TW200422920A - Multi-axis joystick and transducer means therefore - Google Patents

Abstract

The invention relates to improved multi-axis joysticks and associated multi-axis optical displacement measurement means. The displacement measuring means may include one or more light emitters and one or more light detectors, preferably mounted in a planar hexagonal array. The relative position of an adjacent movable reflector assembly can be measured in six degrees of freedom by variations in detected light amplitude. Various ergonomic configurations of six axis joystick embodiments which may be facilitated by the compact design of the transducer means are disclosed. Means for dynamically adjusting coordinate transformations for construction machinery control are also disclosed.

Description

200422920 发明 Description of the invention: This invention is an international application and claims the benefit of US Provisional Patent Application No. 6 0/3 7 2, 2 16 filed on April 12, 2002, which is hereby incorporated by reference. (1) The technical field to which the invention belongs The present invention relates to a multi-axis input device, such as a joystick for but not limited to computer control, computer graphics application control and computer games in the field of computer-aided design, and for Rocker to control machines such as construction equipment, mechanical manipulators and vehicles. The multi-axis optical position converter disclosed herein can be used in many other applications, especially in applications where small size and low cost are important. (Ii) Prior art Attempts have been made to develop commercially viable six-axis joysticks in the past. The complexity of conventional design can result in expensive products that are only affordable with computer-aided design and other high-priced industrial and commercial applications. Products such as "Space Orb®", manufactured by Spacetec IMC in the late 1990s and sold as computer gaming peripherals for many years, may be due to their complexity and relative to $ 50 to $ 100 At the retail price of the manufacturing cost and ultimately cannot continue to sell. Patent documents related to Spacetec SpaceOrb® are: U.S. Patent No. 5,591,924 assigned to Hilton by SpacetecIMC, and U.S. Patent Nos. 5,706,027 and 5,7 9 8,7 4 8 to Hilton et al. . In addition, the designated representative is Spatial Systems Pty Co., Ltd., which is also issued to Hilton by U.S. Patent No. 4,811,608. The new entry is provided by Logitech (possibly acquired by Spacetec IMC). 5-200422920 The six-axis joystick includes Spaceball (SpacebaIl®) and Space Mouse (Spacemouse®). Its retail price in January 2002 was large 5 $ 500 each. Other attempts have been made to use optical position converters in a six-axis joystick. For example, US Patent Application No. 20010038380 provided by Salcudea et al. Discloses an application in which a light source and a sensor are mounted on a static and movable element of a joystick. Such a solution may be accompanied by unnecessary complex structures and may result from a lower reliability and lower toughness of the device due to the demand for movable electronic components that require elastic connection structures.

Many other methods can be applied to achieve six-axis or multi-axis control. For example, multi-axis input devices have been built around the conventional metal foil strain gauging technology using wire strain gages. Such devices can basically be forced input devices and may not provide the operator with any useful deflection feedback. The underlying signals from such devices may need to be carefully masked and subsequently amplified to compensate for the inherently low metering factor of each strain gauge. U.S. Patent No. 4,7 6,5 2 4 to Jenkins and U.S. Patent No. 5,767,840 to Selker disclose conventional examples of using a strain gauge. The application of this type of strain gage may be due to temperature-induced errors and low gauging factors, both of which add signal processing and signal masking difficulties. In addition, the allowable strain is almost imperceptible to the operator and can result in a lack of useful and necessary deflection feedback for the operator. In addition, low strain gauges preclude the use of mechanical light bars to prevent overloading of strain gauges. The strain gauges can be sized to include a safety factor relative to each load to further reduce their already poor gauge factors. Even with a safety factor, devices using strain gauges may not be suitable for applications such as computer games that are often dropped by children on the floor. Other conventional six-axis joysticks employ a plurality of linear variable differential transformers (LVDTs), variable inductors, or other linear discrete mechanical displacement converters. Some of these six-axis input devices are based on a spring-centered LVDT within the Stewart platform structure. Such a device may be expensive and fragile compared to a six-axis input device with an economical and rugged structure constructed in accordance with the present invention. Multiple mechanical couplings in conventional designs can cause a trade-off between accuracy and cost.

An example of a simplified device consisting of a variant of the Stewart platform is disclosed in U.S. Patent No. 6,329,181 B1 to Sundin, which highlights important cost considerations. However, since it is necessary to shield the interference phenomenon of the radio frequency and the interference phenomenon between the induction springs for engagement, the overall complexity cannot be avoided. If used in related construction equipment or moving vehicles, another disadvantage of this Sundin design may be that multiple springs can cause unacceptable resonance vibrations within the assembly. This vibration may include resonance of the active handle on its spring or may involve lateral or higher mode vibrations within its spring itself. Another known six-axis joystick may include a plurality of magnetic sensing coils and multiple movable magnetic coils. Examples of patents that disclose magnetic position detection devices include U.S. Patent Application No. 200 1 005 5 002 filed by Endo and U.S. Patent No. 5,6 8 7,0 80 issued to Hoyt et al. Such designs are often more complex and expensive than the designs of the invention and cannot provide any inherent shielding from the ambient magnetic field flux. Yet another method is to couple two three-axis controllers to the resulting six-axis control 200422920 controller as disclosed in US Pat. Nos. 5,749,577 and 6,0 3,3 0 9 issued to Couch et al. of. This method may be more expensive than the method of the present invention and may lack an intuitive six-axis interface.

Many large-sized devices constructed according to conventional designs can cause unintentional and unnecessary coupling between the horizontal axis of rotation and the horizontal axis of translation. This kind of cooperation can be used to perform subsequent diagonalization operations by using the corresponding signal loss of the device in terms of accuracy and dynamic range. It may be difficult to avoid this unnecessary coupling in the conventional design because of the obstacles caused by the necessary miniaturization due to cost and technology. Generally speaking, such as in conjunction with a keyboard or handheld computer for positioning as an extension of other control handles or joysticks or near the center point of the user's hand, it is surrounded by US Patent No. Des 381, 7 01 as issued to Salinas For applications such as the inside of the conventional joystick disclosed in the document, the converter system consisting of a six-axis joystick in the conventional design appears to be physically too large and too heavy.

It has been determined that when operating an aircraft, you need to keep your hands steady while using the trackball. Dassault Aviation uses a conventional two-axis trackball with palm rests to facilitate reliable (two-axis) cockpit display cursor control under disturbed flight conditions [see Professional Pilot Magazine / 2002 January (PROFESSIONAL PILOT)]. A conventionally designed six-axis device may be too bulky to fit into such a palm rest. In fact, there are many known six-axis devices that can be cumbersome to the point that they no longer look like rods and are therefore no longer even called "joysticks". It is known that various multi-axis input devices or "joysticks" can be applied with a magnetic field quantity having a form such as a Hall effect sensing effect (H a 11 E f e c t s en n s i n g). Examples of related patents for multi-axis input devices or "joysticks" to reveal Hall-effect perception include U.S. Patent Nos. 5,9 5 9,8,63 issued to 〇〇yt et al. Patent No. 5,6 8 7,0 8 0. U.S. Patent Application No. 20010050552 filed by En do also discloses a multi-axis computer input device using Hall effect sensing. The user interface has published six degrees of freedom for input control methods and "with three-dimensional input devices"

The computer input device provides a low invention. The object of the invention is to provide a device that is similar to the application while being simple enough to be used. Newly desirable prohibitive high prices and weak to the code. In contrast, the manufacturing cost of the coil spring of the device of the present invention and the manufacturing device having the plastic button of the present invention is the same. What are the other manufacturing costs of the conventional six-axis rocker? Simple and easy to manufacture and make up the unit. Better designs can be a single printed circuit board or a single piece

Dr. Shumin Zhai has implemented several papers on six axes, including papers titled "Human Performance by Reliance" and "User Performance Related to Interactive 3D Drawing Design" The purpose of the present invention is to strengthen the new multi-axis cost Alternative device. In particular, the books are low enough to attract the rugged combination of computer games for use in, but not limited to, working devices. They are too fragile for the computer game industry to use on construction equipment. Only two moving parts are needed. For example, a simple plastic button with a simple reflective surface. The cost is about the same as that of an ordinary flashlight. The overall manufacturing cost is significantly lower than any cost and may actually be lower than the standard. Another object of the present invention is to provide a six-axis computer with as few as possible and better. (For example 7) converters are combined into a single-type photoelectric package combination. Dong 200422920 Another object of the present invention is to provide a high-quality and high-precision signal by optimizing the positioning of the high-resolution conversion element relative to the control handle and the user's hand to produce a well-defined signal. Adjusted conversion program. It is yet another object of the present invention to provide a durable and robust multi-axis computer input device suitable for applications such as process control and construction equipment. Yet another object of the present invention is to provide a multi-axis control device to allow greater control in general applications such as industrial and construction equipment that are technically inadequate and not commercially attractive. Yet another object of the present invention is to provide a conversion element that is small enough to be positioned in a joystick in a center φ center alignment manner, so that it is aligned with the axis of the wrist parallel to the axis of the ulna and radius as a conventional design The situation is average. Yet another object of the present invention is to provide a conversion element of a sufficiently small size to allow easy fingertip manipulation on the active control handle, while leaving space in the user's hand to accommodate a stable user's hand The fixed control handle element or palm rest required when reaching the arm, so that the multi-axis rocker function can be safely used in mobile vehicles on land, in water, in the air or in space. (III) SUMMARY OF THE INVENTION Various embodiments of the present invention designed to meet the aforementioned objectives can be summarized as follows: In one embodiment, the device of the present invention may include a movable "active control handle" combined with a fixed "active control handle", such as Six or so faceted mirror facets are mounted elastically on the coil spring. A photoelectric converter array including one or more photo-emitters and one or more photo-detectors may be fixedly installed side by side over a short distance opposite to the facet facet assembly. -10- 200422920 The length of the six unique optical paths used as the facet of the mirror to connect each phototransmitter and photodetector can be based on the six degrees of freedom of the active control handle and its relative to the photoelectric converter array The facets of each mirror define the coordinates. -Generally speaking, the brightness measured by a photodetector at the end of each optical path can be an inverse square function of the length of the optical path. Any translation or rotation around any axis on the active control handle may cause the brightness of its pattern to change. For example, the luminance pattern can be converted into an electronic form for use in a digital computer, or it can be transmitted along an optical fiber cable as an analog luminance signal. g Generally speaking, 'only try to take the following description about the position of each phototransmitter and photodetector as an example and not to limit the disclosure of the present invention and the interpretation of any item in the scope of the patent application attached to the present invention. In particular, the relative positions of the phototransmitters and photodetectors are interchangeable in almost all cases. In some cases, separate separate devices can function as both a transmitter and a detector. Simple changes in the circuit can facilitate the exchange of the positions of the transmitters and detectors. For example, in an example where there are six transmitters surrounding a detector, one transmitter Φ can be energized at a time so that the detector can generate a signal in a manner related to a unique optical path and its corresponding transmitter. This configuration can be advantageously used to reduce the number of analog digital conversion paths required on a programmable interface controller or other signal conversion device. This configuration can be accomplished using standard components and known electrical engineering principles. Interpretation of terms such as “phototransmitters” and “photodetectors” in a broad sense to cover any device or element used to guide or convert light or to use -11- 200422920

Interfaces that transport light, whether or not the light originates or terminates within the device contemplated by the present invention. For example, the target can be irradiated with sunlight from a point that can reflect light to a plurality of movable mirrors. Each movable mirror can further reflect the light onto a receiver, and each receiver can further guide the light through a fiber optic cable. Transmits light to remote locations beyond certain physical boundaries. Examples of optoelectronic transmitters may include, but are not limited to, light emitting diodes, laser diodes, gas discharge tubes, incandescent bulbs, and other equivalents known or unknown at this time with any wavelengths including visible light and infrared light. element. Examples of the detector include a photodiode, a phototransistor, a calcium sulfate photoresistor, a photovoltaic cell, a photocell, and other equivalent components known or unknown at this time. The following terms used in the present invention can be used in accordance with traditional thinking or given the following meanings. The "Stewart platform" may include a "hexagonal hatch" or an eight-sided parallel joint type motion platform commonly used in aerospace simulators. The term "slave platform" includes a platform whose position is controlled by a number of remote-controlled engines or its virtual equivalent in the example of operating a computer model.

