JP2011090707A - 多軸ジョイスティックおよびそのためのトランスデューサー手段 - Google Patents
多軸ジョイスティックおよびそのためのトランスデューサー手段 Download PDFInfo
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Abstract
【解決手段】変位測定手段は、平らな六角形アレイをなして取り付けられた1つ以上の発光体(4)と1つ以上の光検出器(5a−5f)とを含むことができる。隣接する可動反射器アセンブリー(2a−2f)の相対位置を、検出された光量の変化により自由度6で測定することができる。トランスデューサ手段のコンパクトな設計により容易にされ得る種々の人間工学的構成の6軸ジョイスティック実施態様が開示される。建設機械制御のための座標変換を動的に調整する手段も開示される。
【選択図】図3
Description
I. 技術分野
本発明は、コンピュータの制御、コンピュータ援用設計の分野におけるコンピュータ・グラフィックス・アプリケーションの制御、コンピュータ・ゲームの制御、及び建設機器、ロボット・マニピュレータ、車両等の機械の制御(これらに限定されない)に用いられるジョイスティック等の多軸入力装置に関する。ここに開示される多軸光学式位置トランスデューサは、特に小サイズ或いは低コストが重要である他の多くの分野に応用され得るものである。
商業的に成立し得る6軸ジョイスティックを開発するために多くの試みが為されてきた。従来技術のデザインは複雑であったので、コンピュータ援用設計や他の高価値の産業アプリケーション或いは商業アプリケーションに限って手ごろであるに過ぎないような高価な製品がもたらされた。“SpaceOrb(登録商標)”は、スペーステックIMC社(Spacetec IMC Corporation)により開発されて1990年代後半の数年間にわたってコンピュータゲーミング周辺装置として販売されたものであるが、おそらくは複雑であること、及びおよそ50ドルから100ドルの小売価格に比べての製造コストの故に、結局は中止されてしまった。刊行日付けでスペーステックIMC社に譲渡されたスペーステックのSpaceOrb(登録商標)に関連する特許は、ヒルトン(Hilton)の米国特許第5,591,924号、ヒルトンらの米国特許第5,706,027号、ヒルトンらの米国特許第5,798,748号を含む。ヒルトンには、刊行日付けでスペーシャルシステムズPty社(Spatial Systems Pty
Limited)に譲渡された同じ分野の前の特許、米国特許第4,811,608号、も与えられた。ロジテック(Logitech)(これはスペーステックIMC社を買収したかも知れない)により現在提供されている6軸装置は、Spaceball(登録商標)及びSpacemouse(登録商標)を含むが、これらの2002年1月の小売価格はそれぞれ500ドルであった。
al)の米国特許第6,033,309号に開示されているように6軸制御を達成するために2つの3軸コントローラを結合することである。この様な方法は、おそらく、本発明よりは高価で、また直感的な6軸インターフェースを欠くであろう。
上記目的を達成するように設計された種々の実施態様は次のように要約される。
多軸入力トランスデューサ装置は、少なくとも5個の基準座標系に関して入力可能な少なくとも5連入力エレメントと、結局は反射エレメントに入射する放射を発することのできる放射源からの放射に応答する反射エレメントと、前記反射エレメントからの放射に応答する少なくとも1つの反射放射検出器とを含むことができる。反射という用語は、前記放射の屈折を含むように広く使われる。図1a(平面図)、1b(断面立面図)、1c(切り欠き透視図)、1d(立面図)、及び1e(分解図)を参照すると、本発明に従う6軸ジョイスティックの好ましい実施態様が示されている。アクティブ・グリップ1は、反射ファセット2a、2b、2c、2d、2e及び2fを組み込むことができる。前記反射ファセット又は反射器は、それぞれ光源又は放射源4(これは発光ダイオードであって良い)からの光を1つの特定の箇所の光検出エレメント又は他の反射放射センサーへ反射するように整列させられて良い。