EP0652503A1 - Handbetätigte Steuerung mit taktiler Rückführung und/oder Rückfuhrung des Bewegungsgefühls - Google Patents

Handbetätigte Steuerung mit taktiler Rückführung und/oder Rückfuhrung des Bewegungsgefühls Download PDF

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Publication number
EP0652503A1
EP0652503A1 EP94402502A EP94402502A EP0652503A1 EP 0652503 A1 EP0652503 A1 EP 0652503A1 EP 94402502 A EP94402502 A EP 94402502A EP 94402502 A EP94402502 A EP 94402502A EP 0652503 A1 EP0652503 A1 EP 0652503A1
Authority
EP
European Patent Office
Prior art keywords
feedback
handle
piece
slave system
control device
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.)
Granted
Application number
EP94402502A
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English (en)
French (fr)
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EP0652503B1 (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
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Publication of EP0652503A1 publication Critical patent/EP0652503A1/de
Application granted granted Critical
Publication of EP0652503B1 publication Critical patent/EP0652503B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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

Definitions

  • the invention relates to a control member designed to be actuated by the hand of a human operator, so as to control a real or virtual slave system, by providing the operator with tactile and / or kinesthetic feedback.
  • a control device in accordance with the invention can be used to control any real or virtual slave system, that is to say in particular in teleoperation, in simulators, in CAD (Computer Aided Design) and CAD / CAM systems. (Computer Aided Design and Manufacturing), etc., this slave system generally having six degrees of freedom.
  • the manual control devices existing to date include data gloves, handles and pens, master arms and joysticks.
  • Data gloves are gloves fitted with devices for measuring their absolute position in space and with devices for measuring the relative position of the fingers. Their applications mainly concern the field of simulation and that of human-machine interfaces. They may be able to restore tactile or kinesthetic information by the use of exoskeletons or the external mobilization of the joints of the operator's hand.
  • Handles and pens have the same type of devices as data gloves for measuring their absolute position in space. They are used to define positions or to designate items in simulation systems or in CAD and CAD / CAM systems and they perform functions equivalent to those of computer mice. They can have up to six degrees of freedom. On the other hand, existing handles and pens are generally not equipped with a tactile or kinesthetic feedback system.
  • Document US-A-4,795,296 also describes a handle having a return piece of information from the slave gripping system.
  • This part is a trigger which has two degrees of freedom, so as to restore position and effort information to the operator.
  • the trigger also constitutes, with a vis-à-vis guard, a control member by means of which the operator actuates a two-jaw collet.
  • the information returned to the operator relates to the clamping force and the lateral displacement of the clamp when it is centered on the object to be grasped.
  • the information concerning the lateral movement of the gripper is not directly linked to a movement controlled by the operator. Consequently, this feedback is very difficult to assess.
  • a failure of the feedback system may interfere with the control of the slave system, and even prevent this control.
  • the master arms have been designed and developed for remote handling applications, in particular in master / slave remote manipulators with or without force feedback. They can be active or passive. In the latter case, these include learning puppets for industrial manipulators and teleoperators.
  • the main advantage of the master arms lies in their good adaptation to remote handling. However, they are expensive, heavy and bulky. In addition, when they are equipped with kinesthetic feedback, the compromises between the useful volume and the quality of this feedback are very bad.
  • the brush handles are devices for measuring displacements or forces which are integrated into work stations or button boxes.
  • broom handles are low cost and high performance when the applications are simple and do not exceed three degrees of freedom. However, they do not include a feedback device. In addition, they have a generally limited useful volume, a number of degrees of freedom rarely exceeding three and they must necessarily be positioned on fixed supports.
  • the subject of the invention is precisely a control device with feedback of a new type, capable of being actuated by an operator so as to control a real or virtual slave system in a simple, inexpensive and easy to set up manner. work, and making it possible to obtain a satisfactory compromise between the useful volume and the quality of the feedback, for a number of degrees of freedom generally equal to six.