The term "perceptron assembly" includes an assembly consisting of one or more separate sensors or a single multi-axis sensing element. The term "perceptron base" includes a very stable object to which a perceptron assembly is attached. The term "perceptron platform" includes the part of the device that can be moved by a manipulator that includes the "active control handle". The term "active control handle" includes a movable part of a device that can be moved by a manipulator and its movement can cause a change in the output signal. The term "recovery element" includes a device such as an impulse or elastomeric structure that can contribute after the deflection force has been removed. ~ The term "recovery system" includes a system consisting of one or more "recovery elements" that can contribute to the movement platform's return to its minimum energy position by removing the bias-rotation force. The term "structured light" includes a type of light projected in a fixed and preferably high-contrast pattern. This light can be used to measure another advantageous point on the surface of a non-useful piece in addition to falling in space. The captured image. The term "M E M S" refers to a class of micromechanical devices that are manufactured and packaged in a similar manner to that used for electronic integrated circuit chips. The term "CD array" refers to an optical image sensing device based on a charge-coupled device commonly used in video cameras and electronic still cameras. The term "side-viewer" refers to a device that can be installed in a circuit board kit, as it is used in photo-emitters and photo-detectors. The orientation of this device is such that it can generally be parallel to The light from the circuit board is radiated or is photosensitive to this light. The term "joystick" can broadly include any handle, button, or other device that can be physically grasped, combined, or physically @grounded by causing it to generate electronic, optical, electromagnetic, or other motion that represents the device Or a sign of the power it adds. The term `` spatially variable reflectivity '' includes such things as the marginal edge of a reflective surface, the variable specular reflectivity of a surface, the variable reflectivity of a surface, the variable color of a surface, transparent devices, opaque devices, grayscale devices, Bar code devices, printed devices, 稜鏡 -type components and refractive elements. -13- 200422920 According to a concept of the present invention, the active control handle may be combined with a system composed of an optical element such as a mirror or a chirp to control one or more light sources and one or more light sources. The light path between the detectors. According to a further aspect of the present invention, a single photodetector can be used in combination with multiple switching light sources to reduce the need for analog-to-digital conversion on a single path. According to a further aspect of the present invention, a plurality of photodetectors are connected in parallel to a smaller number (for example, one) of analog inputs under the combination of a multiple switching light source, and thus the required analog-to-digital conversion path is reduced. According to another aspect of the present invention, a one-piece photoelectric converter package combination constructed in a manner similar to a seven-segment LED package combination can act as one of a photoelectric emitter and a photodetector or both. Role. According to a further object of the present invention, six infrared light emitting diodes and one or more photoelectric diodes can be mounted on a printed circuit board, and then a transparent waveguide can be molded thereon, and an opaque material can be molded thereon. , Such as the production of a lightweight and strong photoelectric package combination. According to a further object of the present invention, each infrared light-emitting diode and photodiode can be mounted on a printed circuit board in a coplanar manner, and each waveguide can be combined to radiate along the axis of symmetry of the converter in general An internal reflective surface that projects light in the outgoing direction. According to a further aspect of the present invention, a signal processing chip such as a PIC of an analog device can be buried in the converter set combination with each optical converter. In this way, any light-emitting device with the necessary sequence of the scaled and normalized optoelectronic transmitter with the necessary sequence can be completed in a lightweight device that conforms to the human environmental transformation method to output a valid 200422920 digit transmission. According to a further aspect of the present invention, a scene sensor such as a CC array can be used to measure the position of an image controlled by a multi-axis position control of a movable control handle. According to a further aspect of the present invention, an ultra-wide-angle lens, such as a type used to preview a visitor passing through a gate, can be used to project a position-sensitive image on the inner surface of a movable control handle, such as a conventional CD array. Image converter. According to a further idea of the present invention, the characteristic φ inside the movable control handle is a pattern composed of a reflective region and a non-reflective region, which are generally in the form of three leaves. According to a further aspect of the present invention, a CCD array connected to the first movable part of the joystick, such as its base, can be used to measure the spherical surface of the second movable part of the joystick, such as three points on the inside of its control handle. angle. For example, it is possible to easily process six data signals composed of two spherical angles each having three relatively movable points by the general method disclosed herein. According to the progress of the present invention, the first movable portion can be irradiated with a phototransmitter fixed on a second movable portion positioned coaxially with the lens device to focus the position-sensitive image on the CCD array. Above. According to a further aspect of the present invention, the interior of the movable control handle is characterized by having a pattern composed of a reflective region and a non-reflective region, which are generally multi-leafed. According to a further aspect of the invention, a structured pattern of light can be projected from a first element onto a second element that can be moved in multiple axes relative to the first element. The relative multi-axis position of the first and second elements can be determined by a detector or imaging device connected to, for example, the first element using the final illumination pattern -15- 200422920. This configuration can be used to determine the relative position of the reflective second element under the surface of the second element that does not require a spatially variable reflectivity. According to a further aspect of the present invention, the one-piece photoelectric converter set combination described herein can be made to include a component to firmly hold one or more springs.

According to the idea of the progress of the present invention, a photo-emitter and a photo-detector capable of obtaining an integrated collimator lens at a lower price can be buried in an opaque insulating compound to keep it in position, for example, to fix it to printing Circuit boards, which are then processed or sanded as an assembly to produce a suitable optical surface.

According to a further aspect of the present invention, the side-view type phototransmitters and the side-view type photodetectors that are alternately disposed can be positioned in an outwardly-oriented manner around the periphery of the printed circuit board. The first of the components (preferably the base). The reflections contained in the second element (preferably the control handle) that can be moved along multiple axes with respect to the first element are generally surrounded by a distance sufficient to allow the necessary radial movement. The way of the first element is set. The reflecting means may be, for example, a surface having a pattern in a cylindrical, spherical, or ring form. According to a further aspect of the present invention, each photoelectric detector can be connected in parallel. According to a further aspect of the present invention, in general, the reflective device may be a cylindrical mirror having a spatially variable reflectance. According to a further aspect of the present invention, in general, the reflective device may be a toroidal mirror having a spatially variable reflectance. -16- 200422920 According to a further aspect of the present invention, the reflective device may be a type of retro-reflective, such as a plurality of tapered reflective surfaces. According to a further aspect of the present invention, the reflective device may be a polygonal device. According to a further aspect of the present invention, in general, the reflective device may be a spherical device. According to a further aspect of the invention, a single spring, generally in the form of a plane, can be used to provide restoring force on the movable control handle.

According to a further aspect of the present invention, the spring, which is generally in the form of a plane, may be provided with a forward-mounting device such as a hole to facilitate control of the alignment operation between the control handle and the base during assembly. According to a further aspect of the present invention, a bellows device, which is generally planar, may be provided in combination with the spring, which is generally planar. According to a further aspect of the present invention, a non-circular hole in the control handle can be combined with a non-circular converter supporting post to limit the range of motion of the control handle relative to the base. According to a further aspect of the present invention, the non-circular hole refers to a groove with generally parallel sides and the pillar has a similar but smaller cross section. According to a further aspect of the present invention, a suitable reflector element may be provided to facilitate the use of a standard LED display set combination for light emission and / or light detection devices such as a seven-segment LED digital display. According to another aspect of the present invention, a light guide can be used to change the effective geometric position of a multi-segment LED to a larger array such as a hexagonal type, etc. -17- 200422920 to optimize the motion converter structure. According to another aspect of the present invention, a refractive element or a lens device such as a lens with an inclined surface or a non-pink lens can be combined with or inserted into the above-mentioned light converter array. According to another aspect of the invention, the movable reflective element can be made to include non-planar reflective segments such as a surface containing an internal concave mirror in order to obtain necessary response characteristics from the device, for example.

According to another aspect of the present invention, the movable reflector device can be made to include one or more retro-reflectors, and the movement of such retro-reflectors can change the one or more photoelectric emitters and one or more retro-reflectors. The degree of coupling between multiple photodetectors. According to a further aspect of the present invention, the degree of coupling of the photo-emitter / photo-detector can be caused by increasing the degree of overlap of the individual brightness cones as a function of its distance from a corresponding retroreflector and as a function of distance. Increased sensitivity. According to another aspect of the present invention, the degree of fusion of each adjacent emitter / detector pair can be reduced due to the inverse squared distance principle as its distance from a corresponding retroreflective reflector decreases. According to a further aspect of the present invention, a surface having a retroreflective reflectance along one axis but a known reflectance along the other axes can be mounted on a movable control handle in order to incorporate, for example, a seven-converter six Angled array for position measurement. According to a further idea of the present invention, the active movable control handle can be fitted with a grooved mirror segment similar to a Fresnel lens and can be used to control each of the -18-200422920 light paths. According to another idea of the present invention, gain calibration of various optoelectronic transmitters and optoelectronic detectors can be achieved by inserting a calibration mask element in the stomach of each converter and reflective element t, and can be mapped and scaled. Its optical transmittance provides a signal with the necessary balance for the range of displacement that the stomach is trying to cover, and uses U to compensate for the process-induced changes in the characteristics of each separate device. According to another aspect of the present invention, a lens element and a calibration mask element can be combined with various functions of a single component. According to another aspect of the present invention, an additional light path can be set to calibrate the brightness that can be caused by fluctuations in the pressure and temperature and changes in temperature. According to another aspect of the present invention, a light baffle may be provided and, for example, the stomach may play a role of accurately positioning and orienting each optical component on a printed circuit board. According to yet another aspect of the present invention, a fiber waveguide can be used to deliver light from a single light source to multiple, for example, six projection points. According to another aspect of the invention, a fiber waveguide can be used to deliver light from multiple detection points to a single photodetector. According to another aspect of the invention, a fiber optic waveguide can be used to deliver light from a single phototransmitter to multiple radiation points. According to a further aspect of the present invention, a flying time specification can be used to measure the variable optical distance between various optical transmitters and detectors of the present invention. Such a flying time measurement can be performed by a known optical distance measurement circuit and an optical converter. According to a further idea of the present invention, a unique optical delay line may be provided in series with, for example, six light (for distance measurement) paths for doubling purposes when the optical flying signal is performed. This strategy can facilitate the use of a single photodetector path and can simultaneously facilitate the use of a single phototransmitter. According to a further aspect of the present invention, a multi-axis interferometer position measurement device can be used for the purpose of simultaneously and accurately obtaining multi-axis measurements. A direct (unaffected by sensor platform deflection) reference light path can be added to, for example, six photodetectors, respectively, from a common, preferably coherent light source. According to a further aspect of the present invention, a photoelectric transmitter, a reference optical path, and each photoelectric detector can be included in a single-piece optical / electrical package combination. According to a further idea of the present invention, an embodiment of the present invention can be constructed so that light passes through a liquid or a gel in a path from a photo-emitter to a photo-detector. This strategy can be used, for example, to minimize unnecessary reflections or to exclude water or dust from the optical path. According to a further aspect of the present invention, the liquid or gel can be made to have a controlled opacity in order to strengthen or change a signal while changing the length of the optical path. A further idea of the present invention may add a tare switch function to sense whether the device is in an operating state. This tare switching function can be used to provide an invalid output and an optional control latch signal whenever the device is not in use. This strategy can play a role in compensating for zero drift caused by factors such as temperature changes or changes in the orientation of the device relative to gravity. This strategy can also render the active control handle assembly vibrate in response to any tendency to respond to environmental mechanical agitation conditions without the mud blocking effect of the user's hand. -20- 200422920 According to the further idea of the present invention, the tare switching can be completed by a capacitive touch pressure sensor element, a mechanical switching element, or a software algorithm designed to detect the absence of a manual signal. Features. The tare switch can be mounted on, for example, a palm rest, a wrist rest, or an active control handle of the device. According to a further aspect of the present invention, an electrical connection may be formed with a tare switching element through one or more elastic elements, such as a spring to support the active control handle.

According to a further aspect of the present invention, the tare weight switching function can play a role of measuring the force exerted on, for example, a joystick by a user's hand and forearm. In this embodiment, an initial signal may represent the force due to weight, and a subsequent signal may represent the weight plus a deliberate operator input. Tare functions that can be implemented by hardware or software can cause neglect or "taring" of weight components. The aforementioned strategy then allows the operator to comfortably place the weight of the hand or forearm on the joystick before transmitting or using the output signal of the joystick. In this way, the joystick works first to measure the effect of the weight of the user's hand or forearm, and then works to switch the operator's intentional input. The transition from weighing function to converter function can be done purely by using software with appropriate time delay or by various types of physical tare switches. For example, a universal full-grip capacitive touch pressure sensor can be used in conjunction with the timing function to allow the user's hand to be weighed for one second, after which any further changes in the signal can be mechanically interpreted as intentional Operator instructions. As another example, the tamper switch can be pressed by the operator at will to set the tare function to zero at any time. • 21- 200422920 The company uses various strategies to make the usability produced by the device of the present invention. For the purpose of controlling computer graphics, the operator's intentions are not interpreted in software, rather than simply converting the letter into, for example, a solid model or the camera's viewing rate. According to an embodiment of the present invention, a virtual mass, a position of the center of gravity, and signals related to the six axes that can be derived from the device of the present invention can be converted into the effective amount for the control. In this way, translation can be easily obtained. According to a further aspect of the present invention, the ratio / product is used so that the selected coefficient is closest to satisfying the operation. According to another aspect of the present invention, it can be placed on the natural pivot of the user's wrist with a soft offset point. In point, the device remains in a position that can be grasped by the user's hand or fingers according to the present invention, and can be rotated X, y to suit the user. According to a further aspect of the present invention, a signal generated by software can be used to prevent a slave platform from being installed on the wrinkle, collision, or other unnecessary positioning problems. According to another aspect of the present invention, the device state can be switched. Variable coordinate system or alternative coordinate system. Or follow the way of moving the machine to perform coordinate conversion. According to another aspect of the present invention, it is possible to switch the signal of the multi-axis construction or logging machine or a configuration such as a screw blade machine, a drilling machine, a road breaker, and a manipulator. The virtual object of the displacement measurement point and the like produced by the number refers to the inertial momentum. Then the intention of the operator of the slippery and predictable operation / differential strategy on the virtual mass. The original X, y, and z axes, though, can make this physical location. And z-axis orientation to ignore the operator ’s coordinate of the device on the platform to correspond to the movement. For example, you can control, store the basket, and stack height according to the coordinates of the instant joystick.

-22- 200422920 According to a further aspect of the present invention, sensors such as MEMS accelerometers and angular rate sensors can be connected to various parts of the control mechanism to complete the instant coordinate conversion operation. In this application, higher accuracy can be achieved at the conventionally used absolute angles, without the need for positioning measurement devices and can be extremely expensive. This control strategy according to the present invention is particularly attractive for the original hexagonal hatch (Stewart platform), which was not equipped with position sensor construction equipment and had six absolute position sensors, and had a very high total price.

According to a further aspect of the present invention, a hexagonal hatch can be equipped with accelerometers or rate sensing on each base platform and several subordinate platforms (eg, three) and near each engine endpoint, pillar or link Device. With this structure, sufficient information can be obtained to measure its position, velocity, and acceleration immediately and without integration. According to a further aspect of the present invention, a hexagonal hatch can be used as a control machine in combination with the conventional construction equipment.

According to a further idea of the present invention, the hexagonal hatch can be constructed as an extension device of a standard appliance converter by using the male and female converters on its individual bases and slave platforms. According to a further aspect of the present invention, a multi-axis, such as a hexagonal canopy-type equipment converter, can be applied with a power control module powered by a conventional single-loop hydraulic system or other power source. The power control module can be combined with a hydraulically driven generation check to push a servo valve, electric engine or other related electronic device. It is preferable that the control signal can be transmitted wirelessly between the joystick shown here and the conversion benefit by a computer falling on either or both ends of the signal transmission path. According to a further aspect of the present invention, necessary sensors such as MEMS accelerometers and angular rate sensors can be wirelessly connected by, for example, a wireless -23-200422920 network. According to a further aspect of the present invention, a sensor that falls on a discrete point such as a MEMS accelerometer and an angular rate sensor can be added with an angular position sensor and a linear position sensor.

