DE102015113440A1 - Control lever for an input device for controlling an actuator, input device and method for operating an input device - Google Patents

Abstract

The invention relates to operating levers (100, 200, 300, 400) for an input device for controlling an actuator, which has a handle with an upper gripping area (103, 303) and a lower gripping area (104, 304). The operating lever (100, 200, 300, 400) is configured such that an upper actuating force applied to the upper gripping area (103, 303) and a lower actuating force applied to the lower gripping area (104, 304) can be detected independently of each other. Furthermore, the invention relates to an input device with an operating lever (100, 200, 300, 400) and a method for operating an input device, wherein in carrying out the method in a first step on the upper gripping area (103, 303) applied upper actuating force and a lower actuating force applied to the lower gripping area (104, 304) is detected, and in a further step a control signal for controlling an actuator which can be coupled to the input device is generated as a function of the detected actuating forces.

Description

The invention relates to an operating lever for an input device for controlling an actuator, in particular for a joystick, wherein the operating lever has a handle with an upper gripping area and a lower gripping area.

Furthermore, the invention relates to an input device for controlling an actuator, in particular for controlling an actuator of a vehicle, wherein the input device has an input device base and as an operating element at least one coupled to the input devices base operating lever.

Furthermore, the invention relates to a method for operating an input device for controlling an actuator, wherein the input device comprises an operating lever having a handle with an upper gripping area and a lower gripping area, wherein at least one of an operator in a first operating direction applied to the upper gripping area upper actuating force and at least one applied in the first operating direction on the lower gripping area lower actuating force can be detected independently, in particular for the operation of a prescribed input device.

Generic input devices, especially in the form of joysticks are well known in the art, for example from the WO 03/088204 A1 , of the CA 2,293,991 A1 or the US 2004/0008181 A1 ,

The input devices known from the prior art usually require a lot of practice or good, fine motor skills already in stationary use for precise control of an actuator coupled to the input device, since in many of these input devices even the slightest actuation movements lead to strong signal fluctuations in the control signal Activation of the actuator lead and thus to clearly noticeable actuator reactions. When such input devices are used in a moving environment, the fine motor skills required for precise control of an actuator coupled to the input device are even higher to avoid or compensate for undesired operator inputs due to the agitated environment due to acceleration effects.

Especially for use in disabled vehicles, in which usually such control lever for controlling the vehicle or for controlling vehicle components are used, such as to control the steering system, this poses a major challenge, since just physically disabled people often due to their disability or no longer have the required to operate such a control lever good fine motor skills, but due to their disability need such a control lever, as they can not operate other controls due to their disability in the rule.

An object of the present invention is therefore to provide an alternative control lever, in particular an improved control lever, with which a simple, yet precise control of an actuator is possible and which is particularly suitable for use in disabled vehicles, and also the provision of an alternative, in particular an improved input device and an alternative, in particular improved method for operating a prescribed input device.

This object is achieved by an operating lever according to the invention with the features of claim 1, by an inventive input device with the features of claim 8 and by a method having the features of claim 13. Advantageous and preferred embodiments of the invention are the subject of the further claims, the description and the drawings and are explained in more detail below. The wording of the claims is incorporated herein by express reference.

An operating lever according to the invention is characterized in that the operating lever is designed in such a way that at least one upper operating force applied by the operator in a first actuating direction to the upper gripping area and at least one lower actuating force applied to the lower gripping area preferably also in the first actuating direction can be detected by each other.

By dividing the operating lever, in particular of the handle, into an upper gripping area and a lower gripping area and independently detecting an actuating force applied to the upper gripping area and an actuating force applied to the lower gripping area, both of which are used to determine a control signal for driving an actuator can, with a significantly increased recognition quality unwanted operator inputs, which are caused by external interference, can be distinguished from actual operating inputs with small amplitudes. As a result, it is no longer necessary to avoid unwanted operator input, to filter out small operator input values, resulting in imprecise ones Control leads. Thus, with a control lever according to the invention a significantly improved control quality can be achieved, in particular a much greater precision, without an operator having to further develop his fine motor skills.

Due to the significantly improved quality of detection of unwanted operator inputs, an inventive control lever is particularly suitable for use in vehicles for the disabled, since it is often due to disturbances from the outside to undesirable operator inputs especially in physically disabled people due to their often reduced muscle tone.

In an advantageous embodiment of an operating lever according to the invention the operating lever is not only designed to detect the actuating forces in a first actuating direction, but preferably such that additionally applied by an operator in a second and / or further actuating direction on the upper gripping area second and / or or further upper actuating force and a second lower and / or further lower actuating force applied to the lower gripping area in the second and / or further actuating direction can be detected.

Ie. in other words, preferably not only an upper actuating force in a first actuating direction and a lower actuating force in this actuating direction can be detected with an operating lever according to the invention, but preferably also in at least one second and / or one further actuating direction.

In a further advantageous embodiment of an operating lever according to the invention, the operating lever has a shaft for coupling to an input device base of an input device, wherein preferably the handle of the operating lever is slipped over the shaft of the operating lever, in particular such that the shaft forms a lower end of the operating lever and the handle an upper end, based on a functional use state of the operating lever. In this case, the handle is preferably indirectly coupled to the shaft via at least one intermediate element, that is to say via at least one further component.

Depending on the embodiment, the operating lever can either be connected firmly to an input device base with its lower end, in particular with the lower end of the shaft, or with at least one degree of freedom, preferably for controlling at least one further function, movable relative to the input devices. Base be stored. Ie. In other words, it is not absolutely necessary for the inventive function of an operating lever according to the invention, as is the case with many other operating levers or input devices known from the prior art, that the operating lever is movably mounted relative to the input device base by means of a spherical cap or the like. Of course, this is possible and in many cases also extremely advantageous because it can be controlled in a simple manner with a single, inventive control lever further, additional functions.

In a further advantageous embodiment of an operating lever according to the invention, the upper gripping area of the handle and the lower gripping area of the handle are independently movable relative to the shaft, at least within certain limits, preferably in at least one first actuating direction, in particular additionally in a second and / or further actuating direction.

Preferably, the first actuating direction and / or the second actuating direction is orthogonal to a longitudinal axis of the operating lever, wherein preferably the first actuating direction relative to a functional installation state of an operating lever according to the invention in a vehicle in the x-direction, d. H. in the vehicle longitudinal direction, and the second actuating direction in the y direction, d. H. in vehicle transverse direction.

In this case, the first actuating direction with the longitudinal axis of the operating lever particularly preferably tensions a first actuating movement plane and the second actuating direction with the longitudinal axis of the operating lever a second actuating movement plane in which the upper gripping region and / or the lower gripping region are respectively movable.

In a particularly advantageous embodiment of an operating lever according to the invention, a further actuation direction is further provided, wherein for actuation in the further actuating direction of the operating lever in particular about its longitudinal axis, d. H. based on a functional installation state of an operating lever according to the invention in a vehicle about the z-axis, can be rotated.

In a further advantageous embodiment of an operating lever according to the invention the upper gripping area and the lower gripping area are within certain limits each movable about a fixed point, in particular pivotable about a fixed point and / or rotatable, wherein preferably the upper gripping area can be moved to an upper fixed point and the lower Gripping area around a lower fixed point.