前記光検出エレメントは、フォトダイオード、フォトトランジスター、光抵抗器又はその他の適切な光検出手段、又は例えばASIC(アプリケーション専用集積回路チップ)などの他の箇所にあるその様な検出手段に通じる光ファイバー・ポートであって良い。アクティブ・グリップ1は、コイルバネ10などの復元エレメントにより定位置に保持され得るものであり、これは凹所11によりアクティブ・グリップ内に且つ凹所12によりベース3に、角度的に位置決めされ得る。光バッフル6等の手段を用いて、光源4による検出器5a,5b,5c,5d,5e及び5fの直接照明を防止することができる。前記光バッフル6は、例えばはんだ付け中に前記光源4及びおそらく光検出器5a,5b,5c,5d,5e及び5fを位置決めし、向きを決める上で役立つように構成されても良い。前記バッフル6を用いてネジ7により印刷回路基板13を定位置に保つことができる。おそらくアクティブ・グリップ1内の反射エレメント及び光源4と関連する光検出器5a,5b,5c,5d,5e及び5f等の光学エレメントの測定範囲の中にアクティブ・グリップ1の最大行程がとどまるように、又おそらくバネ10等の復元手段の弾性域内に且つ可動コンポーネント及び不動コンポーネントの間の種々の機械的クリアランスの中に前記最大行程がとどまるように、アクティブ・グリップの行程を制限するために、ネジ8又はピン等の何らかの保持手段を設けることができる。前記保持手段8と、関連するレセプタクル9との接触特性は、摩擦減少エレメント及び/又はコーティング或いはブッシュ等のエネルギー吸収エレメントにより最適化され得る。図1a及び1dを参照すると、光路14は、放射平面内にあってはならなくて、種々のミラー・ファセットの位置及び方位により制御され得る経路をたどることができる。この構成により、6個の光検出器への光路の長さ及びアライメントは、x、y、z、Θx、Θy、及びΘz自由度におけるアクティブ・グリップの位置を一義的に定めることができる。一般に、輝度も、実効光路距離の逆二乗として変化するであろう。ミラー・ファセット位置に関しての輝度の感度は、ミラー・ファセットの、前記ミラー・ファセットの表面に対して垂直な軸に沿う運動について最大であろう。前記ミラー・ファセットに対して垂直な前記軸は、仮想八面体ヘキサポッド或いは“スチュワート・プラットフォーム”を含むことができる。前記第1軸に対して垂直などの軸に沿う運動も光路長さ又は輝度に対して影響を全く与えないであろう。極端な運動は、もちろん、前記ミラー・ファセットを前記光路外へ移す可能性があるけれども、その様な極端な運動は不要であろうし、実際には機械的ストップによって防止されるであろう。前記ミラー・ファセットに対して垂直な軸の回りの角運動は、前記光路に対して影響を与えないであろう。前記ミラー・セグメントの平面内にある軸の回りの角運動は、単に前記光路の反射箇所を横に移動させるだけであって、光路距離に対しては無視し得る二次的影響を及ぼすに過ぎない。
Electrical Systems))装置126c及びプラットフォーム128及び132に取り付けられたMEMS装置126b及び126dなどの別々のセンサーから推測されても良い。機械のリンケージ127の種々の部分に別のMEMS装置(これは例えば加速度計又は角速度センサーであって良い)127a及び129aを取り付けても良い。その様な装置は、磁気により取り付けられ、好ましくは無線で情報を送ることができる。
VI. 参考文献のリスト
米国特許書類
Claims (19)
- 互いに関して少なくとも3自由度で動くことが可能な少なくとも2つのエレメントを含むジョイスティックであって、少なくとも3自由度の位置信号を作るために1つ以上のイオン伝導性エレメントが利用される、ジョイスティック。
- 前記イオン伝導性エレメントが固定されるペデスタルをさらに含む、請求項1に記載のジョイスティック。
- 前記イオン伝導性エレメントが固定される回路基板をさらに含む、請求項1に記載のジョイスティック。
- 互いに関して動くことが可能な前記エレメントのうちの1つは、グリップを含む、請求項1に記載のジョイスティック。
- 前記イオン伝導性エレメントが接続される電気端子をさらに含む、請求項1に記載のジョイスティック。
- 前記電気端子のうちの少なくとも半分は、角度が120度離されている、請求項5に記載のジョイスティック。