According to a further idea of the present invention, the machine observation-based sensing device may be used in a separated manner or combined with the aforementioned sensors falling on discrete points. This structure allows extremely high accuracy and eliminates the need for high accuracy mechanisms and expensive absolute position encoders. The machine observation control of motion can use high-resolution optics with limited field of view in the parts of the motion packet that require high-area accuracy, while combining wide-angle vision equipment with lower accuracy for coordinate conversion. The above-mentioned sensors such as MEMS accelerometers and angular rate sensors can be used to set or add the geometric structure for the purpose of coordinate conversion.

According to a further aspect of the present invention, machine vision can be used to determine the current status of the controlled machine under the control of the coordinate system of the device to achieve the purpose of real-time alignment for the coordinate system of the joystick. According to a further aspect of the present invention, a machine vision system can be used to simultaneously provide each image to an operator for remote control, while simultaneously providing machine-interpreted information to perform real-time coordinate conversion between the joystick and the controlled device. One or more machine vision systems can be used to simultaneously provide video information to a human operator or coordinate conversion controller. According to another aspect of the present invention, it is permissible to point at any specific necessary point within the coordinate system of the subordinate mobile platform and other coordinate systems such as stationary work objects or building plan elements-24-200422920. Coordinate conversion is controlled. Examples of specific points that can be useful for the origin of the coordinate of a temporarily dependent platform include the top of an auger or drill press, the intermediate point between the fork tips, the pattern of bolt holes at the end of a steel beam, tracked by a camera, or Observed objects, objects in the AT scan dataset or computer model, such as objects in the area of interest. Relative to various parts such as loaders or stackers with multi-shaft or hexagonal hatch manipulators connected to them, equipment operators, or even fixed structures or grounds to support the equipment One of the coordinate systems controls the movement of the slave platform. _ According to a further aspect of the present invention, operator eye machine vision detection can be used to allow the operator to assign new coordinate origins, coordinate orientations, or movement restrictions at any time. This visual assignment strategy allows the operator of a multi-axis manipulator to assign, for example, a structural truss beam with one end held constrained while the other end is aligned for bolt latching under rocker control. This allows the operator to focus on the alignment of the screw holes without having to worry about damage caused by the other end of the truss. According to another aspect of the invention, the movement of the slave platform along the selected axis can be selectively restricted. You can temporarily limit the degree of freedom of motion from 6 to a lower degree of freedom by using the restrictions of the application specification to achieve greater accuracy and applicability. This is important in applications such as drilling operations where the alignment state (apex position and drilling orientation) is selected with a five-axis or six-axis controller and the drilling axis is then fixed during drilling, or It is best to use a six-axis controller to complete the positioning and alignment of its fork arms, but it is necessary to perform applications such as stacker operations that directly follow the direct upward movement to push the load. 0 -25- 200422920 According to the present invention Further considerations can be made by the operator using the touch screen drawing representation method of the controlled device or loading capacity in order to select the origin and / or orientation of the coordinate system according to the drawing method. According to another aspect of the invention, the operator of the mechanical manipulator can designate an end point of a structural beam and column as the origin of an axis, for example, by placing the beam and column endpoints on the same place three times But the beam and column axes fall in a different orientation.

According to another aspect of the present invention, the operator can select the origin of the X, y, and z axes to offset the coordinate system of the input device, the coordinate system of the slave platform, or the slave platform of the computer model. A specific distance 'is disjoint and inclined at a specific angle is non-right angle.

According to a further aspect of the present invention, in order to accurately calculate the coordinates of the fixed frame, a tilt sensor equipped with a slave platform can be used to directly measure the rotation of the two axes between the tool and the gravity coordinate. Alternatively ' a sensor, such as a laser distance gauge, equipped with a slave platform can be used to orient a flat surface, for example, with the drill slightly perpendicular to the surface. According to a further aspect of the present invention, software codes may be used to compensate for any unintentional coupling phenomenon caused by the asymmetry of the coil-type spring resulting from the coaxiality of the coil-type spring recovery element between the translation axis and the rotation axis. Various additional embodiments of the present invention that can be used to enhance its applicability or contribute to ease of use will be described as follows: A multi-axis joystick provided by one embodiment of the present invention can be held by the operator's palm with its base It is supported by the ring finger and pinky finger. At the same time, the active control handle can be manipulated by the thumb, index finger and middle finger of the operator-26- 200422920. This structure allows the wrists and arms to have freedom when moving around, presenting information to others, or performing construction work, for example.

According to a further aspect of the present invention, a conventional computer mouse can play the role of a base of the six-axis input device of the present invention. In this structure, the base portion can be controlled by the palm of the user and can play the role of a conventional computer mouse providing two degrees of freedom, while the multi-axis input device of the present invention provides six additional freedoms And can be independently controlled by the user's thumb, index and middle fingers. This structure can be provided with, for example, eight degrees of freedom. According to a further aspect of the present invention, the computer mouse may be equipped with, for example, an additional optical converter which is located at a point offset from the position of the conventional χ-y-axis mouse motion converter, and thus provides an overall and The additional mouse axis is sensitive to the differential motion between the offset converter and the rotational motion about the vertical axis of the mouse. In this way, a torsional motion can be used to create another or, for example, a third output shaft. This structure can be provided with, for example, nine degrees of freedom. It can be more in accordance with the human environmental reformation method. A mouse with a "pistol" or "game joystick" type control handle can complete a twisting movement about its vertical axis. Its use can make the wrist end point vertically align with its radius and ulna . The user's wrist can be rotated by as much as 90 degrees in this orientation, compared to the 30 degrees that the user's hand may hold when grasping a conventional mouse. A further advantage of the "pistol" or "game joystick" type control handle in this embodiment is that the thumb, index and middle fingers of the user can be vacated by the little finger and ring finger firmly against the palm of the user to activate the button and / Or an attached (small) joystick. This control handle can be optimized so that the user can firmly and comfortably hold the control handle with the little finger and ring finger only. Several converter devices of the present invention are more suitable than conventionally designed converter devices for constructing a joystick small enough to operate with only the index, middle, and thumb fingers and small enough to connect to a first joystick or mouse. The design of some conventional joysticks that allow the necessary large-scale movements may be particularly difficult to miniaturize in a rugged form.

According to a further aspect of the present invention, a thumb-operated converter as described in U.S. Patent Application No. US2002 / 0104957 A1 may be provided at several locations offset from each other to provide additional degrees of freedom. According to a further aspect of the present invention, the three degrees of freedom of a three-axis mouse such as the one described here or with a scroll wheel can be used to select components in a physical computer-aided design model, and the connected six-axis The device provides an additional six degrees of freedom to manipulate the components selected by the first three axes.

According to a further aspect of the present invention, a finger and thumb operating device having six degrees of freedom can be installed in a handheld input device having six degrees of freedom to provide a method capable of simultaneously controlling with only one hand. Device with 2 axes. This combination can be used to, for example, control a manipulator cantilever while controlling its support vehicle. With this device, 24 axes can be controlled simultaneously with both hands. According to a further aspect of the present invention, a finger-operated input device having six degrees of freedom can be attached to any number such as a flight control lever, a flight control deflection coil, a steering wheel, a steering wheel, a joystick, a control lever, and a control cable This kind of control device belongs to the conventional design. This strategy can be beneficial to a multi-axis manipulator or tool that can be connected to a base or vehicle and needs or benefits -28- 200422920 for simultaneous multi-axis control. Yet another embodiment of the present invention may be a mouth, jawbone, or head-operated controller for a quadriplegic patient, in which the conventional design of such an application appears to be too bulky. According to another aspect of the present invention, the entire device can be a handheld and portable device, and the active control handle can be operated relative to a base portion that remains fixed to a user's hand or finger. Support and use the device with one hand. Alternatively, a part of the base may be firmly fixed to the user's wrist or palm by a device such as a bandage or gloves. It is even preferred that signal transmission for such a handheld device be performed by a wireless device. The coordinate system used for this handheld structure can be a coordinate system relative to a fixed part of the device that falls in the user's hand, or relative to a magnetic signal such as a radio signal, laser signal, gyroscope signal, magnetic An external coordinate system determined by a combination of orientation and gravity orientation. This portable device can be combined with other devices such as directional sensors, accelerometers, and gyroscopes. According to a further aspect of the present invention, installing the above-mentioned "hand-held" structure on the wrist or forearm allows a hinge to be incorporated so as to temporarily swing the active control handle out of the movement line of the operator's hand. According to another aspect of the present invention, the six-axis sensor assembly can be positioned between two handles' so that the relative movement of the two handles can generate a corresponding signal. The handle may be, for example, a two-half device similar to the two-handed game floor stand used in conjunction with Playstation® of Sony Corporation or X-BοχΒ of Microsoft Corporation. -29- 200422920 According to another idea of the present invention, the device can be made sufficiently small in size. To integrate into a computer keyboard, handheld computer, or another control handle or device. When loaded with, for example, insulated winter gloves, the joystick for construction equipment can be operated with very careful hand movements. In this situation, a finger-operated fine-range motion joystick can be impractical due to overwhelming vibrations and mechanical device movements, and the lack of fine fingertip tactile feedback. Accordingly, several concepts and embodiments of the present invention emphasize the need for a larger range of motion as follows: # According to a concept of the present invention, one or more sensors can be connected to the base of the sensor. An elastic element provides an enhanced range of motion for the active control handle. According to a further aspect of the invention, the elastic elements can be constructed to minimize any unintended coupling between the axes. This can be done, for example, by fixing the base of a multi-axis joystick with a limited range of motion (according to the invention, conventional or future design) to a first installation block, which can be here There are three or more flexible, generally parallel, upper pole ends. The lower end of each elastic pole is fixed on the second installation block. Regardless of the deflection states of the first and second installation blocks in the horizontal plane, both tend to remain parallel to each other. In other words, it is therefore possible to provide elasticity for horizontal translation without unintentional or unnecessary coupling of the horizontal rotation axes. The second mounting block can be mounted on a pair of leaf springs that are offset but generally parallel. It can be fixed relative to the other end point on the generally parallel leaf spring by the operator. -30- 200422920 The leaf spring assembly provides torsional firmness in all three axes while allowing the joystick control handle to perform significant Z-axis motion. According to a further aspect of the present invention, the converter device and other movable parts can be protected from being damaged or polluted by an elastic bellows. According to a further idea of the present invention, each bellows can be designed such that its movement around the symmetry axis of each bellows exhibits a significant degree of torsional compliance. Generally speaking, this phenomenon does not appear in the case of using a conventional bellows.

According to a further aspect of the present invention, a second bellows (either connected to the movable mechanism or not) can be provided for the purpose of balancing the pressure in the cavity protected by the bellows. This thinking is particularly important for facilitating Z-axis motion without causing pressure differentials or contamination due to the necessary venting effect. According to another aspect of the present invention, a wrist rest may be provided to enable the user to move with the active control handle or in a related manner, but may support the user ’s arm in a manner separate from the active control handle. Gravity and acceleration burden. In this way, it is necessary to support the user's arm to reduce his fatigue while allowing a wide range of movements, which is necessary in high vibration environments such as operating construction equipment. For example, the measurement of the instantaneous weight of the user's arm can be accomplished by using a separate mounting unit related to the wristrest. The following will describe various additional corrections and improvements that can increase the applicability of the device of the present invention: According to a further aspect of the present invention, a multi-axis converter according to the present invention may be added to a Stewart that is otherwise known in design The platform or equivalent • 31- 200422920 device enables the multi-axis converter to generate an operator start force / displacement signal, while the Stewart platform or equivalent device below provides force and position feedback to the operator. This device can also be used to provide increased displacement compared to the displacement provided by the multi-axis converter itself.

According to another aspect of the invention, a fiber optic waveguide can be used to transmit and receive light within the converter assembly, which can be used, for example, to exclude power components from near the converter for use in, for example, the bucket of the appliance. Truck-mounted booms or robotic arms control high-voltage power lines and the like. For the construction of extremely small multi-axis position converters, the versions of the device of the present invention connected with optical fibers can be used in applications such as micro robots, small-scale electrical and mechanical devices, and microbiology and medicine. According to another aspect of the present invention, the converter element of the present invention can be used as a six-axis accelerometer or a motion sensor by connecting a reference mass to a movable mirror assembly. According to another aspect of the present invention, the displacement converter element of the present invention can be used as a multi-axis displacement measuring device for general use. According to a further aspect of the present invention, a noise canceling element may be provided to reduce noise from environmental vibrations. For example, an accelerometer mounted on the base of the device can be used to offset false signals such as those caused by vehicle vibrations. Various concepts of the present invention can be applied to reduce costs and make conventional embodiments that are more lightweight. For example, the use of the mirror element of the present invention in combination with the optical converter circuit and the black point compensation device proposed by Hilton et al. Can facilitate the use of a single circuit board or a single-piece optical converter. In this example, the mirrors can be made stationary and the black point compensation device can be moved or the mirrors can be moved and the black point compensation device can be made stationary. Alternatively, the mirrors can be replaced by optical fibers or light guide elements to reverse the direction of each optical path or to disperse light from a single light source onto a light path having a suitable orientation and geometry.

