nuts 50 threaded onto shaft 48, with a nut located on each side of frame 24. The null position of manipulator 22 relative to frame 24 is set by adjusting the tension on cable 42 by increasing or decreasing the length of spring 44 using nuts 50.
Connectors 26 may include a damping or viscous resistance element in parallel with the elastic connector portion. Referring to Figure 10 there is shown at 110 a connector similar to that shown in Figure 6 including a diagrammatic representation of a viscous resistance element 112 connected in parallel with spring 44.
While the controller as described herein is specifically adapted to 20 be manipulated by a user's hand, those skilled in the art will appreciate that the controller may be adapted to be used by other appendages of the user such as his or her foot.
The controller of the present invention distinguishes over previous controllers in that the manipulator is suspended and elastically supported to 21 84û38 permit both rotational and translational movement while many currently available controllers are either free moving or mounted on a base. The base mounted controllers are restricted from being moved translationally away from the base and cannot ul ,deryo rotational movement in all directions about the centre of the 5 manipulator.
As discussed above, the sensing mode of the elastic input controller of the present invention resides part way between the extremum of isotonic operation and the extremum of isometric operation with the result that the self-centring elastically mounted manipulator 22 more fully utilizes the user's 10 somatosensory feedback system. In other words movement by a user's hand excites all known types of proprioceptors in the limb including the Golgi tendon organs, the cutaneous receptors, the joint receptors and the muscle spindles thereby producing a superior control "feel" and hence user performance. This results in a significant advantage of the present controller over previous 15 controllers. Another advantage relates to the fact that manipulator 22 may be operated solely by a user's fingers which have a higher dexterity than a user's palm thereby more fully utilizing the somatosensory information from the fingers.
Further, since the range of translational movement is confined to the interior of frame 24, the user's arm may be partially supported on the elbow which in turn 20 can be supported by a height adjustable elbow rest thereby considerably reducing fatiguing. The frame is preferably rigidly fixed and the user may adjust the arm or elbow rest to find the most comfortable position.
In addition, the self~enl, i"g function of the compliant manipulator support to return manipulator 22 to the null position facilitates operation of the device in the rate control mode. In rate control mode, repositioning and/or orienl~tion of the real or virtual 3D object requires reversed actions. In order to make an object stop at a certain position the input must return to zero. In the rate control mode the information input to the computer is converted to a velocity 5 of the 3D object. A major advantage of rate control mode therefore is that the object may be moved in an unlimited range, both translationally and rotationally, without the restriction of the hand limit.
Various sensor schemes are commercially available for sensing the position and orientation of manipulator 22. In general, a field sensor may be 10 mounted on the back exterior surface of manipulator 22 or alternatively the sensor may be located in the interior of manipulator 22 and a transmitter placed in prc"~i",ily to the marip~ tcr. The transmitter emits a signal which is detected by the sensor and the position and orientation of the sensor and hence manipulator 22 are determined and inputed to the control program to be 15 transformed into movement of the 3D object.
One field sensing device which may be used in the 6 DOF control device of the present invention is based on a magnetic detection system. This system comprises a receiver with several anlennas which detect signals emitted by a transmitter and inputs the calculated position and orientation to the host 20 computer. The above mentioned Polhemus sensor utilizes an AC magnetic field while the Ascension Bird utilizes a pulsed DC magnetic field. Those skilled in the art will readily u"dersland how such sensor systems may be adapted for the present device. When the 6 DOF controller of the present invention uses magnetic detection the receiver is preferably mounted on the interior of manipulator 22 and the transmitter located in proximity to the controller support frame 24. A further advantage of the control device of the present invention is that because manipulator 22 is confined to movement within frame 24, there is no need for expensive long range transmitter technology as is required with for example glove devices. The transmitter may be mounted on the frame or in close proximity thereto and as a consequence more economical transmitter equipment may be used.
Another position and orientation sensing device which may be used with controller 20 is an acoustic system such as the LogitechTM 6D sensor sold by Logitech Inc. Fremont CA. Referring to Figure 7, ultrasonic pulses are emitted by a generally triangular array of ultrasonic sources 70 and the pulses are detected by 3 miniature microphones 72 mounted on exterior surface of the rear side of manipulator 22 away from the user's hand. It will be appreciated bythose skilled in the art that while ultrasonic systems are prone to line-of-sight occlusion they may still be advantageously employed with the 6 DOF input control device of the present invention by careful positioning of sources 70 andmicrophones 72 as shown in Figure 7.
