DE69403426D1 - Handbetätigte Steuerung mit taktiler Rückführung und/oder Rückführung des Bewegungsgefühls - Google Patents

Handbetätigte Steuerung mit taktiler Rückführung und/oder Rückführung des Bewegungsgefühls

Info

Publication number
DE69403426D1
DE69403426D1 DE69403426T DE69403426T DE69403426D1 DE 69403426 D1 DE69403426 D1 DE 69403426D1 DE 69403426 T DE69403426 T DE 69403426T DE 69403426 T DE69403426 T DE 69403426T DE 69403426 D1 DE69403426 D1 DE 69403426D1
Authority
DE
Germany
Prior art keywords
feedback
slave system
information
manual control
feeling
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.)
Expired - Fee Related
Application number
DE69403426T
Other languages
English (en)
Other versions
DE69403426T2 (de
Inventor
Raymond Fournier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Application granted granted Critical
Publication of DE69403426D1 publication Critical patent/DE69403426D1/de
Publication of DE69403426T2 publication Critical patent/DE69403426T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G7/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof
    • G05G7/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with one single controlled member; Details thereof characterised by special provisions for conveying or converting motion, or for acting at a distance
    • 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
    • G05G9/04737—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 with six degrees of freedom
    • 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
    • G05G2009/0474—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 characterised by means converting mechanical movement into electric signals
    • G05G2009/04762—Force transducer, e.g. strain gauge
    • 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
    • G05G2009/04766—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 providing feel, e.g. indexing means, means to create counterforce
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20576—Elements
    • Y10T74/20582—Levers
    • Y10T74/20612—Hand
DE69403426T 1993-11-08 1994-11-07 Handbetätigte Steuerung mit taktiler Rückführung und/oder Rückführung des Bewegungsgefühls Expired - Fee Related DE69403426T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9313248A FR2712406B1 (fr) 1993-11-08 1993-11-08 Organe de commande manuelle à retour d'information tactile et/ou kinesthésique.

Publications (2)

Publication Number Publication Date
DE69403426D1 true DE69403426D1 (de) 1997-07-03
DE69403426T2 DE69403426T2 (de) 1997-12-18

Family

ID=9452596

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69403426T Expired - Fee Related DE69403426T2 (de) 1993-11-08 1994-11-07 Handbetätigte Steuerung mit taktiler Rückführung und/oder Rückführung des Bewegungsgefühls

Country Status (7)

Country Link
US (1) US5577417A (de)
EP (1) EP0652503B1 (de)
AT (1) ATE153783T1 (de)
CA (1) CA2134282C (de)
DE (1) DE69403426T2 (de)
ES (1) ES2105570T3 (de)
FR (1) FR2712406B1 (de)