Further embodiments of the present invention may incorporate a plurality (eg, six) of magnetic flux sensors such as Hall-effect converters or giant magnetic effect (GME) converters into a magnetic flux structure (for example, by using Single magnet build) on a single printed circuit board with multiple (eg, six) degrees of freedom movable. This embodiment can shield each magnetic flux sensor by using a magnetic control handle for flux conduction or a part of the flux path (for externally imposed magnetic field) provided around the magnetic flux sensor in any necessary direction. Not affected by ambient magnetic fields. For example, a ferromagnetic pole piece can be used to guide the magnetic flux by establishing a magnetic flux gradient on the magnetic flux sensor that can be easily measured, so that it becomes possible to detect the displacement of each flux path relative to each detector. For example, under each magnetic flux path, two flux detectors can intercept the flux along three paths. It can position and orient each magnetic flux sensor relative to each flux path, so that its motion sensitive axis falls on the vector product of its fe flux and the axis with the largest magnetic flux detector sensitivity relative to the maximum differential of displacement In the direction. Alternatively, a magnetic flux gradient type detector, such as a MEM device incorporating a micromagnet on a power converter, can be used in a similar manner, where the orientation of the sensitive axis with respect to the perceptron can be oriented as a second derivative of the flux density And optimize it. According to another aspect of the present invention, the line frequency noise can be filtered out from the output signal electrically. • 33- 200422920 According to another aspect of the present invention, an additional circuit can be provided on the circuit board with or without a separate resistor to provide a magnetic damping effect for the suspension-mounted assembly. This damping effect is useful in vibration-prone environments such as construction equipment applications.

Further embodiments of the invention may use elastomers or elastomeric structures to measure, for example, the deflection effect of a control handle. In a simpler form, this embodiment can be made to include a single conductive elastomer structure and associated electrical terminals connected thereto. It is preferable that the conductive elastomer has ionic conductivity, which will cause a smooth and useful strain impedance characteristic. On the contrary, an elastomer filled with conductive particles exhibits a relatively useless strain impedance characteristic. According to a further aspect of the present invention, a monolithic conductive elastomer can be constructed according to the shape of the Stewart platform or its functional equivalent structure. According to a further aspect of the present invention, a multi-stage conductive elastomer can be constructed according to the universal shape of the Stewart platform or its functional equivalent structure.

Alternatively, a conventional (like non-conductive) elastomer deformable structure is used to contain a dielectric fluid such as an electrolytic solution or a conductive fluid. The dielectric fluid or conductive fluid may cause the electrical contacts between the plurality of electrodes impregnated therein to change as the shape of one or more cavities containing the fluid is changed under the deformation of the deformable structure. In the case of using any of the aforementioned elastomer structures, 'because the elastomer generally has a higher elongation than the material of the metal or semiconductor strain gauge, it can make its measurement coefficient larger than that of the conventional strain gauge. The coefficient of measurement is much higher. According to a further idea of the present invention, a single cavity containing an electrically conductive or dielectric fluid in the elastic body can be constructed according to the shape of the Stewart platform or its functional structure. It is preferable to rotate the wall of this cavity in several orthogonal directions around -34- 200422920 to allow deformation in six degrees of freedom and relatively uniform solidity in different axes. According to a further aspect of the present invention, a plurality of cavities containing a conductive or dielectric fluid can be constructed according to the shape of the Stewart platform or its functional equivalent structure. According to a further aspect of the present invention, a deformable elastomeric structure can be provided, which is constructed by connecting a plurality of uniaxial displacement converters to it. This structure can be very inexpensive and facilitates the installation of an inexpensive displacement converter in a simple, zero-reaction manner.

According to a further aspect of the present invention, a plurality of cavities may be provided according to the Stewart platform or its functional equivalent structure, wherein each cavity may be connected to a pressure transducer device. According to a further aspect of the present invention, a plurality of solid devices may be provided in the elastomer structure, wherein the solid devices transmit strain to a converter device such as a MEMS device or a strain gauge.

According to a further idea of the present invention, various human environmental modification configurations in the present invention can be used in combination with video or other non-contact position sensors in place of the sensor devices disclosed herein. For example, a 12-axis joystick as shown in Figures 35a to 35g can be used to provide a harmonizing interface for each operator, while each control handle position can be completed, for example, by one or more video cameras And / or measurement of hand position. This configuration is excellent for some strategic applications that use video measurement to interpret the hand posture in a completely free form. According to a further aspect of the present invention, a plurality of launching sensing machines, such as those including a plurality of expansion cavities or engines, may be installed in a tandem manner to generate a serpentine machine device having many degrees of freedom. -35- 200422920 Many of the above-mentioned multi-axis joysticks can be used to generate, for example, six analog signals relative to the c, y, and Z axes in a non-linear manner into position and rotational deflection. Many alternative methods and algorithms can be used to derive signals with the necessary applicability from a converter with a multi-axis joystick. An example of a general method for deriving a useful signal is explained below.

The conversion can be multi-machine, and basically consists of linear diagonalization and non-linear scaling and correction. A cubic polynomial transformation can be used to achieve a non-linear mapping model from signal to output. A complete cubic polynomial with six input variables has a total of 6 * 41 = 245 7 6 coefficients and its calculation cost is too high to be practical. Better conversions can be made by approximating linear transformations to achieve diagonal output and followed by a total order of 3 (for example, 1, X, y, χΛ2, x * y, yA2, χα3, χΛ2 * γ , ΓΛ3) performs polynomial transformation. This requires 6 * 6 = 36 coefficients for the linear diagonal conversion and 504 coefficients for the non-linear cube part, which are both computationally feasible. An initial pre-transformation using 6 coefficients can be done on each product unit to describe the process variation within each individual perception benefit. It can be clearly marked according to the user's preference. For rescaling the translation amount, rescaling rotation amount, and center alignment (tare measurement method) for the output, 1 + 1 + 6 = 8 coefficients are required. For any particular prototype design, 36 pre-conversion coefficients and 504 non-linear conversion coefficients can be calculated as follows: each axis can be positive, zero, and negative within the 6_cube grid Sampling results in 3 Λ 6 = 7 2 9 sampling points at the center and each pole 5 (for example, center, front, direction direction, front direction left twist and dive twist, etc.). The least square solution can be used to apply these 36 linear conversion coefficients to achieve the best diagonalization of the output. Using coefficients of -36- 200422920 can linearly transform the sample data to produce a large linear data set. Then, for example, the linear least squares solution is used to apply 504 non-linear conversion coefficients.

-Once the design prototype has been calibrated, the same 36 pre-conversion coefficients and the same 504 non-linear conversion coefficients can be used on each product unit, but the alignment can be done for the first time or possibly before sale. One calibration of 6 perceptron zoom factors. Each user can clearly specify, for example, a single translation sensitivity coefficient and a single rotation sensitivity coefficient. During initial use and possibly throughout each use of the device, 6 coefficients can be used to center the output (tare measurement) to describe minor changes in temperature, orientation, or the weight of the user's hand. (IV) Embodiment A multi-axis input converter device may include: an element having at least five input terminals, which can be input with respect to at least five reference coordinate systems; and a reflective element, which is used to respond to the emission from A radiation source incident on the reflective element on the ground; and at least one reflective radiation detector for responding to radiation from the reflective element. The term "reflection" is used broadly to include the refraction of this radiation. Referring to the la (plan view), lb (cross-section elevation view), lc (cut perspective view), Id (elevation view), and le (cross-sectional view) diagrams, a six-axis rocker according to a preferred embodiment of the present invention is shown Pole. The active control handle 1 can be combined with reflective facets 2 a, 2 b, 2 c, 2 d, 2 e and 2 f. The reflective facets or reflectors can be aligned so that each reflective facet or reflector can reflect light from a light source or radiation source 4 (which can be a light emitting diode) to a specific location Photoelectric detection element or other anti-37- 200422920 radiation sensor. The photodetection element may be a photodiode, a phototransistor, a photoresistor, or other suitable photodetection device ', or an application-specific integrated circuit, such as an ASIC (for application-specific integrated circuits), used to direct light to another location. Chip). The active control handle 1 can be supported for positioning by a restoring element such as a coil spring 10, and the coil spring 10 can be positioned in the active control handle in an angular manner by the recess 1 1 and by the recess 1 2 is positioned in the base 3. A device such as a light blocking plate 6 may be used to prevent each of the detectors 5a, 5b, 5c, 5d, 5e, and 5f from being directly irradiated by the light source 4. The light baffle 6 may also be constructed so as to assist the light source 4 during welding, for example, and may allow the photodetectors 5a, 5b, 5c, 5d, 5e, and 5f to be positioned and oriented. This light shield 6 can be used to hold the printed circuit board 13 by screws 7. A holding device such as a screw 8 or a pin may be provided to limit the course of the control handle 1, and may allow the maximum course of the control handle 1 to fall on the photoelectric detection in which various reflector elements are incorporated in the control handle 1 Devices 5 a, 5 b, 5 c, 5 d, 5 e, and 5 f, and the optical element 4 and the measurement range of the optical element, and may allow the maximum process to fall within the elasticity of a recovery device such as a spring 10 Within range and within the various mechanical headrooms between the movable and stationary components. The contact characteristics between the holding device 8 and the associated socket 9 can be optimized by means of a static friction reducing element such as a coating or a bushing and / or an energy absorbing element. Referring to Figures 1a and 1d, the optical path 14 may not fall in a radial plane but instead follow a path that can be controlled by the position and orientation of various facet mirrors. With this configuration, the length and alignment of the six photodetectors can be used to uniquely define the active control handle in degrees of freedom such as X, y, ζ, Θχ, -38- 200422920, and Θζ. s position. Generally speaking, the brightness changes with the inverse square of the effective light path. The sensitivity of the brightness with respect to the position of the facet of the mirror can be maximized in the movement of any facet mirror along the vertical axis of the facet surface of the mirror. The axis perpendicular to the facet of the mirror may include a virtual octahedral hexagonal hatch or "Stewart platform". Movement along any axis perpendicular to the first axis does not have any effect on the optical path length. Extreme movements will of course cause the facet of the mirror to move completely out of the light path, but such extreme movements are unnecessary and can in fact be prevented by mechanical stops. The angular movement around the axis perpendicular to the facet of the mirror does not have any effect on the optical path length. Angular motion about any axis that falls in the plane of the mirror segment can cause lateral translation only within the reflection points of the optical path, ignoring only second-order effects on the distance of the optical path. The effective optical path distance corresponding to the zero position of the active control handle can be optimized as a design variable by the associated lens element of the light source, the photodetector, and / or by the curvature of each reflective facet. For example, a virtual image of the light source may be generated at a location closer than the distance corresponding to the physical optical path so as to obtain a larger change in brightness under the facet movement of a mirror with a given change. It is also possible to adjust the spatial distribution due to light source illumination and the spatial distribution of the photodetector's light sensitivity by using each lens element. At the same time, the alignment changes of the transmitters, mirrors, and detectors can be advantageously used to generate a photodetector signal representative of the facet position of each mirror. If any particular light path from the transmitter is skewed on the edge of the mirror or the edge of the detector assembly, any relative movement of the light path and the edge can produce a significant change in the measured light intensity. -39- 200422920 The functions and geometries discussed above can be equally applied to the designated embodiment, where a single photodetector labeled 4 in the embodiment in Figure 1 can be sequentially measured as shown in Figure 1 The light intensities of the plurality of light emitters 5 a, 5 b, 5 c, 5 d, 5 e and 5 f are shown. In this embodiment, for example, each light emitter can be circled by a circular pattern so that we can measure each individual light intensity and therefore its optical path distance. A single photodetector can be used to facilitate the use of a single analog to digital converter and perform a time doubling effect in a manner that is synchronized with the irradiation of multiple light emitters.

Referring to Figure 3, there is shown a cylindrical coordinate projection diagram incorporating one of many possible alternative electrical devices. The optical element shown in Fig. 3 may be the same optical element as shown in Fig. La, lb, lc, Id, le, and If. The photodetectors 5 a, 5 b, 5 c, 5 d, 5 e, and 5f can be physically distributed around the phototransmitter 4 into a hexagonal array as shown on the right-hand side of Figure 3, but can be simplified Position it directly behind each photodetector for the purpose. The facet mirror facet 2a can reflect the light from the phototransmitter 4 to the photodetector 5b. The mirror facet 2b can reflect the light from the phototransmitter 4 to the photodetector 5a. This pattern can be repeated for a total of six light paths, and its length defines the exact position and orientation of the active control handle and its facet facet in six degrees of freedom. As shown in the figure, the coil spring 10 (which is physically used to support the active control handle 1 shown on the left-hand side of FIG. 3) is electrically connected to the control handle 1 and the touch detection circuit 15. If necessary, the control handle 1 can be combined with a separate capacitive touch-sensitive switching element, or a mirror coating such as a coating on the facet 2a of the mirror can be used to perform the capacitive touch-sensitive switching function. The term "active control handle" is used herein to mean the part that is grasped and moved by the user on the multi-axis input device relative to the reference coordinate system of -40 · 200422920. As shown in the figure, the outputs of the photodetectors 5 a, 5 b, 5 c, 5 d, 5 e, and 5 f are connected to the amplifiers 18a, 18b, 18c, 18d, 18e, and 18f and the resistors. 19a, 19b, 19c, 19d, 19e, and 19f. As shown in the figure, the output of each amplifier is connected to a programmable interface controller (PIC®) 16 and each signal can be routed from this device to a signal receiving device 17 such as a computer or a robot. As shown in the figure, the shafting in six degrees of freedom is marked at the top of Figure 3.

Now dreaming according to Figure 4, although the figures 1 a, 1 b, 1 c, 1 d, 1 e, 2 and 3 are not shown as plane mirror facets, they can be used advantageously as shown in figure 4. The curved facets are shown to achieve greater sensitivity and resolution in special applications. The light from the transmitter 4 (hidden in the front view of Figure 4) can be focused by the facet facet 2a to form an image of the transmitter 4 at a distance L from the photodetector 5b. For the sake of brevity, the light between the transmitter 4 and the detector 5 b is not shown in FIG. 4.