Figure 8 illustrates a mechanical sensing means shown generally at 80 cor,lprising a plurality of rigid mechanical linkages 82 connected betweenmanip~ or 22 and a base 84. The ends of acljacenl linkages 82 are connected to joints 86 which include potentiometers which give an output signal related tothe location and orientation of the linkages. The various signals are processed to give the translational and rotational position of manipulator 22.
The information generated by the present 6 DOF control device is processed using any one of several known methods to map the 6 DOF
in~o",)alion to the motion of the physical or virtual object 3D being manipulated by the control device. Figure 9 illustrates a typical configuration including controller 90 in which manipulator 22 is wired to an electronic unit 92 which 5 calculates the position and orientation of manipulator 22 with respect to the transmitter. The output of unit 92 is inputed into computer 96 which translates the position of manipulator 22 into a position and/or velocity for the real or virtual 3D object being controlled by controller 90. Typically the controller of the present invention is used in rate or velocity control mode but in special circumstances 10 may be used in a combination of position and rate modes, or even higher derivatives including for example acceleration and angular velocity to mention a few. The control software used in such systems typically employs techniques such as non-linear gain, filtering and thresholding as will be known to those skilled in the art. The computer software can be used to adjust the control gains 15 and other parameters on each degree-of-freedom according to the physical structure of the manipulator device so that the user has a "harmonized" control feel.
The results of studies comparing the present 6-DOF controller which more fully utilizes the somatosensory feedback system with known 20 isometric rate controllers reveal that subjects learn faster in using the elastically supported manipulator and fatiguing is considerably reduced.
While the 6 DOF control device forming the present invention has been described and illustrated with respect to the various embodiments disclosed herein, it will be appreciated by those skilled in the art that numerous variations of these er"bodi",ents may be made without departing from the scope of the invention.
Claims (27)
1. A six degree-of-freedom control device for controlling movement of a real or virtual object, comprising:
a) a member adapted to be moved by a user;
b) support means operably coupled to the member for supporting the member in a rest position, the member being translationally and rotationally movable from the rest position in substantially any direction, the support means including restoring force means for developing a restoring force when said member is moved from said rest position to urge the member back to the rest position;
c) sensor means for sensing the position and orientation of said member with respect to said rest position; and d) processor means connected to said sensor means for processing the sensed position and orientation of said member to provide information for controlling the motion of a real or virtual object being manipulated by the control device, the control device operating in a mode selected from the group consisting of velocity control mode, a combination of position and velocity control mode, and higher order control modes.
a) a member adapted to be moved by a user;
b) support means operably coupled to the member for supporting the member in a rest position, the member being translationally and rotationally movable from the rest position in substantially any direction, the support means including restoring force means for developing a restoring force when said member is moved from said rest position to urge the member back to the rest position;
c) sensor means for sensing the position and orientation of said member with respect to said rest position; and d) processor means connected to said sensor means for processing the sensed position and orientation of said member to provide information for controlling the motion of a real or virtual object being manipulated by the control device, the control device operating in a mode selected from the group consisting of velocity control mode, a combination of position and velocity control mode, and higher order control modes.
2. A control device according to claim 1 wherein said support means includes a rigid frame and a plurality of a connector members interconnected between said member and said rigid frame.
3. A control device according to claim 2 wherein said connector members are springs.
4. A control device according to claim 2 wherein said connector members are fabricated of an elastomer material.
5. A control device according to claim 3 wherein said connector members include means for adjusting the tension on said connector members.
6. A control device according to claim 4 wherein said connector members include means for adjusting the tension on said connector members.
7. A control device according to claim 5 including damping means connected in parallel with at least one of said connector members.
8. A control device according to claim 6 including damping means connected in parallel with at least one of said connector members.
9. A control device according to claim 2 wherein said plurality of connector members are substantially symmetrically disposed about said member.
10. A control device according to claim 2 wherein said plurality of connector members are asymmetrically disposed about said member.
11. A control device according to claim 1 wherein said support means includes a rigid frame and a plurality of a connector members interconnected between said member and said rigid frame, at least some of said connector members including a biasing member arranged in parallel with a damping means.