- 前記電気端子は、前記電気端子の上半分と、前記電気端子の下半分とを含む、請求項5に記載のジョイスティック。
- 前記電気端子の前記上半分は、前記電気端子の前記下半分から角度が60度ずれている、請求項7に記載のジョイスティック。
- 前記イオン伝導性エレメントおよび前記電気端子は、可変抵抗回路の少なくとも一部分を形成する、請求項5に記載のジョイスティック。
- 前記可変抵抗回路は、スチュワート・プラットフォーム型アクチュエータのジオメトリーに類似した形状を有する、請求項9に記載のジョイスティック。
- 前記イオン伝導性エレメントは、伝導性エラストマー・エレメントを含む、請求項1に記載のジョイスティック。
- 前記伝導性エラストマー・エレメントは、ポリマーに溶解した金属塩の固溶体を含む、請求項11に記載のジョイスティック。
- 前記伝導性エラストマー・エレメントは、本質的に伝導性のポリマー、伝導性充填材を有するポリマーからなる群から選択されるエラストマー材料を含む、請求項11に記載のジョイスティック。
- 前記イオン伝導性エレメントを通る電気信号は、交番極性の電気信号である、請求項1に記載のジョイスティック。
- 前記伝導性エラストマー・エレメントは、電解質を含む、請求項11に記載のジョイスティック。
- 前記エラストマー・エレメントは、電気伝導性の液体および電気伝導性のゲルからなる群から選択される電解質を含む、請求項15に記載のジョイスティック。
- 互いに関して少なくとも3自由度で動くことが可能な少なくとも2つのエレメントは、互いに関して少なくとも6自由度で動くことが可能な少なくとも2つのエレメントを含む、請求項1に記載のジョイスティック。
- 少なくとも3自由度の位置信号を作るために利用される前記1つ以上のイオン伝導性エレメントは、少なくとも3自由度の位置信号を作るために利用される6つ以上のイオン伝導性エレメントを含む、請求項1に記載のジョイスティック。
- 少なくとも3自由度の位置信号を作るために利用される前記1つ以上のイオン伝導性エレメントは、少なくとも6自由度の位置信号を作るために利用される1つ以上のイオン伝導性エレメントを含む、請求項1に記載のジョイスティック。
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KR20220107965A (ko) | 2021-01-25 | 2022-08-02 | 신토고교 가부시키가이샤 | 힘 센서를 이용한 조작 시스템, 조작 방법 및 프로그램 |
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JP2011100478A (ja) | 2011-05-19 |
CN1692401B (zh) | 2011-11-16 |
AU2003224982A1 (en) | 2003-10-27 |
JP4589007B2 (ja) | 2010-12-01 |
JP2009140520A (ja) | 2009-06-25 |
EP1514257A4 (en) | 2015-12-30 |
WO2003088204A1 (en) | 2003-10-23 |
US20130265233A1 (en) | 2013-10-10 |
EP1514257A1 (en) | 2005-03-16 |
CN1692401A (zh) | 2005-11-02 |
US8816962B2 (en) | 2014-08-26 |
US20090213073A1 (en) | 2009-08-27 |
US20120162076A1 (en) | 2012-06-28 |
JP2005522798A (ja) | 2005-07-28 |
US8094121B2 (en) | 2012-01-10 |
US20050162389A1 (en) | 2005-07-28 |
US7474296B2 (en) | 2009-01-06 |
US20150153842A1 (en) | 2015-06-04 |
JP2011086307A (ja) | 2011-04-28 |
JP5399365B2 (ja) | 2014-01-29 |
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