  • Another subject of the invention is a feedback control device, in which an interruption or failure of the feedback system does not prevent the slave system from being controlled.
  • the operator's hand is in permanent contact with the feedback piece forming the handle, so that this hand receives a force whose direction and amplitude are representative of a real or virtual force applied to the slave system.
  • the force exerted on the operator's hand by the feedback piece is then proportional to this resistant force.
  • the slave system has p degrees of freedom "
  • the handle comprises q pieces of feedback
  • each piece of feedback has r degrees of freedom relative to the active piece, with r> 2 and qxr> p.
  • the number of pieces of feedback is at most equal to two.
  • the manual control member further comprises a support independent of the movement control means of the slave system, and the movement control means of each piece of feedback include at minus an actuator mounted in this support and means for transmitting movements, connecting the actuator to the feedback piece.
  • the active part of the handle may be either only connected to the support by a flexible cord in which the movement transmission means pass, or mechanically connected to the support by an articulated arm, along which the movement transmission means can travel.
  • the movement transmission means preferably comprise at least two cables capable of sliding in sheaths. A first of these cables connects a first actuator to the feedback piece through a movement reversal means and at least a second of these cables directly connects a second actuator to the feedback piece.
  • the slave system having p degrees of freedom, the control member comprises p second cables and p second actuators. It should be noted that, as a variant, the actuator or actuators can also be integrated in the handle.
  • this piece can form a single end part or a central part of the handle. It can also include several protuberances housed in openings formed in the active part.
  • the feedback piece preferably carries at least one control button for coupling the control unit to the slave system.
  • the manual control member mainly comprises a handle capable of being grasped by the hand of a human operator.
  • this handle comprises an active part on which the operator's hand acts, as well as one or two pieces of tactile and / or kinesthetic feedback.
  • the handle has six degrees of freedom.
  • the handle is generally designated by the reference 10.
  • the handle 10 comprises an active part 12 and a part 14 for feedback, arranged side by side, the part 14 for feedback being movable relative to the active part 12 More precisely, the active part 12 of the handle constitutes the essential of the latter, with the exception of its upper end which is formed by the part 14 for feedback.
  • the part 14 for feedback has imprints 16 intended to receive the thumb and forefinger of the operator's hand, while the other fingers are received on imprints 18 formed on the part active 12. Being given that the part 14 for feedback can move relative to the active part 18, the continuity of the exterior surface of the handle 10 between these two parts is ensured by a flexible ring 19 (FIG. 3).
  • the handle 10 comprises a piece of feedback 14 inserted movably between two parts of an active part 12.
  • the active part 12 then forms the two ends of the handle 10 while the central part of this handle is formed by the part 14 for feedback.
  • the piece 14 of feedback returns for example an imprint 16 intended to receive the ring finger of the hand of the operator while the other fingers of the operator are received in imprints 18 formed on the two parts of the active part 12.
  • Two flexible rings (not shown) are then provided to ensure continuity between the part 14 of feedback and the two parts of the active part 12.
  • FIG. 1C illustrates a third embodiment in which the handle 10 is completely formed by an active part 12 pierced with one or more openings 13.
  • these openings are housed protuberances of a single piece 14 of feedback, movably mounted inside the active part 12.
  • the shape, the number and the locations of the openings 13 in which the protrusions of the piece of feedback 14 are housed can be any. They correspond, for example, but not exclusively, to the ends of some of the operator's fingers.
  • the handle 10 is formed mainly from an active part 12, except in its upper part, as in the embodiment of FIG. 1A.
  • the upper end of the handle in this case comprises two different feedback pieces, designated by the references 14a and 14b in FIG. 1D . Each of these feedback pieces is then mobilized independently of the other with respect to the active piece 12.
  • each part 14a and 14b has three degrees of freedom of translation along the transverse axes OX, longitudinal OY and along the axis OZ orthogonal to the preceding ones, and a degree of freedom of rotation around the transverse axis OX.