In this case, the upper gripping area and the lower gripping area are preferably pivotable about the associated fixed point, at least in the first and / or second actuating direction, preferably at least in the first actuating movement plane and / or the second actuating movement plane. However, the operating lever is particularly preferably designed such that the upper gripping area and / or the lower gripping area are pivotable in each of the spatial directions around the associated fixed point.

In a further advantageous embodiment of an operating lever according to the invention, the upper gripping region and the lower gripping region each have an upper end region and a lower end region, wherein the fixed point of the lower gripping region is preferably in the upper end region of the lower gripping region and the fixed point of the upper gripping region preferably in the lower end region of the upper gripping area. Particularly preferred are the fixed point of the upper gripping area, d. H. the upper fixed point, and the fixed point of the lower gripping area, d. H. the lower fixed point, while in the longitudinal direction of the operating lever in each case approximately in the middle of the handle.

Of course, the upper fixed point and the lower fixed point can also coincide, so that the upper gripping area and the lower gripping area can each be moved around the same fixed point.

In a further advantageous embodiment of an operating lever according to the invention, in particular when the handle is indirectly coupled to the shaft via at least one intermediate element, the lower gripping area of the handle is coupled to the shaft via a lower gripping sleeve and a lower connecting element and the upper gripping area of the handle is over an upper gripping sleeve and an upper connecting element.

In a further advantageous embodiment of an operating lever according to the invention, the operating lever has at least one sensor device for detecting an upper actuating force applied to the upper gripping area and a lower actuating force applied to the lower gripping area.

At least one magnet-sensitive sensor device with at least one Hall magnet arranged in the upper gripping area and a Hall sensor is preferably provided for detecting at least one upper actuating force in at least one actuating direction and / or at least one magnet-sensitive sensor device for detecting at least one lower actuating force in this actuating direction at least one arranged in the lower gripping area Hall magnet and a Hall sensor, wherein preferably at least one Hall magnet is formed by a permanent magnet, preferably both arranged in the lower gripping area Hall magnet and arranged in the upper gripping area Hall magnet.

In particular, the sensor device is provided in each case for detecting the actuating forces in a first and / or a second actuating direction in the upper gripping area and / or in the lower gripping area, and in particular as a 3D Hall sensor device, wherein preferably each of the Hall sensor is stationary relative to the Shaft is arranged and the Hall magnet is preferably arranged in each case on the movable relative to the shaft gripping region.

For detecting an actuating force in a further actuation direction, in particular for detecting a rotational movement applied to the operating lever or a torsional moment applied to the operating lever, preferably at least one further magnetically sensitive sensor device is provided, in each case one arranged in the upper gripping area and / or in the lower gripping area Hall sensor and a Hall magnet for detecting an applied to the upper and / or the lower gripping area torsional moment, the sensor device preferably each having a perpendicular to the sensor levels of at least one other sensor device oriented sensor plane.

In an alternative embodiment of an operating lever according to the invention, a strain gauge is provided for detecting at least one upper actuating force and / or at least one lower actuating force in at least one actuating direction, in particular a plurality of strain gauges. If a plurality of strain gauges are provided, these are preferably arranged and configured such that applied actuating forces can be detected in at least two actuating directions, in particular in a first actuating direction and / or in a second actuating direction. In order to detect actuation forces in a first actuation direction and a second actuation direction offset by 90 ° relative thereto, at least two strain gauges are preferably offset by 90 ° relative to one another in the upper gripping region and / or in the lower gripping region.

An input device according to the invention is characterized in that it has an operating lever according to the invention.

In an advantageous embodiment of an input device, the input device has a Control device, wherein the control device is designed, at least in dependence on a, applied in a first operating direction on the upper gripping area and detected, upper actuating force and one, preferably also in the first operating direction, applied to the lower gripping area and detected, lower Actuating force to generate a control signal for driving an engageable with the input device actuator.

Preferably, the control device is designed, in particular in addition, also in dependence of an applied in at least a second and / or further actuation direction on the upper gripping area and detected upper actuating force and applied in the second and / or further actuation direction to the lower gripping area and detected, lower actuation force to generate a control signal for driving an engageable with the input device actuator.

In this case, the control device is preferably designed to generate the control signal as a function of a difference between the detected upper actuating force of an actuating direction and the lower actuating force detected in this actuating direction, in particular as a function of a difference between the magnitude of the detected upper actuating force and the amount of detected lower actuation force.

Preferably, the input device is configured in such a way that the control signal is generated in dependence on the detected upper actuating force and the lower actuating force detected in this actuating direction as well as in dependence on at least one external force, preferably in dependence on one, as a result of the vehicle Acting acceleration generated force, for example, depending on a force generated by the acceleration of gravity and / or in response to a generated by transverse and / or longitudinal accelerations force.

Thereby, the influence of, for example, the road inclination or crosswind or the like resulting external forces can be compensated and improved control accuracy can be achieved with the input device. In particular, in physically disabled people who have insufficient muscle tension or muscle coordination to independently compensate for the external forces acting muscular, can be improved in this way, the achievable with the input device control accuracy.

In a further advantageous embodiment of an input device according to the invention the operating lever is connected with its lower end to a, in the input devices base in all three spatial directions rotatably mounted at least within certain limits spherical cap, d. H. stored in particular by means of a spherical cap. As already explained above, it is possible in this way to assign the control lever in a simple manner further control functions, preferably each degree of freedom of the operating lever is assigned a function.

In a further advantageous embodiment of an input device according to the invention, the input device has an operating fork with a steerer tube and at least two operating prongs, preferably at least one operating prongs having an operating lever according to the invention, or is formed from an operating lever according to the invention, in particular all operating prongs. The fork shank of the control fork can either be fixedly coupled to the input device base or movably mounted with respect thereto, for example by means of a spherical cap rotatable and pivotable in all spatial directions.

Ie. In other words, an inventive input device can not only have an operating lever, but also may have two or more control levers, wherein the operating lever can be connected both separately to the input device base, or via a steerer of a control fork or the like.

In a further advantageous embodiment of an input device according to the invention, the input device has at least one further sensor device for detecting at least one actuating movement of at least one operating lever relative to the input device base, in particular if at least one possible actuating movement of the operating lever relative to the input device base is assigned a control function.

A method according to the invention is characterized in that, in a first step, an upper actuating force applied to the upper gripping area in an actuating direction and a lower actuating force, preferably likewise applied in this actuating direction, to the lower gripping area are detected and in a further step as a function of detected upper actuation force and the detected lower actuation force, a control signal for driving an engageable with the input device actuator is generated.

In an advantageous embodiment of a method according to the invention, the detected upper actuating force and / or the detected lower actuating force, for determining the control signal, in particular the upper actuating force and the lower actuating force of the same actuating direction, weighted by means of at least one weighting factor, wherein preferably both the upper actuating force and the lower actuating force is assigned at least one weighting factor.

In a further advantageous embodiment of a method according to the invention, when the applied upper actuating force has been generated by pivoting the upper gripping area about the upper fixed point and the applied lower actuating force by pivoting the lower gripping area to the lower fixed point, the control signal is preferably at least in dependence a difference, in particular a vectorial difference, determined from the upper actuating force and the lower actuating force. In this case, the determined control signal preferably causes a proportional to the result of the difference, in particular the vectorial difference, actuator movement, in particular in the direction of the difference vector.