Referring now to FIG. 5, there is shown a mirror assembly and active control handle 1 incorporating truncated mirror facets 2a, 2b, 2c, 2d, 2e, and 2f. Light impinging on the facets of each mirror can reach each of the photodetectors 5 a, 5 b, 5 c, 5 d, 5 e, and 5 f. A portion that hits the light absorbing surface 41 cannot reach such a detector. This arrangement is therefore sensitive to the relative movement of the edges of the mirror facets 2a, 2b, 2c, 2d, 2e and 2f. Referring now to FIG. 6, the single-piece photoelectric converter set combination shown therein includes: an outer box 4 4; photoelectric detectors 4 2 a, 4 2 b, 4 2 c, 4 2 d, 42e, and 42f; —Photoelectric emitter 43; and electrical connection structure 45. This one-piece converter is more robust than a printed circuit board-mounted converter, and because of -41- 200422920 this does not result from processing during manufacturing or due to, for example, high g forces falling on the floor Problems with misalignment. This one-piece kit combination can also be advantageously used for honing processing and therefore removes the collimating lenses that are standard manufacturing devices for most discrete photoelectric converter assemblies. Although not shown in Figure 6, this one-piece set can also be constructed to support the spring that supports the active control handle. Referring now to FIG. 7, the detectors 46a, 46b, 46c, 46d,

4 6 e and 4 6 f are positioned so that each optical path 14 is biased beside its edge. Each light path 14 is caused by a motion perpendicular to the edge of the active control handle 1 due to the motion, which may cause a change in brightness.

Reference is made to 8a (plan view), 8b (cross-section elevation view), 8c (cut perspective view), 8d (elevation view), and 8e (cross-sectional view), which show a sixth embodiment of the preferred embodiment of the present invention. Shaft rocker. The active control handle part 1a itself shown in Fig. 9 may be combined with reflective facets 2a, 2b, 2c, 2d, 2e, and 2f. It is preferable that the active control handle portion 1c to support the active control handle portion 1b has an elastomer having a low hardness gauge (its Shore hardness A < 40). This soft control handle portion 1a may be provided with a non-slip surface for reliable engagement with the fingertips of the operator with a minimum grasping force. The compliance of the control handle due to the low stiffness combined with a noticeable thickness reduces the contact stress on the operator's fingers and therefore helps prevent reduced blood circulation. The control handle portion 1 b may have a standard 0-ring shape. The control handle portion 1 c may be provided with a hole in the bottom portion. The external hole may be provided with a predetermined amount of headroom to be away from the space layer 21. It can be defined by the relative diameter of the hole 22 (the grommet can be taken into consideration when using it) and the space layer 21 • 42- 200422920

The active control handle moves in a horizontal plane. The vertical headroom between the control handle portion 1c and the base 3 and between the control handle portion 1c and the circuit board can provide a predetermined amount of vertical history. If so, the active control handle assembly can be limited to a predetermined allowable range of six degrees of freedom in the process. The control handle portion 1 a can be fixed to the spring 10 by the spring support groove 4 7 in the control handle portion 1 a. In turn, the spring 10 is fixed to the one-piece converter set combination 21 by the groove 4 8. The one-piece converter set combination 21 can be combined with a circuit board 13 that can extend radially outward to join the space layer 21 and the screw 23. Alternatively, additional separators may be used to mount the converter kit combination and to engage certain mounting devices such as the space layer 21 and screws 23.

Referring now to Figures 10a and 1 Ob, an enhanced range of motion of a traditional "rocker" type active control handle according to an embodiment of the present invention is shown, in which the protective and pressure-compensated bellows are shown in cross section . Converters 25 are similar to the converters shown in Figures 8a, 8b, 8c, 8d and 8e. It is necessary to make the converter a limited range of motion, especially if the converter is contained in the active control handle 24. Arranged as shown to provide additional range of translational motion along the following three axes: leaf springs 29 and 30 are mounted on the mounting block 28 in a fixed manner. The connecting block 35 nominally having the same height as the installation block 28 can be deflected up or down along the Z-axis without moving around the θχ axis. The installation block 36 can be connected to a plurality of beams 3 1, 3 2, 3 3 and 34, which in turn are connected to the connection block 35. The inertial momentum of each of the beams 31, 32, 33, and 34 about the Z-axis can be selected to provide a predetermined degree of firmness in the torque about the Z-axis. Nominal -43- 200422920 The spacings of the beams 3 1, 3 2, 3 3, and 3 4 on the connection block 3 5 and the installation block 3 6 are the same. Therefore, the horizontal deflection of the installation block 36 will not cause the active control handle to twist around the Ox or © y axis. when necessary

The nominally equal intervals of the elastic elements at various installation points can be adjusted to achieve the coupling effect of the control amount on various rotation and translation axes. The bellows 2 6 series is similar to the bellows used in conventional designs, except that an additional fold is provided thereon to provide compliance around the θ z axis. The bellows 27 can compensate for changes in the air volume in the shell 37 due to the Z-axis movement of the bellows 26. It is preferable that the bellows 2 7 is connected to the connection block 35 so that the movement of the bellows 2 7 can be directly driven by hand, so the bellows 2 7 may be caused by the sufficient air pressure difference 7 will not lag behind until there is a sudden movement of motion 'The movement of the bellows 2 7 may in turn cause the bellows 2 6 to appear unintentionally, and thus cause the converter 2 5 to suddenly appear to move and thus cause false signals. The small size of the converter 25 facilitates the use of the control handle 24, wherein the control handle 24 is small enough so that even when the operator touches his thumb

Refers to a reliable grip when activating standard game-type joysticks or triggers. Referring to Figures 11a, lib, lie, and lid, the permanent magnet 53 can be supported between the (magnetic) spring-type control handle 56 and the (magnetic) magnetic pole piece 52 by a (non-magnetic) tack 55 and a nut 54. The lower end of the (non-magnetic) spring 10 can be fixed to the (non-magnetic) spring platform 5 1 (shaped so as to be able to be engaged with the spring 10). Six magnetic flux sensors such as Hall-effect sensors 50a, 50b, 50c, 50d, 50e, and 5Of can be fixed to the printed circuit board] 3 1 'and performed Positioned so that it can be suspended by a spring assembly (including magnetic control handles-44- 200422920

1. Spring-type control handle 5 6, Tack 5 5, Nut 5 4 and Magnetic pole piece 5 2) Displacement along any translation axis or about any rotation axis from the combined magnetic flux sensors 50a, 50b, 50c, 50d, 50e, and 50f produce unique output signals. The magnetic pole piece 52 may be provided with three magnetic poles 52a (falling between the magnetic flux sensors 50a and 50b), 52b (falling between the magnetic flux sensors 50e and 50f) and 5 2c (falling between the magnetic flux sensors 50c and 5) 0d). Each magnetic pole falling in its zero position can be accurately positioned between its individual magnetic flux sensors in an angled manner relative to the Z-axis. In the elevation view, each magnetic pole is positioned above a plane defined by the position of each magnetically responsive element in each magnetic flux sensor. In this way, a signal pattern that uniquely represents the position of the spring suspension assembly can be generated from the area magnetic flux of each magnetic flux sensor and the constant product of the axis with the greatest sensitivity. A shape similar to a hexagonal hatch or Stewart platform can be defined in space by six vectors with maximum sensitivity (the largest change in the position of individual magnetic flux sensors relative to individual magnetic poles). The space layer 21 and the magnetic pole piece 52 may be shaped to limit the course of the spring installation type assembly to a horizontal plane or to rotate about the Z-axis. The spring-mounted type assembly (along the Z-axis) can be restricted from moving downward by engaging the end of the tack 55 with the printed circuit board 13. The upward movement of the spring-mounted assembly can be restricted by engaging the magnetic pole piece 52 with the spring-type platform 51. Of course, the contact surfaces of the magnetic pole pieces 5 2, the space layer 21, the circuit board 13, and the spring-type platform 51 can be appropriately covered with a non-abrasive impact absorbing material. This can be accomplished, for example, by applying a rubber coating to the magnetic pole pieces 52 and combining the wear-resistant flat plate connected to the top of the circuit board 13 with a smooth oak nut as the nut 54. A comfortable control handle such as a soft rubber sleeve can be applied to the outside of the control handle 1 -45- 200422920. Preferably, each magnetic flux sensor is an integrated circuit such as a linear Hall-effect sensor manufactured by Allegro Microsystems with a model number of 3 5 03 ratio, which includes an amplifier for subsequent use. Signal processing. Its signal processing can be accomplished by one of countless known methods, such as an analog-to-digital converter board manufactured by Microchip or a programmable interface chip (PIC®). Optionally, a degaussian coil can be added to the assembly to reduce any unnecessary conventional magnetization.

Refer to Figure 12 for a plan view of the magnetic flux path without the magnetic control handle. Refer to Figure 13 for a plan view showing the magnetic flux path under the magnetic control handle. Referring to Fig. 13a, it is an elevation view showing the magnetic flux path 57. The regenerative magnetic flux path can be used through this control handle to allow the flux to be brought farther away from each magnetic pole, resulting in better mechanical headroom and a larger range of motion and more ergonomics.

Referring to Fig. 14, a circuit board 13 having magnetic flux sensors 50a, 50b, 50c, 50d, 50e, and 50f is shown. The damping circuits 58 and 59 may be provided to perform a function similar to the damping winding (Amortisseur) in the rotary electric machine. Separate resistors may be selectively provided in the damping circuits 58 and 59. Referring to FIGS. 15 a to 15 e, the control handle 1 can be connected to the elastomer sensing element 60. It should be noted that the words "upper side" and "lower side" are used only to describe the drawings and are not intended to limit the scope of any disclosure or patent application related to the present invention. The various multi-axis input devices described here can be operated in any orientation relative to -46- 200422920 gravity.

The lower end of the elastomer sensing element 60 (which may be a conductive elastomer element having a free conductivity) may be fixed to the pillar 63, and the pillar 63 is fixed to the base portion 64. Electrical terminals 6 1 a, 6 1 b, and 6 1 c can be applied to the upper end of the sensing element 60. Each of the electrical terminals 62a, 62b, and 62c can be applied to the lower end of the elastomer sensing element 60. Each electrical terminal can be used to mechanically connect the control handle 1 and the post 63 to the elastomer sensing element 60. The lower printed circuit board 67 and the upper printed circuit board 66 can be used for electrical connection with the elastomer sensing element 60. The upper circuit board 6 6 can be fixed to the elastic body sensing element 60 by the holder 68, and can be fixed to the control handle 1 by the holder 69. The circuit board 62 can be clamped between the support 63 and the elastomer sensing element 60 through the holder 65. The holder 65 may also play the role of connecting the pillar 63 to the base portion 64. Referring to FIG. 16, the upper circuit board 66 can be constructed to facilitate the connection of a plurality of holders 69 and the control handle 1. Referring to FIGS. 15 a to 15 d again, it is preferable that the electrical terminals 6 1 a and 6 1 b and 6 1 c be 1 2 0. The angles are equally spaced. It is also preferable to make each of the electrical terminals 62a, 62b, and 62c 1 2 0. The angles are equally spaced and offset from each upper electrical terminal by 60. angle. In this way, the electrically conductive elastomer sensing element 60 incorporating various electrical terminals can function as a variable resistance circuit as shown in FIG. 17. I should note that Figure 17 is a plane representation of a three-dimensional circuit. It can be regarded as the elastomer sensing element 60 shown in Figures 15 a to 15 e along the electrical terminals. 61a, 6lb and 61c and 62a, 6 2 b and 6 2 c intersected by a circular or hexagonal pattern cut-away cross-sectional illustration. Re -47- 200422920

Referring to FIG. 17 next time, for example, a variable resistor 70a is used to represent a variable resistor between each of the electrical terminals 61a and 62a that can be changed as the elastomer sensing element 60 is deformed. The three-dimensional circuit may have the general shape of the engine geometry of a Stewart platform. It is important that the six degrees of freedom of the deflection effect of the elastomer sensing element 60 can be uniquely surfaced as resistive electrical characteristics between the electrical terminals 61a, 61b, 61c, and 62a, 62b, and 62c. The elastomer sensing element 60 can be made from a wide variety of materials. In one embodiment of the present invention, the elastomer may be a solid solution in which metal salts are dissolved in a polymer, as in US Patent Nos. 5,8 9 8,0 5 7 and Products described in Documents 6,063,499, 6,111,051, or 6,184,331 or are commercially available from Mearthane Products. In the case where a metal salt is dissolved in a polymer to form a solid solution, it is preferable that the electrical excitation signal has alternating polarities. Such an elastomer is hereinafter referred to as having ionizing conductivity. For example, a three-phase AC power supply as shown in Figs. Alternatively, the elastomer sensing element 60 may be an "intrinsically conductive polymer" such as polyaniline (PAni) developed by the company Zipperling Kessler or a blend of such polymers. Alternatively, a polymer having a conductive filler can be used, but it is not a good choice because of its non-harmonicity and often exhibits nonlinear strain impedance characteristics. Referring to Figures 18a, 18b, 18c, and 18d, which are used to show various schematic diagrams of an elastomer sensing element 60 according to another embodiment of the present invention, wherein the upper electrical terminals are labeled as 61a, 61b, and 61c and each is Electrical terminals are labeled 62a, 62b, and 62c. This embodiment is better than that shown in Figures 15a to 15e because the current through the equivalent resistances 71a, 71b, 71c, 72a -48- 200422920, 72b, and 7 2c not shown in Figure 17 is reduced or eliminated Shown in the embodiment. In addition, by controlling the shape and angle of the elastomer "pins" 70a, 70b, 70e, 70d, 70e, and 70f, the mechanical rigidity along each axis can be quickly adjusted. Referring to Fig. 18e, a representative equivalent circuit is shown, in which variable resistors 70a to 70f represent "pin" resistors having the same sign in Figs. I8a to 18d. According to Figures 19a, 19b, 19c and 19d, they are used to show a further embodiment of the present invention, in which a plurality of discrete elastomer sensing elements 75a, 75b, 75c are shown. , 75d, 75e, and 75f replace the single elastomeric sensing element 60 of the previous figure. The elastic body sensing elements can be fixed to the upper circuit board 66 and the lower circuit board 67 by each of the electrical terminals 7 2 a to 7 2 f and 7 3 a to 7 3 f. The upper circuit board 66 and the lower circuit board 67 can be fixed to the control handle, the pillar or the base portion in a manner shown in other drawings. The size and shape of the separate sensing elements can be selected to optimize the solidity characteristics, strength, and environmental modification sensation along each axis. The reference to FIG. 19e is used to show a representative equivalent circuit corresponding to a plurality of elastomeric sensing elements as shown in FIGS. 19a to 19 (1. Refer to FIGS. 20a and 20b, respectively. It is used to show a plan view and a cross-sectional view according to another embodiment of the present invention, in which a cavity containing a conductive liquid or gel referred to below as an "electrolyte" is disposed within the deformable elastomer structure 7 7. The following is to A deformable element containing an ionizing conductive liquid is called a deformable liquid element. The following describes a deformable element containing an ionizing conductive gel as a deformable gel element. It can be extended, shortened, diluted, narrowed, -49- 200422920

The electrode shading effect causes such deformable elements to deform relative to their resistance. A plurality of electrical terminals 81a, 81b, 81c, 82a, 82b, and 82c may be provided to connect appropriate circuits to measure the resistance along each axis. It is preferable that each of the upper electrical terminals 8 1 a, 8 1 b, and 8 1 c be 1 2 0. The angles are equally spaced, and it is preferable to offset them from each of the lower electrical terminals 82a, 82b, and 82c by 60. The angle 'where each lower electrical terminal is also 1 2 0. The angles are equally spaced. The outer edge of the elastomer structure 77 can be stabilized in the radial direction by the insert 78. A cover 80 may be used to shield each of the electrical terminals 8a, 8! B, and 81c. The support 79 can be used to secure the elastomeric structure 77 to the pillar 63.