  • the degrees of freedom of rotation around the axes OY and OZ are translated by relative translations of the parts 14a and 14b along the axes OZ and OY, respectively.
  • a manual control member according to a first embodiment of the invention, equipped with the handle 10 of FIG. 1A, will now be described in more detail, with reference to FIGS. 2 and 3.
  • the active part of the handle 10 is connected, by its lower end, to a support 20, intended in particular to serve as a receptacle for it.
  • a support 20 intended in particular to serve as a receptacle for it.
  • This connection is ensured by a flexible cord 22, one end of which is fixed to the lower end of the handle 10 and the opposite end of which is fixed to the support 20.
  • the handle 10 thus has six degrees of freedom which allow it to control a system slave (not shown) with six degrees of freedom.
  • This slave system can be real or virtual. Thus and only by way of example, it can be either an articulated arm of a manipulator or a simulator or a CAD or CAD / CAM system.
  • the support 20 is connected to the slave system by appropriate wiring (not shown).
  • a speed and / or displacement sensor 24 is fixedly mounted inside the active part 12 of the handle 10.
  • This sensor 24 makes it possible to measure the speed and / or the movement of the handle 10 when it is placed in the hand of the operator.
  • the measurements carried out are transformed into electrical signals which are conveyed to the support 20 by an electrical conductor 26 placed in the flexible cord 22. These signals are then transmitted to the slave system for example by means of another electrical conductor, so as to control this slave system in speed and / or in displacement, depending on the nature of the measurements made by sensor 24.
  • the manual control member illustrated in FIGS. 2 and 3 is also provided with means making it possible to control a movement of the part 14 for feedback relative to the active part 12, in response to a feedback signal from the slave system.
  • This feedback signal can be very diverse in nature depending on the type of slave system controlled and the application envisaged.
  • this signal can be representative of the coming into abutment of the slave arm or of a part supported by this arm against an obstacle and proportional to the reaction force opposed by this obstacle.
  • the feedback signal can also be representative of the approach to a prohibited area by a real or virtual slave system.
  • the means making it possible to control the movement of the piece of information feedback 14 comprise p + 1 actuators 28 (FIG. 2) which are housed in the support 20.
  • p represents here the number of degrees of freedom available to the slave system, that is to say six in the embodiment illustrated in the figures.
  • the control means therefore comprise seven actuators 28.
  • These actuators can be of different types. Thus and only by way of example, they may be electrical actuators such as small electromagnets, pneumatic actuators such as cylinders, etc.
  • Each of the actuators 28 is connected to the slave system for example by an electrical conductor so as to be able to receive a feedback signal representative of a degree of freedom of the latter. This signal is transformed by each of the actuators 28 into a torque which is transmitted to the part 14 for feedback by means of motion transmission means traveling mainly inside the flexible cord 22.
  • p actuators 28 (six in the example described) act on the part 14 for feedback of the handle 10, through motion transmission means, according to the p degrees of freedom available to this part 14 compared to the active part 12.
  • the last actuator 28 acts on the part 14 for feedback in order to oppose the actions exerted by the other actuators, to keep this part 14 immobile with respect to the active part 12 when no return of information does not take place.
  • This arrangement is explained by the structure of the motion transmission means which are interposed between the actuators 28 and the part 14 for feedback in the embodiment shown in FIGS. 2 and 3.
  • the means for transmitting movement between the actuators 28 and the part 14 for feedback are constituted by sliding cables which can only exert tensile forces.
  • each of the six actuators corresponding to the six degrees of freedom of the slave system and of the piece 14 of feedback returns acts on a cable 30 capable of sliding in a sheath 32 inside the flexible cord 22 and its opposite end is fixed to the part 14 for feedback in a triangular arrangement similar to that of a so-called Steward platform.
  • the six cables 30 are fixed two by two to the three vertices of a triangle, on the piece 14 of feedback.
  • the remaining actuator 28 acts on a seventh cable 34, which also slides in a sheath 36 inside the flexible cord 22, but the opposite end of which acts on the piece 14 of feedback by means of a movement reversal mechanism.