In a further advantageous embodiment of a method according to the invention, the current position of the actuator is maintained with the control signal which, at least as a function of the difference between the applied upper actuation force and the applied lower actuation force, in particular as a function of the vectorial difference, if the amount of the upper actuation force and / or the amount of upper actuation force multiplied by an associated weighting factor does not exceed a predefined, first threshold value and the magnitude of the lower actuation force and / or the amount of lower actuation force multiplied by an associated weighting factor does not exceed a predefined, second threshold value. Ie. in other words, preferably only when the upper actuating force applied to the upper gripping area and the lower actuating force applied to the lower gripping area exceed a predefined threshold value in each case is a control signal is generated which causes an actuator movement. If the upper actuating force and the lower actuating force and / or their magnitude and / or their weighted amounts fall below the respective predefined threshold values, a control signal is generated with which the current position of the actuator can be maintained.

The determination of the control signal in this way has proved to be advantageous in particular for the control of a vehicle, in particular in the control of the vehicle by means of an input device according to the invention.

In a further advantageous embodiment of a method according to the invention, when an applied upper actuating force has been generated by a rotational movement of the upper gripping area about its longitudinal axis and the upper fixed point and an applied lower actuating force by a rotational movement of the lower gripping area about its longitudinal axis and the lower fixed point, the control signal is determined at least as a function of the sum of the applied upper actuating force and the lower actuating force, in particular as a function of the sum of the rotational moment applied to the upper gripping area and the rotational torque applied to the lower gripping area.

In a further advantageous embodiment of a method according to the invention, the current position of the actuator is determined by the control signal, which is determined as a function of the sum of the applied actuating forces, in particular from the sum of the rotational moment applied to the upper gripping area and the rotational moment applied to the lower gripping area held when the amount and / or the weighted amount applied to the upper gripping area rotational moment does not exceed a predefined, third threshold and the amount and / or the weighted amount of applied to the lower gripping area rotational moment does not exceed a predefined, fourth threshold. Ie. In other words, preferably only when the upper rotational moment applied to the upper gripping area and the lower rotational torque applied to the lower gripping area exceed a predefined threshold value and / or the amounts thereof and / or their weighted amounts, a control signal is generated causes an actuator movement. If the upper actuation force and the lower actuation force and / or their magnitude and / or their weighted values respectively fall below the associated, predefined threshold values, a control signal with which the current position of the actuator is held is generated.

A particularly good control behavior, in particular a particularly simple and thus pleasant and little effort for an operator control behavior, in particular a pleasant steering behavior of a vehicle with a simple, very good, easily adaptable vehicle control, results when the control signal generated by a method according to the invention described above is used as an input value for determining a setpoint curve, as described in US Pat DE 10 2015 005 124 of the same applicant, the DE 10 2015 005 124 is hereby incorporated by express reference into the content of this specification.

The individual features disclosed in the claims, the description and / or in the drawings can be realized individually or in the form of sub-combinations in one embodiment of the invention and represent advantageous and inherently protectable embodiments for the here Protection is claimed. Of course, the features described only in connection with an operating lever according to the invention can be realized in the context of technically possible embodiments even in an input device according to the invention or a method according to the invention and vice versa.

In the following the invention will be further explained with reference to several preferred embodiments, the invention being illustrated schematically in the accompanying drawing. Show it:

1a a first embodiment of an operating lever according to the invention in a perspective view,

1b the operating lever according to the invention 1a in side view,

1c the operating lever according to the invention from the 1a and 1b in bottom view,

1d the operating lever according to the invention from the 1a to 1c in a longitudinal section along the section plane GG (see. 1b )

1e the operating lever according to the invention from the 1a to 1d in cross section along the cutting plane DD (see. 1d ) in bottom view,

1f an enlarged view of 1d .

2a the control lever according to the invention from the previous figures, but without the handle in perspective,

2 B the operating lever according to the invention 2a in side view,

2c the operating lever according to the invention from the 2a and 2 B in bottom view,

2d the operating lever according to the invention from the 2a to 2c in a longitudinal section along the section plane FF (see. 2 B )

3a the control lever according to the invention from the previous figures, but without the handle and without the upper gripping sleeve and without the lower gripping sleeve in perspective,

3b the operating lever according to the invention 3a in side view,

3c the operating lever according to the invention from the 3a and 3b in bottom view,

3d the operating lever according to the invention from the 3a to 3c in a longitudinal section along the section plane BB (see. 3b )

3e the operating lever according to the invention from the 3a to 3d in cross-section along the cutting plane EE (see. 3d )

4a the control lever according to the invention from the previous figures, but without the handle, without the upper gripping sleeve, without the lower gripping sleeve and without the shaft in perspective,

4b the operating lever according to the invention 4a in side view,

4c the operating lever according to the invention from the 4a and 4b in bottom view,

4d the operating lever according to the invention from the 4a to 4c in a longitudinal section along the sectional plane AA (see. 4b )

5a the operating lever according to the invention from the 4a to 4d , but without the clamping disks and the spacer ring in perspective,

5b the operating lever according to the invention 5a in side view,

5c the operating lever according to the invention from the 5a and 5b in bottom view,

5d the operating lever according to the invention from the 5a to 5c in a longitudinal section along the section plane CC (see. 5b )

6 A second embodiment of an operating lever according to the invention in a longitudinal section,

7a Components of a third embodiment of an operating lever according to the invention in a perspective view,

7b the components off 7a in side view,

7c the components from the 7a and 7b in bottom view,

7d the components from the 7a to 7c , also in side view, but from a staggered by 90 ° facing 7b .

7e a longitudinal section through the components of the 7a to 7d along the section plane AA (cf. 7d )

7f the components from the 7a to 7e additionally with a shank of the associated operating lever according to the invention in a perspective view,

7g the components from the 7a to 7e in addition to the shaft and the gripping sleeves of the associated control lever according to the invention in a perspective view,

8th A first embodiment of an input device according to the invention with an input device base and a control lever according to the invention in side view,

9 A second embodiment of an input device according to the invention with an input device base and a fixedly connected to this invention, control lever in side view,

10 A third embodiment of an input device according to the invention with an input device base and a movable relative to this mounted, operating lever according to the invention in side view,

11 A fourth embodiment of an input device according to the invention in side view with an input devices base and a movable relative to this control fork with two operating prongs, each having a control lever according to the invention,

12 A fourth embodiment of an operating lever according to the invention in sectional view,

1a shows a state table for visualizing a preferred, resulting control of an actuator in a vehicle according to the invention, in dependence on the control signals detected by pivoting on the upper gripping area and the lower gripping area by pivoting,

1 b shows a state table for visualizing a preferred, resulting control of an actuator in a vehicle according to the invention, as a function of the control signal determined by actuating forces applied to the upper gripping area and the lower gripping area by a rotational movement,

Tab. 2a shows a state table for visualizing an advantageous, resulting control of an actuator in a vehicle according to the invention, in dependence on the applied to the upper gripping area and the lower gripping area by pivoting actuating forces detected control signal, and

Tab. 2b shows a state table for visualizing an advantageous, resulting, for controlling an actuator in a vehicle according to the invention, as a function of the applied to the upper gripping area and the lower gripping area by a rotational movement actuating forces detected control signal.

The 1a to 1f show in different views a first embodiment of an operating lever according to the invention 100 for an input device, not shown here, for example a joystick, for controlling an actuator. The operating lever 100 refers to the illustration in 1a which corresponds to a functional use condition, a lower end 106 as well as a free, by a handle 102 formed upper end 107 on, with the lower end 106 of the operating lever 100 for coupling the operating lever 100 is formed with an input device base of an input device.