12. A control device according to claim 11 wherein said biasing member is selected from the class consisting of springs and elastomer attachments.
13. A hand operated six degree-of-freedom control device for controlling movement of a real or virtual object, comprising:
a) a hand grip member;
b) support means operably coupled to the hand grip member for supporting the hand grip member in a rest position, the hand grip member being translationally and rotationally movable from the rest position in substantially any direction, the support means including restoring force means for developing a restoring force when said member is moved from said rest position to urge the member back to the rest position;
c) sensor means for sensing the position and orientation of the hand grip member; and d) processor means connected to said sensor means for processing the sensed position and orientation of said hand grip member to provide information for controlling the motion of a real or virtual object being manipulated by the control device, the control device operating in a mode selected from the group consisting of velocity control mode, a combination of position and velocity control mode, and higher order control modes.
a) a hand grip member;
b) support means operably coupled to the hand grip member for supporting the hand grip member in a rest position, the hand grip member being translationally and rotationally movable from the rest position in substantially any direction, the support means including restoring force means for developing a restoring force when said member is moved from said rest position to urge the member back to the rest position;
c) sensor means for sensing the position and orientation of the hand grip member; and d) processor means connected to said sensor means for processing the sensed position and orientation of said hand grip member to provide information for controlling the motion of a real or virtual object being manipulated by the control device, the control device operating in a mode selected from the group consisting of velocity control mode, a combination of position and velocity control mode, and higher order control modes.
14. A control device according to claim 13 wherein said support means includes a rigid frame and a plurality of a connector members interconnected between said hand grip member and said rigid frame.
15. A control device according to claim 14 wherein said connector members are springs.
16. A control device according to claim 14 wherein said connector members are fabricated of an elastomer material.
17. A control device according to claim 15 wherein said connector members include means for adjusting the tension on said connector members.
18. A control device according to claim 16 wherein said connector members include means for adjusting the tension on said connector members.
19. A control device according to claim 14 wherein said plurality of connector members are substantially symmetrically disposed about said hand grip member.
20. A control device according to claim 14 wherein said plurality of connector members are asymmetrically disposed about said hand grip member.
21. A control device according to claim 13 wherein said support means includes a rigid frame and a plurality of a connector members interconnected between said hand grip member and said rigid frame, at least some of said connector members including a biasing member connected to a damping means.
22. A control device according to claim 21 wherein said biasing member is selected from the class consisting of springs and elastomer attachments.
23. An input control device according to claim 13 wherein said means for sensing the position and orientation of the hand grip member includes transmitter means spaced from said hand grip member, and receiver means attached to said hand grip member for receiving a signal transmitted by said transmitter means.
24. A method of supporting a hand actuated hand grip member in a six degree-of-freedom control device, the method comprising:
supporting the hand grip member in a rest position under compliant tension so that it can be translationally and rotationally moved in any direction away from the rest position whereupon the hand grip member is urged back to the rest position.
supporting the hand grip member in a rest position under compliant tension so that it can be translationally and rotationally moved in any direction away from the rest position whereupon the hand grip member is urged back to the rest position.
25. A method according to claim 24 wherein said compliant tension is provided by elastically supporting the hand grip member.
26. The device according to claim 1 wherein said member has an ellipsoidal shape.
27. The device according to claim 13 wherein said handgrip member has an ellipsoidal shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002184038A CA2184038A1 (en) | 1996-08-23 | 1996-08-23 | 6 degree of freedom control device for human-machine interface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002184038A CA2184038A1 (en) | 1996-08-23 | 1996-08-23 | 6 degree of freedom control device for human-machine interface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2184038A1 true CA2184038A1 (en) | 1998-02-24 |
Family
ID=4158788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002184038A Abandoned CA2184038A1 (en) | 1996-08-23 | 1996-08-23 | 6 degree of freedom control device for human-machine interface |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2184038A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773773A (en) * | 2017-11-10 | 2019-05-21 | 广州中国科学院先进技术研究所 | A kind of master-slave control device, the system and method for novel six freedom parallel connection platform |
-
1996
- 1996-08-23 CA CA002184038A patent/CA2184038A1/en not_active Abandoned
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773773A (en) * | 2017-11-10 | 2019-05-21 | 广州中国科学院先进技术研究所 | A kind of master-slave control device, the system and method for novel six freedom parallel connection platform |
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