  • This mechanism transforms the tensile force exerted by the cable 34 into a compressive force applied to the part 14. It acts on the latter at the center of the triangle at the vertices of which the cables 30 are hung.
  • the movement reversing mechanism comprises a lever 38 and a push rod 40.
  • the lever 38 is pivotally mounted, in its central part, on the active part 12 and the cable 34 is hung at one of its ends.
  • the opposite end of the lever 38 is supported on one end of the push rod 40.
  • the opposite end of this rod 40 is supported on the piece 14 of feedback, at the center of the triangle whose vertices serve to hanging cables 30.
  • the means used to control a movement of the piece or pieces 14 of feedback can be different from those which have just been described.
  • the actuators can be placed directly inside the handle 10, so as to act individually on one of the two feedback pieces 14a and 14b, in the embodiment of the handle illustrated in the Figure 1D.
  • the support 20 and the cord 22 can optionally be removed.
  • the part 14 for feedback is provided on its outer surface with one or two buttons 42 used to control the coupling of the control member to the slave system.
  • the buttons 42 can in particular be placed in each of the indentations 16 formed on the piece 14 of feedback to receive the thumb and forefinger of the operator's hand.
  • buttons 42 condition the coupling of the control member to the slave system, it is certain that the operator's hand will be in contact with the part 14 of feedback if an effort representative of such feedback from the master arm is applied to this part 14.
  • the handle 10 can also be equipped with various other buttons such as an emergency stop button 44, as well as one or more displays 46 on which may appear various information such as deviations, states of forces and moments, etc.
  • buttons such as an emergency stop button 44, as well as one or more displays 46 on which may appear various information such as deviations, states of forces and moments, etc.
  • the support 20 can also be provided with one or more control buttons 48 and one or more displays 50 as also illustrated in FIG. 2.
  • FIG. 4 very schematically illustrates another embodiment of the invention in which, instead of being connected to the support 20 by a flexible cord, the active part 12 of the handle 10 is fixed to one end of an articulated arm 52, the opposite end of which is mounted on the support 20.
  • the actuators 28 can remain associated with the support 20. They act on the part 14 for feedback of the handle by a transmission system such as a sliding cable system similar to that which has been described previously with reference to FIG. 3, this cable system then being guided on the articulated arm 52.
  • a transmission system such as a sliding cable system similar to that which has been described previously with reference to FIG. 3, this cable system then being guided on the articulated arm 52.
  • the actuators can also be distributed along the structure of the articulated arm, for example in the last segment of the arm. The latter is then balanced accordingly, to compensate for the weight of the actuators.
  • the structure of the articulated arm 52 can be adapted to each of the slave overseeds that it is desired to control.
  • modular segments and joints can in particular be used, which can be assembled on demand with the handle 10.
  • the control of the movements of the slave system can be carried out either by means of mounted sensors, as in the embodiment described above with reference to FIGS. 2 and 3, or by means of instrumentation associated with each of the articulations of the articulated arm 52.
  • the information feedback means remain completely separate from the slave system control means. These feedback means can therefore be taken out of service, voluntarily or following a physical failure (cable break, amplifier failure) or computer failure, without affecting the control of the slave system.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
  • Prostheses (AREA)
EP94402502A 1993-11-08 1994-11-07 Handbetätigte Steuerung mit taktiler Rückführung und/oder Rückführung des Bewegungsgefühls Expired - Lifetime EP0652503B1 (de)

Applications Claiming Priority (2)

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.
FR9313248 1993-11-08

Publications (2)

Publication Number Publication Date
EP0652503A1 true EP0652503A1 (de) 1995-05-10
EP0652503B1 EP0652503B1 (de) 1997-05-28

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP94402502A Expired - Lifetime EP0652503B1 (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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Also Published As

Publication number Publication date
EP0652503B1 (de) 1997-05-28
CA2134282C (en) 2005-06-14
US5577417A (en) 1996-11-26
ATE153783T1 (de) 1997-06-15
CA2134282A1 (en) 1995-05-09
DE69403426T2 (de) 1997-12-18
ES2105570T3 (es) 1997-10-16
FR2712406B1 (fr) 1995-12-15
DE69403426D1 (de) 1997-07-03
FR2712406A1 (fr) 1995-05-19

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