The lower end 106 of the operating lever 100 is doing through a lower end of a shaft 101 formed, which is formed by a square, square hollow profile and over which the handle 102 is slipped, with the handle 102 not over the entire length of the shaft 101 extends, but only so far that a lower end of the shaft 101 is free to be coupled to the base of an input device.

This shows the handle 102 a, each formed by a kind of sleeve, upper gripping area 103 and a lower gripping area 104 on, with the upper gripping area 103 and the lower gripping area 104 by means of an elastic rubber cuff 105 are elastically connected with each other. The handle 102 is not directly with the shaft 101 connected, but each via a gripping sleeve 109 respectively. 108 , in particular by means of an upper gripping sleeve 109 and a lower gripping sleeve 108 to which the handle 102 is attached and which are also each formed by a square square hollow profile.

The upper gripping sleeve 109 as well as the lower gripping sleeve 108 are also not directly with the shaft 101 connected but over more Components that are described in more detail below, with the shaft 101 coupled.

Next to the handle 102 , the shaft 101 and the upper gripping sleeve 109 and the lower gripping sleeve 108 has the operating lever according to the invention 100 a lower connecting element 110 , a lower lever rod 115 and a lower spring plate 113 on, as well as an upper connecting element 111 , an upper lever rod 114 and an upper spring plate 112 , where the lower spring plate 113 over the lower lever rod 115 with the lower connecting element 110 is connected and the upper spring plate 112 over the upper lever rod 114 with the upper connecting element 111 , The lever bars 114 and 115 are each using screws 122 at the connecting elements 110 and 111 and on the spring plates 112 and 113 attached.

By one in the middle of the control lever 100 , between the upper spring plate 112 and the lower spring plate 113 arranged spacer ring 125 or a spacer 125 become the upper spring plate 112 and the lower spring plate 113 in the longitudinal direction L of the operating lever 100 kept at a distance. On a side facing away from the spacer ring side of the two spring plate 112 . 113 is one each by means of four screws 122 attached to the shaft clamping disc 123 . 124 provided with which the spring plate 112 . 113 is fixed in each case from the other side and in particular can be biased, wherein the upper spring plate 112 through the upper clamping disc 123 is fixed and the lower spring plate 113 through the lower clamping disc 124 ,

In contrast to the handle 102 and the gripping sleeves 108 and 109 are the fasteners 110 and 111 as well as the lever bars 114 and 115 and the spring plates 112 and 113 not outside the shaft 101 but essentially inside the shaft 101 , Likewise, there are the spacer ring 125 as well as the clamping disks 123 and 124 inside the shaft.

The upper connecting element 111 and the lower connecting element 110 each have a round disc in the middle and four cross-like, circumferentially offset by 90 ° distributed, extending from the disk radially outwardly extending, each with clearance through corresponding recesses or corresponding holes from the shaft 101 protrude outward and with the gripping sleeves 108 . 109 are screwed, wherein the upper connecting element 111 with the upper gripping sleeve 109 is bolted and the lower connecting element 110 with the lower gripping sleeve 109 ,

The intersection of the longitudinal axis of the upper lever rod 114 forms with the center of the upper spring plate 112 an upper fixed point FP-o, around which the upper gripping area 103 is pivotable and the intersection of the longitudinal axis of the lower lever rod 115 forms with the center of the lower spring plate 113 a lower fixed point FP-u, wherein the upper fixed point FP-o in a lower end region of the upper gripping area 103 and the lower fixed point FP-u in an upper end region of the lower gripping area 104 ,

By applying an actuating force to the handle 102 in particular by the application of a lateral actuating force F-up or F-down, ie in an actuating direction orthogonal to the longitudinal axis L of the operating lever 100 , the gripping sleeves can 108 . 109 laterally opposite the shaft 101 be moved, with a lateral displacement of the lower gripping sleeve 108 a pivoting of the lower connecting element 110 around the lower fixed point FP-u causes and a lateral displacement of the upper gripping sleeve 109 a pivoting of the upper connecting element 111 around the upper fixed point FP-o, wherein a resulting actuation resistance in dependence on the spring stiffness of the associated spring plate 112 . 113 and the rigidity of the associated lever rod 114 . 115 established.

For separate and independent detection of one on the lower gripping area 104 applied lower actuating force F-down, which is in each case proportional to the resulting pivoting movement, has the operating lever according to the invention 100 a lower sensor device 127 on which one fixed to the shaft 101 arranged, lower sensor plate 117 in the form of a printed circuit board 117 with one on the sensor plate 117 arranged Hall sensor 118 and further on the lower connecting element 110 attached Hall magnet 120 , wherein the sensor device 127 is adapted to a relative movement between the Hall magnet 120 and the Hall sensor 118 capture. For separate and independent detection of one on the upper gripping area 103 applied upper actuating force F-top is a corresponding sensor device 128 provided with also a fixed to the shaft 101 attached sensor plate 116 on the a Hall sensor 119 is arranged and a corresponding, on the upper connecting element 111 attached Hall magnet 121 , The two Hall magnets 120 and 121 are each small permanent magnets.

Now, for example, on the upper gripping area 103 of the operating lever 100 an actuating force applied F-up, for example in the x-direction, thereby becomes the upper gripping sleeve 109 and thus also with this firmly screwed upper connecting element 111 whose arms play with through the shaft 101 passed through, in x- Direction shifted, while the upper Hall magnet 121 relative to the upper Hall sensor 119 , which is on the upper sensor plate 116 stationary to the shaft 101 is arranged, is moved. As a result, a sensor signal is generated, which is proportional to the upper gripping area 103 applied upper actuating force F-up in the x direction. Accordingly, one leads to the lower gripping area 104 applied lower actuating force F down to a relative movement between the lower Hall magnet 120 and the lower Hall sensor 118 and consequently to generate a sensor signal indicative of the lower gripping area 104 applied operating force F-down represents.

Due to the structural design of the operating lever 100 , in particular by the use of a circular spring plate 112 respectively. 113 or a circular disc spring element 112 respectively. 113 , is a pivoting of the upper gripping area 103 around the upper fixed point FP-o and a pivoting of the lower gripping area 104 around the lower fixed point FP-u possible in all directions. By training the Hall sensors 118 . 118 each as a 3D Hall sensors, so that relative movements of the associated Hall magnet 120 respectively. 121 in all three spatial directions x, y and z can be detected, in particular in all z-planes, can with such a control lever 100 applied actuating forces are detected not only in the x or y direction, but in all spatial directions, in particular in all directions parallel to the xy plane.

Because of down to the handle 102 and the shaft 101 symmetrical construction of the operating lever 100 , in particular due to the otherwise mirror-symmetrical structure to the symmetry plane DD, see 1d , The operating lever according to the invention 100 be made particularly inexpensive, since many common parts can be used.

2a shows the control lever according to the invention from the previous figures, but without the handle 102 in perspective view. In this presentation as well as in 2 B , which the control lever according to the invention from 2a in side view shows, and 2c , which the inventive lever from the 2a and 2 B in view from below are in particular the upper gripping sleeve 109 as well as the lower gripping sleeve 108 which is outside the shaft 101 are arranged and are also formed by square square hollow sections, easy to recognize.