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US5873284A (en) * 1997-01-07 1999-02-23 Echo Incorporated Control for portable power tool
SE511070C2 (sv) * 1997-12-04 1999-08-02 Sem Drive Ab Sätt och anordning för manuell växling
US6148593A (en) 1998-06-17 2000-11-21 New Holland North America, Inc. Multifunctional handle for controlling an agricultural combine
US6985133B1 (en) 1998-07-17 2006-01-10 Sensable Technologies, Inc. Force reflecting haptic interface
JP3504507B2 (ja) * 1998-09-17 2004-03-08 トヨタ自動車株式会社 適切反力付与型作業補助装置
DE19906535A1 (de) * 1999-02-17 2000-08-31 Kostal Leopold Gmbh & Co Kg Bedieneinrichtung zur manuellen Eingabe von Steuersignalen an einen Controller
US7084869B2 (en) * 2000-03-31 2006-08-01 Massachusetts Institute Of Technology Methods and apparatus for detecting and correcting penetration between objects
DE10043179A1 (de) * 2000-09-01 2002-03-14 Mannesmann Rexroth Ag Steuerung für eine Arbeitsmaschine
US20020157498A1 (en) * 2001-04-26 2002-10-31 Black Phillip John Split grip control lever for heavy machinery
US6571427B2 (en) * 2001-05-15 2003-06-03 Donald Lee Agate, Sr. Gear shift lever handle construction
FR2849937B1 (fr) * 2003-01-13 2005-02-11 Commissariat Energie Atomique Interface de simulation manuelle
US7411576B2 (en) 2003-10-30 2008-08-12 Sensable Technologies, Inc. Force reflecting haptic interface
TWM256272U (en) * 2004-01-12 2005-02-01 Ta Ta Office Products Inc Structure for hole punching machine with tooling exchange seat
DE202004018299U1 (de) * 2004-11-25 2006-04-06 Liebherr-Hydraulikbagger Gmbh Baumaschine mit Joystick-Steuerung
FR2878987B1 (fr) 2004-12-03 2007-01-12 Commissariat Energie Atomique Interface haptique a cables
ATE501476T1 (de) * 2006-05-12 2011-03-15 Bae Systems Plc Verbesserungen in bezug auf eine aktiv-stick- vorrichtung
US7783384B2 (en) * 2006-05-31 2010-08-24 Kraft Brett W Ambidextrous robotic master controller
DE102007026117B4 (de) * 2007-06-05 2010-10-14 Siemens Ag Werkzeugmaschine
US8028644B2 (en) * 2007-12-04 2011-10-04 Cybernet Systems Corporation Cable driven tactor
US9789603B2 (en) 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
US9727076B2 (en) * 2012-10-31 2017-08-08 Sarcos Lc Hand control device for controlling a peripheral system
US10766133B2 (en) 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
US10640950B2 (en) * 2016-02-19 2020-05-05 Komatsu Ltd. Operation device of work vehicle
US10765537B2 (en) 2016-11-11 2020-09-08 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
US10828767B2 (en) 2016-11-11 2020-11-10 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US10843330B2 (en) 2017-12-07 2020-11-24 Sarcos Corp. Resistance-based joint constraint for a master robotic system
US11331809B2 (en) 2017-12-18 2022-05-17 Sarcos Corp. Dynamically controlled robotic stiffening element
US11351675B2 (en) 2018-12-31 2022-06-07 Sarcos Corp. Robotic end-effector having dynamic stiffening elements for conforming object interaction
US10906191B2 (en) 2018-12-31 2021-02-02 Sarcos Corp. Hybrid robotic end effector
US11241801B2 (en) 2018-12-31 2022-02-08 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
US11833676B2 (en) 2020-12-07 2023-12-05 Sarcos Corp. Combining sensor output data to prevent unsafe operation of an exoskeleton
US11794345B2 (en) 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
US11826907B1 (en) 2022-08-17 2023-11-28 Sarcos Corp. Robotic joint system with length adapter
US11717956B1 (en) 2022-08-29 2023-08-08 Sarcos Corp. Robotic joint system with integrated safety
US11897132B1 (en) 2022-11-17 2024-02-13 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11924023B1 (en) 2022-11-17 2024-03-05 Sarcos Corp. Systems and methods for redundant network communication in a robot

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Publication number Priority date Publication date Assignee Title
US3535711A (en) * 1967-11-01 1970-10-27 Gen Electric Cutaneous stimuli sensor and transmission network
US3637092A (en) * 1970-04-30 1972-01-25 Gen Electric Material-handling apparatus
US4795296A (en) * 1986-11-17 1989-01-03 California Institute Of Technology Hand-held robot end effector controller having movement and force control
FR2643502B1 (fr) * 1989-02-20 1996-01-19 Aerospatiale Dispositif de commande a manche basculant, notamment pour aeronef, et systeme comportant un tel dispositif
GB8904955D0 (en) * 1989-03-03 1989-04-12 Atomic Energy Authority Uk Multi-axis hand controller
US5184319A (en) * 1990-02-02 1993-02-02 Kramer James F Force feedback and textures simulating interface device
US5143505A (en) * 1991-02-26 1992-09-01 Rutgers University Actuator system for providing force feedback to a dextrous master glove
US5354162A (en) * 1991-02-26 1994-10-11 Rutgers University Actuator system for providing force feedback to portable master support
US5389849A (en) * 1993-01-20 1995-02-14 Olympus Optical Co., Ltd. Tactility providing apparatus and manipulating device using the same
US5396266A (en) * 1993-06-08 1995-03-07 Technical Research Associates, Inc. Kinesthetic feedback apparatus and method

Also Published As

Publication number Publication date
DE69403426T2 (de) 1997-12-18
ES2105570T3 (es) 1997-10-16
CA2134282C (en) 2005-06-14
CA2134282A1 (en) 1995-05-09
FR2712406B1 (fr) 1995-12-15
US5577417A (en) 1996-11-26
EP0652503A1 (de) 1995-05-10
FR2712406A1 (fr) 1995-05-19
EP0652503B1 (de) 1997-05-28
ATE153783T1 (de) 1997-06-15

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee