JP2006513500A - マニュアルシミュレーションインターフェース - Google Patents
マニュアルシミュレーションインターフェース Download PDFInfo
- Publication number
- JP2006513500A JP2006513500A JP2004567026A JP2004567026A JP2006513500A JP 2006513500 A JP2006513500 A JP 2006513500A JP 2004567026 A JP2004567026 A JP 2004567026A JP 2004567026 A JP2004567026 A JP 2004567026A JP 2006513500 A JP2006513500 A JP 2006513500A
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- JP
- Japan
- Prior art keywords
- sleeve
- grip element
- rod
- displacement
- user
- 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.)
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Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/02—Controlling members for hand actuation by linear movement, e.g. push buttons
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G9/04785—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 the controlling member being the operating part of a switch arrangement
- G05G9/04788—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 the controlling member being the operating part of a switch arrangement comprising additional control elements
-
- 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
-
- 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
- G05G2009/04774—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 additional switches or sensors on the handle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/015—Force feedback applied to a joystick
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- User Interface Of Digital Computer (AREA)
- Position Input By Displaying (AREA)
- Prostheses (AREA)
Abstract
Description
Claims (8)
- シミュレーションインターフェースであって、ユーザの一方の手の前面に位置するグリップ素子(3)、ユーザの前腕に取り付けられるスリーブ(1)及び/又はユーザの他方の手によって保持されるロッド(4)を備え、グリップ素子は変位アクチュエータ(6、7、11、36、37)によってスリーブ又はロッドに連結され、グリップ素子は手の指の前面にタッチ認識アクチュエータ(12)を有し、変位アクチュエータ及びタッチ認識アクチュエータはシミュレーション操作応答によって制御されることを特徴とする、シミュレーションインターフェース。
- グリップ素子(3)がスリーブ(1)又はロッド(4)の近くに、親指で作動させる少なくとも一つの制御ボタン(13)を備える部分(10)有することを特徴とする、請求項1記載のシミュレーションインターフェース。
- スリーブ又はロッド(4)に、固定基準を有する無線変位センサ又は位置センサ(14)が装着されていることを特徴とする、請求項1又は2に記載のシミュレーションインターフェース。
- 変位アクチュエータ制御モータ(16)がスリーブの上に配置されていることを特徴とする、請求項1ないし3のいずれか一項に記載のシミュレーションインターフェース。
- 変位アクチュエータは基本的に直交する方向の異なる変位を制御し、変位アクチュエータの内の2つ(6、7)はスリーブの反対側エッジと、スリーブに接続される支持体部分との間に配置されることを特徴とする、請求項1ないし4のいずれか一項に記載のシミュレーションインターフェース。
- グリップ素子は前記2つのアクチュエータの上に取り付けられる交差ロッド(8)を備え、前記2つのアクチュエータは互いに直交し、且つロッドに対して傾斜する方向の変位を制御し、第3の変位アクチュエータはロッドとグリップ素子(3)の主要部分(10)との間に、主要部分をロッド(8)の上を滑動させることにより配置されることを特徴とする、請求項5記載のシミュレーションインターフェース。
- 変位アクチュエータの内の4つは、グリップ素子の両端にそれぞれ隣接する変位X−Yテーブルとスリーブに接続する支持体部分との間にそれぞれ2つ一組で配置されることを特徴とする、請求項5又は6記載のシミュレーションインターフェース。
- 変位アクチュエータ(36,37)は、モータ(38)、駆動プーリ(39)、被駆動プーリ(44)、及び駆動プーリと被駆動プーリとの間の伝送ケーブル(43)を備え、駆動プーリ及び被駆動プーリは直交する軸を有し、モータはユーザの前腕及び手の傍に位置し、被駆動プーリはスリーブ(1)とグリップ素子(3)との間のフレーム(4)に固定され、モータ(38)はスリーブ及びグリップ素子にそれぞれ固定され、被駆動プーリの回転軸はユーザの手首を通過することを特徴とする、請求項1ないし7のいずれか一項に記載のシミュレーションインターフェース。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0300294A FR2849937B1 (fr) | 2003-01-13 | 2003-01-13 | Interface de simulation manuelle |
PCT/FR2003/050170 WO2004066135A1 (fr) | 2003-01-13 | 2003-12-15 | Interface de simulation manuelle |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2006513500A true JP2006513500A (ja) | 2006-04-20 |
Family
ID=32524854
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004567026A Pending JP2006513500A (ja) | 2003-01-13 | 2003-12-15 | マニュアルシミュレーションインターフェース |
Country Status (6)
Country | Link |
---|---|
US (1) | US20060156848A1 (ja) |
EP (1) | EP1584021A1 (ja) |
JP (1) | JP2006513500A (ja) |
AU (1) | AU2003302177A1 (ja) |
FR (1) | FR2849937B1 (ja) |
WO (1) | WO2004066135A1 (ja) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8276476B2 (en) * | 2007-10-03 | 2012-10-02 | Caterpillar Inc. | Joystick offset controls |
US20090139360A1 (en) * | 2007-11-30 | 2009-06-04 | Caterpillar Inc | Joystick attachment |
US8212770B2 (en) * | 2008-02-11 | 2012-07-03 | Caterpillar Inc. | Joystick assembly for improved machine control |
US20100221163A1 (en) * | 2009-02-27 | 2010-09-02 | Caterpillar Inc. | Method to sequester co2 as mineral carbonate |
US9575504B2 (en) | 2010-03-11 | 2017-02-21 | Hdt Expeditionary Systems, Inc. | High degree of freedom (DOF) controller |
US8881616B2 (en) * | 2010-03-11 | 2014-11-11 | Hdt Robotics, Inc. | High degree of freedom (DoF) controller |
US20130293362A1 (en) | 2012-05-03 | 2013-11-07 | The Methodist Hospital Research Institute | Multi-degrees-of-freedom hand controller |
US11896255B2 (en) | 2015-10-05 | 2024-02-13 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
US9823686B1 (en) * | 2016-08-15 | 2017-11-21 | Clause Technology | Three-axis motion joystick |
US9889874B1 (en) * | 2016-08-15 | 2018-02-13 | Clause Technology | Three-axis motion joystick |
US10198086B2 (en) | 2016-10-27 | 2019-02-05 | Fluidity Technologies, Inc. | Dynamically balanced, multi-degrees-of-freedom hand controller |
US10331233B2 (en) | 2016-10-27 | 2019-06-25 | Fluidity Technologies, Inc. | Camera and sensor controls for remotely operated vehicles and virtual environments |
US10331232B2 (en) | 2016-10-27 | 2019-06-25 | Fluidity Technologies, Inc. | Controller with situational awareness display |
US10520973B2 (en) * | 2016-10-27 | 2019-12-31 | Fluidity Technologies, Inc. | Dynamically balanced multi-degrees-of-freedom hand controller |
CN110114669B (zh) | 2016-10-27 | 2021-05-18 | 流体技术股份有限公司 | 动态平衡的多自由度手持控制器 |
US10324487B2 (en) | 2016-10-27 | 2019-06-18 | Fluidity Technologies, Inc. | Multi-axis gimbal mounting for controller providing tactile feedback for the null command |
US10845876B2 (en) * | 2017-09-27 | 2020-11-24 | Contact Control Interfaces, LLC | Hand interface device utilizing haptic force gradient generation via the alignment of fingertip haptic units |
CN111512114B (zh) | 2017-10-27 | 2022-04-05 | 流体技术股份有限公司 | 用于对空指令提供触觉反馈的控制器的多轴常平架安装座 |
EP3700639A4 (en) | 2017-10-27 | 2021-08-25 | Fluidity Technologies, Inc. | CONTROL DEVICE EQUIPPED WITH A SITUATION KNOWLEDGE DISPLAY DEVICE |
WO2019084514A1 (en) | 2017-10-27 | 2019-05-02 | Fluidity Technologies, Inc. | CAMERA AND SENSOR CONTROLS FOR REMOTE CONTROL VEHICLES AND VIRTUAL ENVIRONMENTS |
AT520763B1 (de) * | 2017-12-21 | 2022-09-15 | Hans Kuenz Gmbh | Kransteuerung |
CN109015685B (zh) * | 2018-08-28 | 2022-08-12 | 广东海翔教育科技有限公司 | 一种用于教育机器人 |
US11599107B2 (en) | 2019-12-09 | 2023-03-07 | Fluidity Technologies Inc. | Apparatus, methods and systems for remote or onboard control of flights |
IL297954A (en) | 2020-06-02 | 2023-01-01 | Flexdex Inc | Tool and assembly for surgery |