Based on 2d becomes clear as the upper gripping sleeve 109 and the lower gripping sleeve 108 opposite the shaft 101 are stored, wherein in particular is clearly visible that the connecting elements 110 respectively. 111 ie the upper connection element 111 and the lower connecting element 110 , each with their four arms with play from the shank 101 protrude and the connecting sleeves 108 and 109 with the fasteners 110 respectively. 111 are bolted.

Based on 3a to 3e , which the operating lever according to the invention 100 from the previous figures in different views, but without the handle 102 as well as without the upper gripping sleeve 109 and without the lower gripping sleeve 108 , are in each case particularly well, the four arms of the upper connecting element 111 and the four arms of the lower connecting element 110 to recognize and how these play with through the recesses in the shaft 101 extend radially outward.

Based on 4a to 4d , Which in each case the operating lever according to the invention 100 from the previous figures, but without the handle 102 , without the upper gripping sleeve 109 , without the lower gripping sleeve 108 as well as without the shaft 101 show in different views, in particular, are arranged in the middle in the longitudinal direction spacer ring 125 as well as the upper clamping disc 123 and the lower clamping disc 124 to recognize, by which in each case the upper spring plate 112 and the lower spring plate 113 be held in position.

Furthermore, based on the 4a to 4d especially good the upper lever rod 114 , the lower lever rod 115 as well as the two connecting elements 111 and 110 with its disc-shaped center and its four each, arranged in a criss-cross and radially outwardly extending arms recognizable, which in a functional assembly of the operating lever 100 from the shaft 101 protrude laterally. Also clearly visible are the lower sensor plate 117 as well as the upper sensor plate 116 , In the 4b and 4c is also good to see that on the sensor plates 116 respectively. 117 one sensor each in the form of a Hall sensor 118 respectively. 119 is arranged and according to the fasteners 111 and 110 in each case an associated Hall magnet 120 respectively. 121 ,

The 5a to 5d show the same components as the 4a to 4d , but without the clamping discs 123 and 124 as well as without the spacer ring 125 ,

6 shows a second embodiment of an operating lever according to the invention 200 In this embodiment, not only pivoting of the upper gripping area 103 and the lower gripping area 104 in each case around an upper fixed point FP-o or a lower fixed point FP-u, in each case by means of a sensor device 127 respectively. 128 can be detected, but at which about it addition, by applying a torsional moment M-top to the upper gripping area 103 of the upper gripping area 103 caused rotation about the longitudinal axis of the upper lever rod 114 and one by applying a torsional M-down to the lower gripping area 104 caused rotation of the lower gripping area 104 around the longitudinal axis of the lower lever rod 115 can be detected. For this purpose, in each case a further sensor device 227 respectively. 228 with another Hall magnet 221 respectively. 220 as well as another Hall sensor 219 respectively. 218 provided, wherein the sensor levels of the two additional sensor devices 227 and 228 each offset by 90 ° to the sensor levels of the other two sensor devices 127 and 128 is arranged.

The 7a to 7e show in different views the components of a third embodiment of an operating lever according to the invention 300 in perspective, wherein in the 7a to 7e this control lever according to the invention 300 without handle, without shaft and without gripping sleeve is shown.

This operating lever 300 has four superimposed I-profile elements offset by 90 ° each 329 on, with on each land area of the I-profile triple redundant strain gauges 327a . 327b and 328a and 328b are mounted for detecting an actuating force, wherein by means of the strain gauges 327a and 327b one on the upper gripping area 303 applied upper actuation force can be detected and by means of strain gauges 328a and 328b one on the lower gripping area 304 applied lower actuation force.

For connection to a shaft 301 , please refer 7f , which in this case is formed by a tube, is a middle connecting element 326 provided, which by means of screws 122 with the shaft 301 in a functional use state of the operating lever 300 is firmly connected.

For coupling with an outside of the shaft 301 and between a handle and the shaft 301 arranged lower gripping sleeve 308 , please refer 7g , is also a lower connecting element 110 provided, which is similar, as in the two above-described control levers according to the invention 100 and 200 , The coupling with the upper gripping area takes place via the uppermost I-profile element 329 , which with the upper gripping sleeve 309 can be screwed to the top.

The four cross-type arms of the lower connecting element 110 are also each with play by four offset by 90 ° in the circumferential direction arranged holes radially outward through the shaft 301 guided and in a functional use condition of the operating lever 300 with the lower gripping sleeve 308 screwed, see 7g ,

In this case, the detection of the actuating force takes place in each case via the triple redundantly arranged strain gauges 327 . 327b . 328a and 328b , with which in each case a pivoting of the upper gripping area 103 around the upper fixed point FP-o and a pivoting of the lower gripping area 104 around the lower fixed point FP-u, which coincide in this embodiment and at the intersection of the longitudinal axis of the operating lever with the center of the central connecting element 326 in a median plane of the middle connection element 326 lie, see 7e , can be recorded. Furthermore, one can each on the upper gripping area 303 and the lower gripping area 304 around the longitudinal axis of the control lever 300 applied rotational motion can be detected.

With the above, operating levers according to the invention 100 . 200 and 300 In each case, an operating lever is provided with which due to the arrangement of two pivotable about a fixed point gripping the functionality of two movable in all directions joysticks in one, can be mapped with a hand operated control lever, wherein a gripping region has a arranged in the lower end fixed point and the other gripping area has a fixed point arranged in the upper end area and the two fixed points are arranged in the immediate vicinity of one another or even coincide.

As a result, a particularly good resolution of an operating input can be achieved, since in particular a differential evaluation of the applied actuating forces is possible. In particular, an actuating force applied to the upper gripping area and an actuating force applied to the lower gripping area can be detected separately and independently of one another, and a control signal can be determined depending on the upper and lower detected actuating force.

8th shows a first embodiment of an input device according to the invention 10 with an input device base 11 and a control lever according to the invention 200 in side view, the operating lever 200 with its lower end 106 stuck with the input device base 11 connected is. The operating lever 200 is like the one based on 6 described operating lever 200 educated.

As related to 6 described, is the operating lever 200 on the one hand designed, one on the upper gripping area 103 applied upper actuating force F-top and a on the lower gripping area 104 applied lower actuation force F-down independently and separately to detect in particular in the x-direction and y-direction. Furthermore, the operating lever 200 adapted to one about its longitudinal axis L in the upper gripping area 103 applied torsional moment M-top and one on the lower gripping area 104 applied torsional moment M-down independently and separately to detect.

The input device 10 has a corresponding, not shown here, control device, which is designed depending on the applied actuating forces F-up and F-down and the applied torsional moments M-up and M-down a control signal for driving a with the input device 10 coupled actuator to produce.

The generation of the control signal is carried out by means of a method according to the invention, wherein in a first step on the upper gripping area 103 applied upper actuating forces F-up of the various directions of actuation and in the associated operating directions on the lower gripping area 104 applied lower actuation forces F-bottom are detected and possibly applied by a rotational movement actuation forces or moments M-up and M-down and are charged accordingly in a further step with each other, the detected actuation forces F-top, F-down or the actuating forces generated as a result of an applied torsional moment M-top, M-down can each be weighted by means of a weighting factor, preferably in each case by means of a separately adjustable weighting factor, whereby a particularly precise control of one with the input device 10 coupled actuator, for example, a steering system, can be achieved.