Now the dream photos 2 1 a to 2 1 f are respectively used to show a plan view and a cross-sectional view according to another embodiment of the present invention, in which a plurality of electrolyte-containing separations such as a long rubber water pipe 8 3 are provided. Style elastomeric element. The electrodes 82 and 83 can be firmly held by the water pipe clamp 84. The electrodes 82 and 83 can be positioned by the mounting platforms 85 and 86 and used to transmit various forces applied thereto. The deflection of each mounting platform 85 and 86 with each other can cause a unique electrical impedance pattern between each of the electrical terminals 8 1 and 82. The stretching action of any one of the elastomeric elements 83 can cause a longer distance between each electrode and the electrolyte having a narrow cross-section and thus a higher resistance. Preferably, the resistance measurement can be performed with a standard amplitude modulation detection circuit with an excitation signal having alternating polarities. Reference is now made to Fig. 22, which is a cross-sectional view taken along a hexagonal path according to yet another embodiment of the present invention. The various stages of manufacturing and assembly can be marked as follows: The elastomer structure 8 7 can be cast with the pins 8 8 dropped in position. Removing the pins 8 8 leaves a cavity 8 9. Plug the electrode into the bottom of the elastomer structure 8 7 -50- 200422920. The cavity 8 9 塡 is then filled with an electrolyte 9 2. Then, the upper electrodes 93 are plugged to seal the electrolyte 92 into the cavity 89. The combination of the sensing element parts in this embodiment can be completed by each of the electrical connection structures 94. Referring now to FIG. 23, there are shown two sensing element assemblies whose six sensing element assemblies can provide higher sensitivity than the embodiment shown in FIG. 22, for example. Compared to the height of the elastomer structure 87, the nominal distance between the upper electrode 95 and the lower electrode 96 is very small, which can cause a relatively large electrode spacing under a given deflection of the elastomer structure 87. Variety.

Referring now to Fig. 24, the illustrated embodiment requires that only a single electrode assembly 97 be inserted into each cavity of the elastomeric structure 87. This embodiment can be manufactured in a simpler manner and is less affected by the small amount of air that enters the cavity during assembly.

Referring now to Figures 25a, 25b, and 25c, there is shown another embodiment of the present invention, in which the deformable elastomeric structure 100 may contain a plurality of internal solid elements 9 9 which are used to The selected axis couples the 1000 strain of the elastomeric structure to an easier measurement by a small device such as an array of printed circuit board strain gauges or one or more MEMS force sensors. Strain on. Reference is now made to Fig. 26, which is a partial schematic view showing another embodiment of the present invention, in which each solid element 99 is coupled to the pressure sensing device 101 through a fluid-filled passageway 102. Referring to FIG. 2 and FIG. 7, it is a cross-sectional view showing another embodiment of the present invention, in which a deformable elastomer structure 7 7 is provided to connect the displacement measuring device 103 to a common space in a pivoting manner. Position 104-51-200422920 in cavity 105. The rigid insert 78 provides radial firmness on the outer edge of the deformable elastomeric structure 77. Preferably, six measuring devices 103 can be provided according to the geometry of the Stewart platform. Reference is now made to Fig. 28, which is a partial cross-sectional view showing another embodiment of the present invention, in which each displacement measuring device 103 is fitted into a separation cavity of an elastomer structure 100. Referring now to FIG. 29, which is a partial cross-sectional view showing another embodiment of the present invention, in which a displacement measuring device such as a variable inductor or a differential converter is mounted on a deformable elastomer structure Inside the separate cavity φ. The embodiment shown in the figure can further provide a single cast ball chair 104 for each individual converter 103. Fig. 29 is a partial cross-sectional view showing two converters 103 of a preferred number of six converters 103 oriented according to the structure of the Stewart platform. The spherical part 106 of the converter assembly 103 can be seated in the cast-type spherical chair 104 of the elastic body 100. The transformer core 105 is characterized by its sphere outer diameter that slides within the coil assembly. The pole part 10 07 can connect the ball part 106 to the transformer core 105. Referring now to FIG. 30, the inductance of the elastic structure 100 inner coil spring 108 can change as the elastic structure 100 deforms and changes its length. It can measure its inductance variation to establish the deformed electronic representation of the elastomer structure. Referring to FIG. 31, the elastic body structure 100 is characterized in that the coil or the coil spring 108 is provided with an expansion cavity 89. Each expansion cavity 8 9 can be connected to an external compressed fluid or gas source by means of fittings 10 9 and water pipes 1 10. It is preferable that the number of expansion cavity 8 9 can be set in the elastomer structure 100 according to the Stewart platform structure -52- 200422920. With this embodiment, a power feedback or "haptic" type joystick can be constructed. A combination of six components as shown in the figure can be called a "machine" with an engine. By installing a plurality of independently operated "machines" in an end-to-end manner, it is possible to construct ~ mechanical snake-like devices with great flexibility and control. Such a multi-machine device is useful for, for example, catheter manipulation for medical applications. Preferably, such a multi-machine device control can be performed by a single pressure manifold in combination with a MEMS valve assembly, and more preferably, a single digital data stream can be performed for this MEMS valve assembly. Address and launch. In this way, a single pressurized gas line combined with a single data stream can be placed in the center of the extended multi-machine engine that falls within a structure similar to the vertebrae's spine. Referring now to Figures 3 2a to 3 2d, there is shown another embodiment of the present invention, in which a gel-filled wrist rest 1 1 1 and a digital keyboard i 2 are used to use a gel-filled electrolyte. Deformable elastomer structure 77 (similar to those shown in Figures 20a, 20b). The axis of symmetry of the deformable elastomeric structure 77 can be tilted out of the vertical direction to allow the user's hand to be in a comfortable and relaxed position. Normally, the bottom portion 64a of the base portion 64 can be flatly rested on a horizontal surface such as a desk. Referring now to FIGS. 3 to 3, another embodiment of the present invention is shown, in which the left half 1 1 3 of the game controller 1 1 6 is connected to the game controller 1 1 6 through a multi-axis sensing element 1 1 5 The right half 1 1 4. With this embodiment, all the conventional characteristics of the two-handed game controller can be retained while adding, for example, six additional degrees of freedom. -53- 200422920 Referring now to Figure 34, there is shown a wrist-worn device according to another embodiment of the present invention, wherein the base portion 1 1 9 is fastened by the hand strap 1 1 7 and the wrist strap 11 8 It is firmly fixed on the user's hand 120. The active control handle 1 can be connected to the base portion 1 1 9 through the sensor portion 1 2 1.

Referring now to Figures 3 5 a to 3 5 g and 3 6 a and 3 6 b, a photo of a device model according to another embodiment of the present invention is shown, in which twelve can be quickly controlled by one hand Degrees of freedom. A fingertip-operated control handle 1 2 2 can be connected to the hand-held control handle 1 2 3 by a sensing device (not shown). It is preferred that the diameter of the fingertip-operated control handle 1 22 be 1 to 1 1/2 inches to facilitate the novelty level of lightness of the sensing device disclosed in the present invention. An additional sensing device for measuring the input of the hand-held control handle can be positioned on the hand-held control handle 1 2 3 or on or within the connection coupler 1 24, or by, for example, video volume This is achieved by an external device such as a test device. Referring now to Figures 37a, 37b, 37c, 38a, 38b, and 38c, the display

Is a photograph of a device model according to another embodiment of the present invention, wherein a handheld fixed control handle 125 can be used to stabilize the user's hand while simultaneously * manipulating multiple, for example, the user's thumb, index and middle fingers Six degrees of freedom. Referring now to Figures 3 to 9, there is shown one of many examples of alternative circuits in accordance with an embodiment of the present invention. Referring to FIG. 40a, it is a perspective view showing an elastic body sensing element according to an embodiment of the present invention. Reference is now made to Fig. 40b, which is a cross-sectional view showing the sensing element shown in Fig. 40a. • 54- 200422920 Referring now to FIG. 41, it is a front view showing a device incorporating a plurality of conductive elastomeric tensile members according to an embodiment of the present invention. Fig. 42 'is used to show one of several representative circuits according to an embodiment of the present invention. Reference is now made to Fig. 43 which shows one of several representative circuits according to another type of embodiment of the present invention. Reference is now made to Fig. 44, which is a schematic diagram showing an example of a cavity having an almost Stewart platform shape and filled with an electrolyte in a deformable elastomer sensing element according to an embodiment of the present invention. Φ Referring now to Figure 45, it is a circuit diagram showing a device corresponding to the embodiment shown in Figure 44. Reference is now made to Fig. 46, which is a sectional view showing a device according to an embodiment of the present invention. Referring now to Fig. 47, there is shown an example of the implementation of an electrical signal, in which the voltage table A ^ B and C are added to the table shown in Fig. 1 5a to 1 5e. The table is 6 1 a, 6 1 b and 6 1 c. For example, by measuring the voltages and phase angles applied to the voltages D, E, and F that can be obtained on a set of terminals shown as 62a, 62b w and 6 2 c in the embodiment shown in the diagrams 15a to 15e, Gain location information in six degrees of freedom. Referring now to Figure 48, there is shown a printed circuit board configuration that can be used in conjunction with the embodiment shown in Figure 46. Referring now to Figures 4 9 a, 4 9 b, 4 9 c, and 4 9 d, the rocker shown features a base 64 with a gel-padded wrist rest Π1 that allows the user to comfortably clamp the base Seat 6 4 makes it stable against such as Book-55- 200422920 during joystick control

Supporting surface like a table. The pillar 63 is connected to the base 64 and molded to prevent excessive rotation or horizontal movement of the lower control handle portion 1b. The lower control handle portion 1 b is shaped accordingly to allow it to perform necessary but not excessive movements around the pillar 6 3. The movement of the lower control handle portion 1b is restricted by the base 64 in the downward direction and restricted by the pillar 63 in the upward direction. The diaphragm 2 can be rotated in several directions to provide elasticity in six degrees of freedom and to protect the optical element from dust and insects. The spring 10 provides a restoring force for the control handle portions 1 a and 1 b and provides positioning of the upper control handle 1 a relative to the phototransmitter 4 and the photodetector 5 through the holes 10 a and 10 b. It is also possible to provide positioning of the lower control handle 1b with respect to the pillar 63 by the spring 10. As shown, the spring 10 has three-way symmetry. The spring 10 may have any number of structures, such as a two-way symmetry, or may be constructed to have a single gyrating element. The upper control handle la is characterized by an inner surface having an absorption region lc and a reflection region id. The transmitter 4 can be made to aim directly at the boundary between the absorption region 1c and the reflection region 1d. Each photodetector 5 can have a wide field of view and each photodetector 5 can respond to reflected light from several phototransmitters. If one phototransmitter is energized at a time, all photodetectors, such as photodiodes, can be electrically connected in parallel and connected to a hybrid integrated circuit such as a PIC® device manufactured by Microchip On a single analog input path. This device can be mounted directly on the circuit board 13 together with other electronic components required to directly activate each of the phototransmitters 4 or to derive signals from each photodetector 5. In this example, the diameter of the upper control handle la as shown in Figs. 49a, 49b, 49c and 49d is 53 m -56-200422920 meters. Referring now to Figures 50a and 50b, there is shown a device incorporating a one-piece photoelectric converter according to an embodiment of the present invention. The pillar 6 3 may be connected to the base 64 and shaped to prevent excessive rotation or horizontal movement of the lower control handle portion 1 b. The lower control handle portion 1b is formed accordingly to allow it to perform necessary but not excessive movements around the pillar 63. The movement of the lower control handle portion 1 b is restricted by the base 64 in the downward direction and restricted by the pillar 63 in the upward direction. The diaphragm 2 can be swiveled in several directions to provide elasticity in six degrees of freedom and to protect the optics% from dust and insects. The spring 10 can provide the restoring force for the control handle portions 1 a and 1 b and provide the positioning of the upper control handle 1 a with respect to the phototransmitter 4 and the photodetector 5 through the holes 10a and 10b. The positioning of the lower control handle 1 b relative to the pillar 63 can be provided by the spring 10. As shown in the picture? Early yellow 10 has two-way symmetry. The Tadpole 10 may have any number of structures such as two-way symmetry or it may be constructed to have a single gyrating element. The upper control handle 1 a is characterized by having an inner surface with an absorption region 1 c and a reflection region 1 d. The transmitter 4 4 c can be aimed directly at the boundary between the absorption region 1 c and the reflection β region 1 d. Each photodetector 44b can be provided with a wide field of view and each photodetector 5 can respond to reflected light from a plurality of photoemitters. Figures 50a, 50b, and 50c are drawn to scale so that the diameter of the upper control handle 1 a is 40 mm in diameter, so it is better to be operated and retained by the user's thumb, index and middle fingertips The user's other fingers can grab other devices such as a mouse or joystick that can be connected to the base 64. -57- 200422920 Referring now to Figure 50c, the one-piece optical converter 44 is shown in Figures 50a and 50b. The one-piece optical converter 4 4 includes a substrate 4 4 e, which can be a printed circuit board, six separate phototransmitters 4 4 c, and six separate photodetectors 4 4 b, each of which can be packaged in Inside a transparent vehicle such as epoxy. The transparent medium can be surrounded by an opaque medium to prevent direct transmission of light between each photo-emitter and photo-detector. A reflective coating may be applied to the outer surface of the transparent medium 44h before, for example, casting with the opaque medium 4 4 i. Each connection pin 44a may use an interface such as USB to provide power to the device and to send data from the device. The mixed-signal microcontroller 44d and other necessary components may be mounted on a substrate 44e and packaged with a resin system 44h and / or 44i. In this way, a low-cost rugged converter package can be manufactured. Referring now to Figures 51a, 51b, 51c, 51d, 51e, 51f, and 51g, an embodiment according to the present invention is shown in which a six-axis joystick is connected to a three-axis mouse 64a. The mouse can be shaped to allow the user's wrist to be substantially vertical and thus allow the mouse base to perform a wider range of z-axis rotations. ® The shape shown in the figure also helps the user's ring finger and little finger to firmly hold the mouse part against the user's palm. The bulge between the palm of the user and the curved fingers can further strengthen the firm grip. The 40mm diameter joystick allows users to manipulate with thumb, index and middle fingers. The bottom surface of the mouse features a traditional optical mouse converter with two sets of offsets. Although a set of converters at two positions only needs to measure the movement of the X axis, each set of converters can measure the movement of the X and y axes. For the purpose of naming -58- 200422920 ′ make each group of converters fall on a line segment parallel to the y-axis direction. The third mouse axis can be derived from the z-axis torsion of the mouse which can cause differential output in two X-axis converters. The device shown in the figure provides nine degrees of freedom. Buttons may also be provided around the periphery of the six-axis rocker base. A small ten-key pad can be added to the top of the unit.