US11662835B1 (en) | 2022-04-26 | 2023-05-30 | Fluidity Technologies Inc. | System and methods for controlling motion of a target object and providing discrete, directional tactile feedback |
US11696633B1 (en) * | 2022-04-26 | 2023-07-11 | Fluidity Technologies Inc. | System and methods for controlling motion of a target object and providing discrete, directional tactile feedback |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05282095A (ja) * | 1992-03-31 | 1993-10-29 | Pioneer Electron Corp | 3次元座標入力装置 |
JPH0720978A (ja) * | 1993-07-05 | 1995-01-24 | Sony Corp | 仮想体感装置 |
JP2000515285A (ja) * | 1996-11-26 | 2000-11-14 | イマージョン コーポレイション | アイソトニック及びアイソメトリックの機能を有する力フィードバックインタフェース |
JP2001034407A (ja) * | 1999-07-23 | 2001-02-09 | Nippon Telegr & Teleph Corp <Ntt> | ハンドリスト型操作デバイスとその利用方法 |
WO2002035457A2 (en) * | 2000-10-27 | 2002-05-02 | Makex Limited | Haptic input device |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3028126A (en) * | 1960-05-10 | 1962-04-03 | Euclid C Holleman | Three axis controller |
US4491325A (en) * | 1983-01-26 | 1985-01-01 | Thomas Bersheim | Game control apparatus |
US4795296A (en) * | 1986-11-17 | 1989-01-03 | California Institute Of Technology | Hand-held robot end effector controller having movement and force control |
US4909514A (en) * | 1988-10-24 | 1990-03-20 | Tano Robert S | Holder for manual video game controller toggle switch mechanisms |
US5223776A (en) * | 1990-12-31 | 1993-06-29 | Honeywell Inc. | Six-degree virtual pivot controller |
CA2062147C (en) * | 1992-03-02 | 1995-07-25 | Kenji Hara | Multi-axial joy stick device |
GB2283079A (en) * | 1993-10-12 | 1995-04-26 | James Edward Killick | Single handed computer controller eg joystick |
FR2712406B1 (fr) * | 1993-11-08 | 1995-12-15 | Commissariat Energie Atomique | Organe de commande manuelle à retour d'information tactile et/ou kinesthésique. |
US6550562B2 (en) * | 2000-12-08 | 2003-04-22 | Clark Equipment Company | Hand grip with microprocessor for controlling a power machine |
JP3897547B2 (ja) * | 2001-07-05 | 2007-03-28 | アルプス電気株式会社 | 入力装置 |
-
2003
- 2003-01-13 FR FR0300294A patent/FR2849937B1/fr not_active Expired - Fee Related
- 2003-12-15 WO PCT/FR2003/050170 patent/WO2004066135A1/fr active Application Filing
- 2003-12-15 JP JP2004567026A patent/JP2006513500A/ja active Pending
- 2003-12-15 AU AU2003302177A patent/AU2003302177A1/en not_active Abandoned
- 2003-12-15 US US10/541,631 patent/US20060156848A1/en not_active Abandoned
- 2003-12-15 EP EP03809983A patent/EP1584021A1/fr not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05282095A (ja) * | 1992-03-31 | 1993-10-29 | Pioneer Electron Corp | 3次元座標入力装置 |
JPH0720978A (ja) * | 1993-07-05 | 1995-01-24 | Sony Corp | 仮想体感装置 |
JP2000515285A (ja) * | 1996-11-26 | 2000-11-14 | イマージョン コーポレイション | アイソトニック及びアイソメトリックの機能を有する力フィードバックインタフェース |
JP2001034407A (ja) * | 1999-07-23 | 2001-02-09 | Nippon Telegr & Teleph Corp <Ntt> | ハンドリスト型操作デバイスとその利用方法 |
WO2002035457A2 (en) * | 2000-10-27 | 2002-05-02 | Makex Limited | Haptic input device |
Also Published As
Publication number | Publication date |
---|---|
AU2003302177A1 (en) | 2004-08-13 |
WO2004066135A1 (fr) | 2004-08-05 |
EP1584021A1 (fr) | 2005-10-12 |
US20060156848A1 (en) | 2006-07-20 |
FR2849937B1 (fr) | 2005-02-11 |
FR2849937A1 (fr) | 2004-07-16 |
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