The on the upper gripping area 103 and the lower gripping area 104 applied actuating forces F-up and F-down are preferably evaluated in this way, in particular in the control of a vehicle, that when the generated upper actuating force F-up by pivoting the upper gripping area 103 around the upper fixed point FP-o has been generated and the applied lower actuating force F-down by pivoting the lower gripping area 104 at least a difference between the applied upper actuating force and the applied lower actuating force is formed around the lower fixed point FP-u, for determining the control signal S _F -actuator, preferably a vectorial difference, in particular a difference, preferably a vectorial difference, from the weighted, upper actuation force and / or the weighted lower actuation force.

Preferably, a control signal S _F -actuator is generated with which an actuator movement associated with the associated actuation direction can be effected, preferably in proportion to the difference, in particular in the direction of the difference vector, see Tab. 1a. For the control signal S _F actuator, it is preferable for S _F actuator = k ₁ (Foben → functions →) or S _F actuator = k ₁ Foben → -k ₂ functions →.

While, when the upper actuating force F-up and the lower actuating force F-down have been generated by an applied torsional or rotational moment M-up and M-bottom, for determining the control signal S _M actuator at least a sum of the applied upper actuating force F-top and the applied lower actuating force F-bottom is formed, preferably a vector sum, in particular a sum of the weighted upper actuating force F-up and / or the weighted lower actuating force F-down.

In this case, a control signal S _M -actuator is preferably generated, with which an actuator movement assigned to the associated actuation direction can be effected, preferably in proportion to the sum, in particular in the direction of the sum vector, see Tab. 1a. For the control signal S _M -actuator, S _M actuator = k (Moben → + Munten →) or S _M actuator = k ₂ Moben → + k ₃ Munten →.

However, it has proved to be particularly advantageous if the control signal in this case is determined from the sum of the applied rotational moments M-top and M-bottom or from the weighted, applied rotational moments M-top and M-bottom, ie, if applicable : S _M Actuator = k (Moben → + Munten →) or S _M Actuator = k ₂ Moben → + k ₃ Munten →, see Tab. 1b.

In a particularly preferred embodiment of a method according to the invention, however, only one, an actuator movement causing control signal S _F -actuator or S _M actuator is generated when both the applied upper actuating force F-up and the applied rotational moment M-top and the lower Operating force F-bottom and the applied lower rotational moment (M-bottom) each and / or their respective amounts and / or their respective weighted amounts, an associated predefined threshold X, Y, X ', Y' exceed.

Preferably, the respectively applied and detected actuating forces F-up and F-down or the applied and recorded rotational moments M-up and M-down, in each case be weighted by means of a weighting factor, ensuring a particularly precise control of one with the input device 10 coupled actuator, for example, a particularly precise control of a steering system, can be achieved.

Tab. 1 a shows in each case by means of the arrows symbolically to what extent a control signal S _F -actuator is generated as a function of the applied actuating forces F-up and F-down generated by pivoting, and symbolically in what way the control signal S _F -actuator effects an actuator movement causes, in particular in which direction and in which order of magnitude. Owing to the generation of the control signal S _F -actuator as a function of the difference formed from the upper actuating force F-up and the lower actuating force F-down, the 16 states shown in column 3 for the control signal S _F -actuator result.

In case 1, in which the two applied actuating forces F-up and F-down are applied in the same direction and the same order of magnitude, the difference gives a zero signal, ie. H. the actuator is held in position.

In case 2, with a double applied lower operating force F-down relative to the upper actuating force F-up, a control signal is generated correspondingly, which causes an actuator movement against the direction of the applied upper actuating force F-up in the direction of the applied lower actuating force F -down leads according to the size of the upper operating force F-up.

Case 3 results in a control signal S _F -actuator which causes actuator movement in the direction of the upper actuating force F-up, but corresponding to a double upper actuating force F-up.

Case 4 results in a control signal S _F -actuator which causes actuator movement equal to three times the magnitude of the upper actuating force F-up, although the lower actuating force F-down is applied twice the magnitude of the upper actuating force F-up.

The remaining cases arise in accordance with the vectorial difference formation from upper actuating force F-up and lower actuating force F-down.

Tab. 1 b accordingly shows the control signal S _M -actuator resulting from a method according to the invention when the actuation forces are due to a rotational movement on the input device 10 have been applied, in which case a on the upper gripping area 103 Applied rotational moment M-top and one on the lower gripping area 104 applied lower rotational moment M-down are used to determine the control signal S _M -Aktuator and are not subtracted, but are added. Accordingly, the states shown in Tab. 1b in the third column.

In a particularly advantageous embodiment of a method according to the invention, in addition to the difference or summation additionally additionally checked or evaluated, whether in each case both actuating forces, ie the upper actuating force F-up and the lower actuating force F-down or on the upper gripping area 103 applied upper rotational moment M-top and on the lower gripping area 104 applied lower rotational moment M-bottom, each an associated, predefined threshold X, X ', Y, Y' exceed.

If none of the actuation forces exceeds the associated predefined threshold value X, X ', Y, Y' or only one of the two actuation forces, z. B. only the upper actuating force F-up, the actuator is preferably held in position, which should represent the Tab. 2a and 2b symbolically, in each case from the detected operating forces F-top and F-bottom or M-top and M -unten, a control signal is detected, which causes a hold of the actuator in its position, d. H. which does not cause any actuator movement.

The above-described determination of a control signal for driving an actuator is particularly suitable for controlling actuators in vehicles. In other applications, it may be more advantageous if the actuating forces F-up and F-down or the actuating forces generated by an applied rotational moment M-up or M-down are evaluated in exactly the opposite way, ie. H. when applied by pivoting actuation forces are added and subtracting actuation forces generated by a rotational movement.

The signal S _F -actuator or S _M -actuator generated for actuating the actuator from the applied actuating forces is used in an especially advantageous embodiment of an inventive method as an input value x for determining a setpoint based on a setpoint function A _setpoint = f dependent on at least one input value x (x) for driving an actuator, wherein in a particularly advantageous embodiment of the generated signal S _M -actuator or S _F -actuator a corresponding setpoint curve is determined.

A particularly good control behavior, especially a particularly simple and thus pleasant and little effort for an operator control behavior, in particular a pleasant steering behavior of a vehicle with a simple, very good, easily adaptable vehicle mastering, results when the generated control signal S _M -actuator or S _F -actuator as an input value x for determining a setpoint curve A _{target is} used as mentioned in the above DE 10 2015 005 124 same applicant, which has been made by express reference to the content of this description.

In a particularly advantageous embodiment, when the input device 10 is simultaneously pivoted and a rotational movement is applied, the resulting control signal from the arithmetic mean of the applied in response to the applied generated by pivoting upper actuating forces and in response to the applied by a rotational movement actuating forces determined, ie S _res = (S _F actuator + S _M actor) / 2.

9 shows a second embodiment of an input device according to the invention with an input device base 21 and a control lever according to the invention 100 , where the operating lever 100 is movably coupled with its lower end to the input device base and in particular rotatable about an axis protruding from the plane of the drawing or pivotable on the input device base 21 is stored. Otherwise, the operating lever 100 with no further degree of freedom compared to the input device base 21 movable.

The operating lever 100 is there, as based on the 1a to 5d has been described, designed such that in each case on the handle 102 applied actuating forces each separately for the upper gripping area 103 and the lower gripping area 104 can be detected.