Referring now to FIG. 52, there is shown another embodiment according to the present invention, in which a rocker 1 is used to control a piece of construction equipment 1 3 1 in this example a mounting machine and a removable tool 1 3 3 In this example, the hexagonal hatch adapter 1 2 6 is the spatial relationship between the storage baskets. Various other tools such as stackers, multi-jaw anchors, lifting booms, saws, hammers, drills, cone drills, lawn mowers can be controlled in a similar manner. A machine conception sensor 13 such as a video camera may be used to determine the posture of the interlocking device 1 27 relative to the joystick 1 in a machine manner. A machine conception sensor 130 can also be used to sense the posture of the hexagonal hatch adapter 1 2 6. The posture of the hexagonal canopy adapter 1 2 6 can also be interpreted by a machine conception device such as a video camera or a scanning laser beam. Such a laser beam can be used, for example, to scan reflective labels on six compressive members. The timing of the reflected signals can be used to position the hexagonal hatch adapter 126. Various other machine-conceived strategies can also be used. Alternatively and connectedly, postures can be summarized from discrete sensors such as MEMS (micro-electro-mechanical systems) devices 126c connected to hexagonal canopy pressure-resistant members and MEMS devices 126b and 126d connected to 128 and 132. Information. Further, MEMS devices (which can be, for example, accelerometers or angular rate sensors) 1 27a and 1 29a can be connected to various parts of a machine interlocking device. This device can be connected magnetically and preferably wirelessly -59- 200422920 to send information. Appendix A shows a general approach to determine the position, angular velocity, and angular acceleration of a mechanical component based on MEMS accelerometer data. The general approach can be used to determine the position, angular velocity, and angular acceleration of multi-connected interlocking devices such as robotic arms, hexagonal hatches, and combinations thereof. Referring now to Figure 53, there is shown a local general control configuration that can be used in conjunction with the embodiment shown in Figure 52. The slave platform 1 3 2 can be controlled by the user with the joystick 1. The computer can use machine vision sensor 130 and / or separate sensor 127a5 127b, 126c and 126d to continuously adjust the coordinates to meet the user's reference coordinate system. A conventional absolute angle and position encoder can also be used. Can be used hydraulically Hydraulic valve manifolds 1 3 7 that can receive power from hydro-generators 1 3 6 through motion controllers 1 3 4 to control hexagonal hatch-type pressure-resistant members 1 2 6. Electricity can also be supplied to the transceiver 1 3 5 by a hydro-generator 1 3 6. The transceiver 1 3 5 can receive movement instruction data from the transceiver 1 3 8. This strategy can be applied to a wide range of machines and equipment. This equipment does not require permanent installation and is suitable for leased construction equipment. Generally speaking, the attitude setting system only needs to align the hexagonal hatch cover, for example, the reference coordinate system with the operator's reference coordinate system in a sufficiently reasonable manner. The absolute position feedback can be provided directly to the operator's sight or hearing in a manner independent of the control system. Alternatively, a (haptic) joystick can be used to provide tactile feedback. As is readily understood from the foregoing description, the basic idea of the present invention can be implemented in various ways. This also involves multi-axis input techniques and devices to complete the appropriate method. In the present invention, it is disclosed that the multi-axis input technology is regarded as a part of the result to be achieved by various described devices, and is regarded as an application-specific step. This is but a natural consequence of using each device as intended and explained. In addition, when revealing some installations, I should understand that not only some methods are completed, but they can be achieved in different ways. Importantly, as can be understood from all the previous descriptions, such facts belong to the disclosure of the present invention. The discussion contained in this invention attempts to play a basic illustrative role. The reader should be aware that not all possible implementations need to be explicitly specified with specific instructions

Examples and various alternative embodiments can be described in an implicit manner.尙 What is not fully explained is that the true characteristics of the present invention may not clearly show how each device or component is actually represented as a wider function or a wider variety of alternative or equivalent components. Again, such elements are implicitly included in the disclosure of the present invention. While the invention is described in terms of device-oriented terminology, each element implicitly performs a certain function. Not only has the device been described to include various devices within the scope of the patent application, but also various methods and procedures within the scope of the patent application have been included to emphasize the function performed by each element of the present invention. It is not intended to limit the framework of the patent application scope of the present invention contained in the complete patent application document by the description of the present invention or each proper noun. I should also understand that various changes can be made without departing from the spirit and structure of the scope of patents attached to the present invention. Such changes are also implicitly included in the description of the present invention. Such changes still fall within the framework of the invention. The broad disclosure also includes two explicitly shown embodiments, that is, various clear alternative embodiments. The disclosure of the present invention includes various broad methods or procedures and depends on the scope of the patent application to support a complete patent application document. What I should know is that this invention is based on a temporary archive of -61- 200422920 to complete this type of language conversion and the broad scope of patent application. This patent application is used to examine the broad basis of the scope of the patent application as the applicant's rights and is designed to independently generate a patent document covering several concepts of the present invention as a whole system . In addition, each of the various elements in the scope of the invention patent can be achieved in various ways. I should understand that the disclosure of the present invention can cover every such variation, as long as it is a variation of any device embodiment, method or sequential embodiment or even just variations of such elements. In particular, we should understand the disclosure of the elements of the present invention, and even if the function or result is the same, the equivalent device or method can be represented by the term of each element. What should be considered is the inclusion of such equivalent, broader or even more real terms in the description of each element or function. Tannical nouns may be substituted as necessary to explicitly indicate implicit broad nouns that may encompass the present invention. However, like an example, what I should know is to list all actions as the device used to perform the action or the element used to cause the action. Similarly, we should understand that each type of physical element disclosed in the present invention contains disclosure content that is beneficial to the function of the physical element. Regarding the last thought, but like an example, on the contrary we should understand that the detection action covered by the "detection device" or "detector" (whether or not explicitly discussed) means " Effective disclosure of "detection actions" What I should understand is that this type of disclosure covers the disclosure of "detectors" and even "detection devices". It is understood that such alterations and alternative nouns are expressly included in the description of the invention. The patent documents, publications, and references mentioned in the present invention are incorporated herein as references for this patent application. In addition, I should understand every noun used here, unless the present invention uses the noun in a way that is inconsistent with this interpretation, the traditional and commonly used dictionary definitions can be understood as a combination of References All definitions, alternative nouns, and synonyms included in the Weber Uncensored Dictionary (Second Edition), published by Random House. Finally, please attach all references listed in the patent application, other information statement or reference list to be sent with the patent application; however, each of the above terms can be incorporated into the reference in this category When the scope of the information or statement is deemed to be inconsistent with the present invention, such a statement is clearly deemed to be not a statement made by the present invention. Therefore, the applicant of the present invention should understand at least the following applications: i) as each input device disclosed and described herein; π) related methods disclosed and described; iii) similar to each such device and method, Equivalent and even explicit variants; iv) those alternative designs that perform each of the functions shown in a way that is disclosed and explained; v) those that perform the shown in a way that implicitly does the work that is disclosed and explained Alternative designs and methods for each function; vi) each feature, component, and step shown in a separate and independently invented way; vii) applications enhanced by the various systems or components disclosed; viii) The final product made by the system or component; ix) methods and devices that can be implemented substantially as described above and with reference to any attached examples; > various combinations and permutations of each disclosed element; xi ) Depends on each and every potential patent application scope or concept proposed separately and every potential patent application scope or concept; xii) -63- 200422920 program executed with or without computer aided method; xiii) Programmable planning device implemented as described throughout the discussion above; Xiv) Contains coded data for management including t Computer-readable memory of a computer that operates as a device or component as described in the discussion above; XΛ〇 A computer constructed in the manner disclosed and illustrated herein; xvi) Separately or implemented in the manner as disclosed and illustrated herein Combined subroutines and programs; XV ii) related methods disclosed and explained; X viii) similar, equivalent, and even explicit variants of each such system and method; xix) those that follow the methods disclosed and explained Complete alternative designs for each function shown; XX) Those alternative designs and methods that implicitly complete each function shown for φ in the manner disclosed and illustrated; xxi) independently invented separately Each characteristic, component, and step shown in the method; XX ii) Various combinations and permutations made up of each of the above. I should also understand that for practical reasons and in order to avoid adding hundreds of potential patent applications, the applicant finally proposed a scope of patent applications that contained only the initial subsidiary items. What I should know is that there is a necessary level of support items (including but not limited to the European Patent Agreement Article 123 (2) and the US Patent Law 35 USC 132 or other such legal orders) under the new relevant decree to allow Add various subsidiary items proposed under an independent patent application project or concept or any other subsidiary project of any element or element as a subsidiary project or element under any other independent patent application project or concept. In addition, if or when used, the transitional term "compassion" will be based on the interpretation of traditional patent applications to maintain the "open-end" patent applications described herein. Therefore, unless otherwise required by the text, I should understand that trying to imply the inclusion of stated elements or steps with the word "comprise" or variations such as "comprises" or "comprising" -64- 200422920 or Is a set of elements or steps but does not exclude any other element or step or a set of elements or steps. Such terms should be interpreted in the broadest form in order to provide applicants with the broadest scope of protection allowed by law.

The scope of any patent application that may be filed at any time may be taken as part of the description of the present invention, and the applicant of the present invention expressly reserves that the same may be used as an additional explanation for all or part of the scope of patent application that incorporates such content, To support any or all of the patented scope or any element or component thereof; and the applicant of the present invention further expressly expresses that the right to reserve may be removed in whole or in part from the description of each patented scope if necessary in combination with this The scope of the patent application for similar content is vice versa, in order to define this patent application or any subsequent extension, division or partial extension of the patent application for protection, or to obtain any benefits to reduce the cost of compliance, or to use In order to comply with the provisions of patent laws, regulations, any country or treaty, and keep such combined content during the pending period of this patent application, including any subsequent extensions, divisions or partial extensions of this patent application or any Sublicense or extend. The patent documents, publications, and references mentioned in the present invention are incorporated herein as references for this patent application. Specifically, the US Patent Application No. 60/3 72, 2 16 filed on April 12, 2000, contains any drawings and additional items that serve as a reference for this patent application. As shown in the table, the illustrations mentioned or included in the present invention, especially the illustration A, are incorporated herein as a reference for this patent application. In addition, I should understand every noun used here, unless the present invention uses the noun in a way that is inconsistent with this interpretation. The definition of traditional and commonly used dictionaries can be understood as a combination of Listed here are all the definitions, alternative nouns, and synonyms in the Weber Uncut Dictionary (Second Edition) printed by Random House. Finally, please attach all references listed in the patent application, other information statement or reference list to be sent with the patent application; however, each of the above terms can be incorporated into the reference in this category When the scope of the information or statement is deemed to be inconsistent with the present invention, such a statement is clearly deemed to be not a statement made by the present invention.