10 shows a third embodiment of an input device according to the invention 30 with an input device base 31 and a movable relative to the input device base 31 mounted control lever according to the invention 100 in side view, the operating lever 100 with its lower end 106 firmly with a spherical cap 34 which is rotatable in all three spatial directions in the input devices base 31 is stored, so the operating lever 100 movable relative to the input device base 31 is stored.

For detecting the relative movement of the operating lever according to the invention 100 opposite the input device base 31 are on the shaft 101 the operating lever according to the invention 100 , which is formed as shown by the 1a to 5d described, two sensor devices 32 and 33 arranged, with which the movement of the operating lever 100 relative to the input device base 31 can be detected. The operating lever 100 is like in the case of the 1a to 5d described embodiment and for separate and independent detection of the upper gripping area 103 and the lower gripping area 104 formed applied actuating forces.

11 shows a fourth embodiment of an input device according to the invention 40 in side view with an input device base 31 and an opposite this movably mounted control fork 35 with two operating tines 36 , each a control lever according to the invention 100 have, which is formed as the basis of the 1a to 5d described operating lever 100 ,

The control fork 35 is the same as in the case of 10 explained third embodiment of an input device according to the invention 30 by means of a spherical cap 34 movable relative to the input device base 31 stored, wherein for detecting the relative movement of the control fork 35 opposite the input device base 31 , also on the steerer 37 the control fork 35 , two sensor devices 32 and 33 are provided.

The two on the operating tines 36 the control fork 35 arranged operating lever 100 are there as in the case of the 1a to 5d formed embodiment and each for separate and independent detection of a force applied to the upper gripping area upper actuating force F-up and a force applied to the lower gripping area lower actuating force F-down provided.

12 shows a fourth embodiment of an operating lever according to the invention 400 , where the operating lever 400 from the first embodiment of an operating lever according to the invention 100 , which is based on the 1a to 5d has been explained, based on the handle 402 differs, because at the in 12 illustrated operating lever according to the invention 400 is in the upper gripping area 103 and in the lower gripping area 104 on the handle 402 one upper fork each 403 and a lower fork 404 tethered. The forks 403 and 404 together form a kind of control fork, in which, for example, a forearm can be introduced, so that the operating lever 400 can also be operated by an operator, which, for example, is not able, one previously using the 1a to 5d described operating lever according to the invention 100 to grab.

The principle for detecting the applied operating forces is the same, the upper gripping area 103 and the lower gripping area 104 However, not be pivoted directly, but in each case by means of the forks 403 and 404 ,

By determining the control signal as a function of the upper actuating force and the lower actuating force, a particularly simple and intuitive operation can be achieved, in particular in a simple manner, a high-precision control of an actuator can be made possible. In particular, an input device can be provided with an operating lever according to the invention, with which actuator movements triggered by unwanted operating inputs can be prevented particularly efficiently.

If additional components are additionally implemented, such as 3D acceleration sensors, gyroscopes, position detection sensors for position detection of the control lever, signal filters or the like, an even quieter control of an actuator can be achieved, which can significantly relieve the operator and also for a longer period of time precise, for the operator little exhaustive control of an actuator is made possible, in particular the precise guidance of a vehicle over a long time.

Of course, a variety of modifications, in particular of structural modifications, to the illustrated embodiment possible without departing from the content of the claims.

LIST OF REFERENCE NUMBERS

10, 20, 30, 40

Inventive input device

11, 21, 31

Input Devices base

32

sensor device

33

sensor device

34

spherical cap

35

control fork

36

Operating tines

37

steerer

100, 200, 300, 400

inventive control lever

101, 301

shaft

102, 402

Handle

103, 303

upper gripping area

104, 304

lower gripping area

105, 405

elastic connecting element

106

lower end of the control lever

107

upper end of the control lever

108, 308

lower gripping sleeve

109, 309

upper gripping sleeve

110

lower connecting element

111

Upper connecting element

112

upper spring plate

113

lower spring plate

114

upper lever rod

115

lower lever rod

116

upper sensor plate

117

lower sensor plate

118, 218

lower Hall sensor

119, 219

upper Hall sensor

120, 220

lower Hall magnet

121, 221

upper Hall magnet

122

screw

123

upper clamping disc

124

lower clamping washer

125

spacer

127

lower sensor device

128

upper sensor device

227

further lower sensor device

228

another upper sensor device

326

Middle connecting element

327a, 327b

Strain gauge above

328a, 328b

Strain gauges below

329

I-profile section

403

upper fork

404

lower fork

F-up

upper actuating force

F-bottom

lower actuation force

FP-o

upper fixed point

FP-u

lower fixed point

M-up

Torsional torque applied to the upper gripping area

M Down

Torsional torque applied to the lower gripping area

S _F actuator

control signal

S _M actuator

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• WO 03/088204 A1 [0004]
• CA 2293991 A1 [0004]
• US 2004/0008181 A1 [0004]
• DE 102015005124 [0047, 0047, 0141]

Claims (19)

Operating lever ( 100 . 200 . 300 . 400 ) for an input device for controlling an actuator, in particular for a joystick, wherein the operating lever ( 100 . 200 . 300 . 400 ) a handle ( 102 . 402 ) with an upper gripping area ( 103 . 303 ) and a lower gripping area ( 104 . 304 ), characterized in that the operating lever ( 100 . 200 . 300 . 400 ) is configured such that at least one of an operator in a first actuating direction on the upper gripping area ( 103 . 303 ) applied upper actuating force (F-up) and at least one, preferably also in the first actuating direction, on the lower gripping area ( 104 . 304 ) applied lower actuating force (F-bottom) are independently detectable. Operating lever ( 100 . 200 . 300 . 400 ) according to claim 1, characterized in that the operating lever ( 100 . 200 . 300 . 400 ) is configured such that in addition one of an operator in a second and / or further actuation direction on the upper gripping area ( 103 . 303 ) applied second and / or further upper actuating force (F-up) and one in the second and / or further actuation direction to the lower gripping area ( 104 . 304 ) applied second lower and / or further lower actuating force (F-bottom) can be detected. Operating lever ( 100 . 200 . 300 . 400 ) according to claim 1 or 2, characterized in that the operating lever ( 100 . 200 . 300 . 400 ) a shaft ( 101 . 301 ) for coupling to an input device base ( 11 . 21 . 31 ) of an input device ( 10 . 20 . 30 . 40 ), preferably the handle ( 102 . 402 ) over the shaft ( 101 . 301 ), in particular such that the shaft ( 101 . 301 ) a lower end ( 106 ) of the control lever ( 100 . 200 . 300 . 400 ) and the handle ( 102 . 402 ) an upper end ( 107 ), based on a functional use state of the operating lever ( 100 . 200 . 300 . 400 ), whereby the handle ( 102 . 402 ) preferably indirectly via at least one intermediate element ( 108 . 109 ; 308 . 309 ; 110 . 111 ) with the shaft ( 101 . 301 ) is coupled. Operating lever ( 100 . 200 . 300 . 400 ) according to at least one of the preceding claims, characterized in that the upper gripping area ( 103 . 303 ) of the handle ( 102 . 402 ) and the lower gripping area ( 104 . 304 ) of the handle ( 102 . 402 ) at least within certain limits independently relative to the shaft ( 101 . 301 ) are movable, preferably in at least one first actuation direction, in particular additionally in at least one second and / or further actuation direction. Operating lever ( 100 . 200 . 300 . 400 ) according to at least one of the preceding claims, characterized in that the upper gripping area ( 103 . 303 ) and the lower gripping area ( 104 . 304 ) within certain limits in each case about a fixed point (FP-o, FP-u) are movable, in particular pivotable and / or rotatable, wherein preferably the upper gripping area ( 103 . 303 ) about an upper fixed point (FP-o) is movable and the lower gripping area ( 104 . 304 ) around a lower fixed point (FP-u). Operating lever ( 100 . 200 . 300 . 400 ) according to at least one of the preceding claims, characterized in that the upper gripping area ( 103 . 303 ) and the lower gripping area ( 104 . 304 ) each have an upper end portion and a lower end portion, wherein the fixed point (FP-u) of the lower gripping portion ( 104 . 304 ) in the upper end region of the lower gripping area ( 104 . 304 ) and the fixed point (FP-o) of the upper gripping area ( 103 . 303 ) in the lower end of the upper gripping area ( 103 . 303 ). Operating lever ( 100 . 200 . 300 . 400 ) according to at least one of the preceding claims, in particular according to claim 3, characterized in that the lower gripping area ( 104 . 304 ) of the handle ( 102 . 402 ) via a lower gripping sleeve ( 108 . 308 ) and a lower connecting element ( 110 ) with the shaft ( 101 . 301 ) and the upper gripping area ( 103 . 303 ) of the handle ( 102 . 402 ) via an upper gripping sleeve ( 109 . 309 ) and an upper connecting element ( 111 ). Operating lever ( 100 . 200 . 300 . 400 ) According to at least one of the preceding claims, characterized in that the operating lever ( 100 . 200 . 300 . 400 ) at least one sensor device ( 127 . 128 ; 227 . 228 ; 327a . 327b . 328a . 328b ) for detecting one on the upper gripping area ( 103 . 303 ) applied upper actuating force (F-up) and one on the lower gripping area ( 104 . 304 ) applied lower actuating force (F-bottom). Input device ( 10 . 20 . 30 . 40 ) for controlling an actuator, in particular for controlling an actuator of a vehicle, wherein the input device ( 10 . 20 . 30 . 40 ) an input device base ( 11 . 21 . 31 ) and as an operating element at least one with the input device base ( 11 . 21 . 31 ) coupled control lever ( 100 . 200 . 300 ), Characterized in that the operating lever ( 100 . 200 . 300 ) is formed according to at least one of claims 1 to 7. Input device ( 10 . 20 . 30 . 40 ) according to claim 9, characterized in that the input device ( 10 . 20 . 30 . 40 ) has a control device, wherein the control device is designed, at least in response to a, preferably in a first actuating direction on the upper gripping area ( 103 . 303 ) and detected upper actuating force (F-up) and one, preferably also in the first actuating direction, on the lower gripping area ( 104 . 304 ) applied and detected lower actuation force (F-bottom) a control signal for driving a with the input device ( 10 . 20 . 30 . 40 ) to produce couplable actuator. Input device ( 30 . 40 ) according to claim 9 or 10, characterized in that the operating lever ( 100 ) with its lower end on one, in the input device base ( 31 ) in all three spatial directions rotatably mounted spherical cap ( 34 ) is attached. Input device ( 40 ) according to at least one of claims 9 to 11, characterized in that the input device ( 40 ) an operating fork ( 35 ) with a steerer tube ( 37 ) and with at least two operating tines ( 36 ), wherein preferably at least one operating tine ( 36 ) an operating lever ( 100 ) or from an operating lever ( 100 ) formed according to at least one of claims 1 to 7. Input device ( 30 . 40 ) according to at least one of claims 9 to 12, characterized in that the input device ( 30 . 40 ) at least one further sensor device ( 32 . 33 ) for detecting an actuating movement of at least one operating lever ( 100 ) relative to the input device base ( 31 ) having. Method for operating an input device ( 10 . 20 . 30 . 40 ) for controlling an actuator, wherein the input device ( 10 . 20 . 30 . 40 ) an operating lever ( 100 . 200 . 300 . 400 ), which has a handle ( 102 ) with an upper gripping area ( 103 . 303 ) and a lower gripping area ( 104 . 304 ), wherein at least one of an operator in an actuating direction on the upper gripping area ( 103 . 303 ) applied upper actuating force (F-up) and at least one, preferably also in this actuating direction, on the lower gripping area ( 104 . 304 ) applied lower actuating force (F-bottom) are independently detectable, in particular for the operation of an input device ( 10 . 20 . 30 . 40 ) according to one of claims 9 to 13, characterized in that - in a first step, one on the upper gripping area ( 103 . 303 ) applied upper actuating force (F-up) and one, preferably in the associated actuating direction, on the lower gripping area ( 104 . 304 ) applied lower actuation force (F-bottom) are detected and - generated in a further step in response to the detected upper actuation force (F-up) and the detected lower actuation force (F-down), a control signal for driving an engageable with the input device actuator becomes. A method according to claim 14, characterized in that in the determination of the control signal, the detected upper actuating force (F-up) and / or the detected lower actuating force (F-down), in particular the upper actuating force (F-up) and the lower actuating force ( F-bottom) of the same actuating direction, are weighted by means of at least one weighting factor, wherein preferably both the upper actuating force (F-up) and the lower actuating force (F-down) is associated with at least one weighting factor. A method according to claim 14 or 15, characterized in that when the applied upper actuating force (F-up) by pivoting the upper gripping area ( 103 . 303 ) has been generated around the upper fixed point (FP-o) and the applied lower actuating force (F-bottom) by pivoting the lower gripping area (FIG. 104 . 304 ) is determined by the lower fixed point (FP-u), the control signal (S _F -actuator) at least in response to a difference between the upper actuating force (F-up) and the lower actuating force (F-down). A method according to claim 16, characterized in that with the control signal (S _F -actuator), which is generated at least as a function of the difference between the applied upper actuating force (F-up) and the applied lower actuating force (F-down), the current Position of the actuator is held when the amount of the upper actuating force (F-up) does not exceed a predefined, first threshold (X) and the amount of the lower actuating force (F-down) does not exceed a predefined, second threshold (Y). A method according to at least one of claims 14 to 17, characterized in that, when an applied upper actuating force (F-up) by a rotational movement of the upper gripping area ( 103 . 303 ) has been generated about its longitudinal axis and the upper fixed point (FP-o) and an applied lower actuating force (F-bottom) by a rotational movement of the lower gripping area (FIG. 104 . 304 ) is determined about its longitudinal axis and the lower fixed point (FP-u), the control signal (S _M -Aktuator) at least in dependence of the sum of the applied upper actuating force (F-up) and the lower actuating force (F-up), in particular Dependence of the sum on the upper gripping area ( 103 . 303 ) applied rotational moment (M-top) and on the lower gripping area ( 104 . 304 ) applied rotational moment (M-bottom). A method according to claim 18, characterized in that with the control signal (S _M -Aktuator), which depends on the sum of the applied actuating forces is determined, in particular from the sum of the on the upper gripping area ( 103 . 303 ) applied rotational moment (M-top) and on the lower gripping area ( 104 . 304 ) applied rotational moment (M-bottom), the current position of the actuator is held when the amount of the upper gripping area ( 103 . 303 ) applied rotational momentum (M-up) does not exceed a predefined, third threshold value (X ') and the amount of the lower gripping area ( 104 . 304 ) applied rotational momentum (M-bottom) does not exceed a predefined, fourth threshold value (Y ').

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