References list I. U.S. patent documents

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-67- 200422920 5,548,306 08/20/96 Yates IV, et al. 345 174 5,589,828 12/31/96 Armstrong 341 20 5,591,924 01/07/97 Hilton 73 862.04 5,625,696 04/29/97 Fosgate 381 18 5,639,847 06/17 / 97 Chiang, et al. 528 71 5,650,597 07/22/97 Redmayne 178 19 5,687,080 11/11/97 Hoyt, et al. 364 190 5,706,027 01/06/98 Hilton, et al 345 156 5,729,249 03/17/98 Yasutake 345 173 5,749,577 05/12/88 Couch, et al · 273 148 5,767,839 06/16/98 Rosenberg 345 161 5,767,840 06/16/98 Selker 345 161 5,771,925 06/30/98 Lewandowski 137 552.7 5,786,997 07/28/98 Hoyt, et al. 364 190 5,790,107 08/04/98 Kasser, et al. 345 174 5,798,748 08/25/98 Hilton, et al 345 156 5,805,140 09/08/98 Rosenberg, et al. 345 161 5,821,920 10/13/98 Rosenberg, et al. 345 156 5,828,813 10/27/98 Ohm 395 95 5,835,077 11/10/98 Dao, et al. 345 157 5,838,308 11/17/98 Knapp et al. 345 173 5,847,528 12/08/98 Hui, et al. 318 568.1 5,858,291 01/12/99 Li, et al. 264 105 5,880,718 03/09/99 Frindle, et al. 345 174 5,889,505 03/30/99 Toyama, et al. 345 156 5,898,057 04/27/99 Chiang, et al. 528 71 5,912,736 06/15/99 Marcuse, et al. 356 355 5,920,309 07/06/99 Bisset, et al. 345 173 5,923,318 07/13 / 99 Zhai, et al. 345 157 5,945,910 08/31/99 Gorra 340 573.1 5,959,863 09/28/99 Hoyt, et al. 364 190 5,993,854 11/30/99 Neddleman, et al. 424 466 6,033,309 03/07/00 Couch, et al. 463 38 6,063,499 05/16/00 Chiang, et al. 428 425.8 6,094,491 07/25/00 Frindle, et al. 381 119 6,106,875 08/22/00 Soper, et al. 426 89 6,111,051 08/29 / 00 Chiang, et al. 528 71 6,131,056 10/10/00 Bailey, et al. 701 13 6,147,040 11/14/00 van der Hagen 510 146 6,184,331 02/06/01 Chiang, et al. 528 71 6,236,301 05/22 / 01 Langford, et al. 338 6 6,270,783 08/07/01 Slavtcheff, et al. 424 402 6,271,828 08/07/01 Rosenburg, et al. 345 156 -68- 200422920 6,329,812 12/11/01 Sundin 324 207.16 6,343,242 01 / 29/02 Nomura et al. 700 245 6,392,546 05/21/02 Smith 340 573.1 6,474,915 B1 11/05/02 Wildenberg 409 201 II. Foreign patent documents

Document No. Grant Date National Classification Sub-classification Translation EP 0 054 306 16.12.81 Europe H03K 17 96 X ΕΡ0 125 895 Al 10.05.84 Europe B25J19 00 X EP 0 464 649 B1 26.06.91 Europe B25J9 04 X EP0 466 800 B1 06.04.90 Europe G01B21 00 X EP 0 509 589 B1 29.01.97 Europe G06F3 033 EP0 516 862A1 19.12.91 Europe G06F3 033 X EP 0 567 364 B1 06.04.93 Europe G06K 11 16 X EP 0 706 838 B1 11.10.95 Europe B07C5 342 X EP0 720 293 A1 19.12.95 Europe H03K 17 96 X EP0 727 875 B1 15.01.96 Europe H03K 17 96 EP 0 744 0312 07.02.95 Europe G01P21 00 X EP 0 745 928 A2 04.12.96 Europe G06F3 033 EP 0 917 291 A2 15.01.96 Europe H03K 17 96 EP0,382,464A3 08/16/90 Europe C11D 17 00 X EP 1,099,764A3 05/08/02 Europe C12Q 1 22 X JP2000 051,328A2 02/22/00 Japanese A61L2 18 X JP2001 282,931A2 10/12/01 Japan G06F 17 60 X JP5,025,030A2 02/02/93 Japanese A61K7 48 X WO 00/02701 20.01.00 International application B23Q 1 25 WO 00/24053 27.04.00 International application H01L21 68 X WO 01/3354 0 10.05.01 International application G09G5 08 WO 02/37410 Al 10.05.02 International application G06K 11 08 X WO 02/37411 Al 06.11.00 International application G06K 11 08 WO 99 / 40,172 08/12/99 US C11D 17 00 X

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A3_ Associated Press, “Thousands Die Needlessly from Hospital Infections, Newspaper Reports ", http: //archive.a [.oi.g / cgi-bin / display.cgi? Id = 3db80ea31a331MpqaweblPl 1018 & doc = printd ...", printed 10/24/02, 2 pages_ -71- 200422920

Associated Press, "Thousands Die Needlessly from Hospital Infections, Newspaper Reports", http: //archive.a [.org / cgi-bin / display.cgi? Id = 3db80ea31a331MpqaweblPl 1018 & doc = printd · .. ", printed 10 / 24/02, 2 pages__ Autolev Sample Problem: Stewart Platform (Hexapod), “Stewart Platform Analysis”, 9/20/2002, www.autolev.com, 4 pp. Bachrach, B., ^ Diagonalizing Controller for a Superconducting six -axis AccelProceedings of the 28th Conference on Decision and Control Dec 1990, pages 2785-2793 Bernstein, Jonathan, “An Overview of MEMS Inertial Sensing Technology”, Sensors February 2003, pages 14-2] Bobcat, “Attachments for Loaders / Excavators' ', 8 pp. Bobcat, “Auger Attachments”, 4 pp · Bobcat, “Brushcat Rotary Cutter Attachment”, 2 pp. Bobcat, “Soil Conditioner Attachment”, 2 pp · Bobcat, “TillerAttachment”, 2pp. "Trencher Attachments", 2 pp. Bobcat, "V518 -V623 VersaHandler, Telescopic Tool Carrier", 6 pp. Bobcat, "W orksaver catalog ", 2002, 40 pp. Bobcat, Melroe & Ingersoll-Rand," Industrial Grapple Attachments ", 2 pp. Bookmarks on Parallel Manipulators," Web Sites Related to Parallel Robots ", 9/20/2002, wwwrobot. gmc.ulaval.ca, 3 pp. Boyce, JM, `` MRSA Patients: Proven Methods to Treat Colonization and Infection '', Journal of Hospital Infections, 2001 Aug; 48 Supp] A: S9-14_ Bruynunckx, Herman, et al ., " Comments on 'Closed Form Forward Kinematics Solution to a Class of Hexapod Robots' ", Copyright 1999, 3 pp. Bush Hog Front End Loaders M346, M446, M546, M626 Operator ^ Manual 50030231 Bush Hog Mounting Instructions for 24H49871 Grapple Attachment, February 1998 1 page Case, “Skid Steer Loaders”, 5/20/2002, www.casece.com, 2 pp. Center for Disease Control and Prevention, uAn Ounce of Prevention: Being Sick Costs You A Lot? 55, http://www.cdc.gov/ncidod/op/, printed 11/01/02, p. 1_ Center for Disease Control and Prevention, “An Ounce of Prevention: Wash Your Hands Often ", http://www.cdc.gov/ncidod/op/handwashing.htm, printed 11/01/02, 2 pages_ Center for Disease Control and Prevention," An Ounce of Prevention: Routinely Clean and Disinfect Surfaces ", Http://www.cdc.gov/ncidod/op/cleaning.htm, printed 11/01/02, 2 pages_ Center for Disease Control and Prevention, " Child Health (Summary of Health Statistics for US Children, 1997 ) ^, http://www.cdc.gov/nchs/fastats/children.htm, printed 09/06/02, 2 pages_ Center for Disease Control and Prevention, ^ Common Cold55, http://www.cdc.gov /nchs/fastats/colds.htm, printed 08/20/02, 2 pages_ Center for Disease Control and Prevention, “Following Protective Practices to Reduce Disease and Injury”, 1997, http://www.cdc.gov/ncidod/ hip / abc / practic6.htm, printed 10/2002, 2 pages_ Center for Disease Control and Prevention, '' Guideline for Handwashing and Hospital Environmental Control, 1985 ”, MMWR, June 24, 1988, Vol · 37 / No.24, Updated: Section 4: Infective Waste & Sec tion 6: Laundry, pp. 1-7 Center for Disease Control and Prevention, < lInfluenza! ,, http://www.cdc.gov/nchs/fastats/flii.htm, printed 09/06/02, 1 page_ Center for Disease Control and Prevention, 4tWhat you should know about ... Earache (Otitis Media) in the Child Care Setting ^, 1997, http://www.cdc.gov/ncidod/hip/abc/factsl2.htm, printed 09/06/02, 2 pages_ Center for Disease Control and Prevention, “Why is Handwashing Important?”, 2000, http://www.cdc.gov/od/oc/media/pressrel/r2k0306c.htm, printed 10 / 17/02, 3 pages_ Chambers, H., "The Changing Epidemiology of Staphylococcus Aureus?", Emerging Infectious Diseases, Vol. 7, No. 2, March-Api.il 2001, pp. 178-182_ Description of Sourcefiles "EMC Source Code Documentation", 9/20/2002, vvwvv.linuxcnc.org, 17 pp. -72- 200422920

Enumerative Real Algebraic Geometry: The Stewart-Gough platform; hnp: //vvww.maths.univ-rennsl.fr/-raagQl/survev$/ERAG/S3/3.htmK 9/28/2002 3 pages Erickson, B, “ Mayo Graduate School ", http: //www.ma \ O.edu/facultsVericlcson.htm< printed March I, 2002, 1 page Feather, A., et al.," 'Now Please Wash Your Hands': the Handwashing Behavior of Final MBBS Candidates ", 2000, The Hospital Infection Society, 4 pages_ Girard, R., et al., ^ Better Compliance and Better Tolerance in Relation to a Well-Conducted Introduction to Rub-In Hand Disinfection", 200], The Hospital Infection Society, 12 pages_ Gloess, R., “Hexapod Parallel Kinematics with Sub-Micrometer Accuracy”, Actuator 2000, pages 293-295 Gopal Rao, G., ^ Marketing Hand Hygiene in Hospitals-A Case Study55, 2001, The Hospital Infection Society, 8 pages_ Haney, D., “Hospitals Abandon Soap and Water for Faster Alcohol Rinses”, http://www.arizonarepublic.com/news/aiticles/0929cleanhands29.html, pr inted 11/01/02 2 pages_ Harris, AD, UA Survey on Handwashing Practices and Opinions of Healthcare Workers55, 2000, PubMed: 10973750, 2 pages_ Harris, M "" The Space Orb Controllei · ", http: // a1 pha2. bmc.uu.se/markh/notes/ioy/spaceorb.himl printed February 22, 2002, 2 pages Herruzo-Cabrera, R., et al. “A New Alcohol Solution (M-duopropenide) for Hygienic (or Routine) Hand Disinfection is More Useful Than Classic Handwashing: In Vitro and In Vivo Studies in Bum and Other Intensive Care Units ^, Burns 2001 Nov; 27 (7): 747-52, page_ Hirchmann, H., et al. 3 4The Influence of Hand Hygiene Prior to Insertion of Peripheral Venous Catheters on the Frequency of Complications '', 2001, The Hospital Infection Society, 8 pages_ httD: //static.howstuff\vOrks.com/sif/skid-steer-coupler.ipg 5/20 / 2002 Hydraulic Hammer, http://static.howstuffworks.com/gif/sldd-steebuhvdraiiliohammer.gif, 5/20/2002 Industrial Grapple Bucket, http: //static,howstuffworks.com/gif/skid-steer-industrial -grapple & g t; bucket.gif, 5/20/2002 lngersoll Rand, "VR'530 Telescopic Material Handler", 2001, 4 pp. Ingersoll Rand, "VR-623 Telescopic Tool Carrier", 2001, 4 pp. lngersoll-Rand, " VR-10044 / VR-1056 Telescopic Material Handler ", 2001, 4 pp. Ingersoll-Rand, uVR-843 Telescopic Material Handlers 55, 1999, 8 pp. Innovation & Technology Transfer, Innovation Programme News, January 1997, A Boost for European Heavy Industry, http://wwwxordis.lu/itt/itt-en-97-1/ip-news.htm, 05/21/2002, 5 pages Jackson, A., 4tThe Further Step Touch Control For Your Vibroplex ΕΚ- Γ !, Say you saw it in CQ, January 1986, pages 13-19 Ji, Ping, et al "" A Closed-Form Forward Kinematics Solution for the 6-6p Stewart Platform ", IEEE Transactions On Robotics and Automation, Vol. 17, No. 4, August 2001, pp 522-526. John Deere, U548G-111, 648G-111, 748G-111 Grapple Skidders ", 2001-2006, 18 pp. John Deere, "644 H — Log Loader", 2000 — 2004, 6 pp. John Deere, "853 G-Feller-Bunchers ", 2000 — 2010, 8 pp. Journal of Research of the National Institute of Standards and Technology," News Briefs ", Vol. 102, No. 4, July-Aug. 1997, pp 499-522. JRSJ," Special issue — The Theory of Telerobotics ", 9/20/2002, www.sanbi.co.ip / rsi / Conts / Vol 11 / Vol 11 6e.html, 3 pp. Kennedy, Kevin & Associates," Your Experts in Machining and Machine Tools and T ·. · ", 9/20/2002, www.kkai.com. 20 pp. Kost, et al.," Effects of Axial Stretching on the Resistively of Carbon Black Filled Silicone Rubber ", Polymer Engineering and Science , 1983, pages 567-571 Landscape Tiller, httt): //static.howstuffworks.com/aif/sidd-steer-landscape-tnier.gif, 5/20/2002 -73- 200422920

Larson, Elaine L., et al., “APIC Guideline for Hand Washing and Hand Antisepsis in Health-Care Settings”, 1995, http://www.apic.org/pdf/gdhandws.pdf, printed 11/01/02 , 18 pages_ Marino, C., et al. '' Washington State Hospital Survey 2000: Gloves, Handwashing Agents, and Moisturizers ”, Am. Journal Infection Control 2001 Dec; 29 (6): 422-4_ Material Handling Arm, htlp: //static.hovv$tufFwork$.com/gif/skid-steer- material-arm.gif. 5/20/2002 MD Consult Infectious Disease, "Infection Control for the Home", home.mdconsult.com, printed 10 / 03/02, 3 pages_ Mingus, L., “Space Orb 360 Review”, http://www.makeitsimple.com/reviews/space orb /, printed February 22, 2002, 2 pages MMS Online http: // www. geekfaction.net/pro/nph-pro.pl/01011 OA / http / www.mmsonline.com / columns / O ... 9/28/2002 MTS Temposonics Position Sensors, MTS Sensors Group, 2000 Brochure Naikoba, S., et al., 'The Effectiveness of Interventions Aimed at Increasing Handwashing in Healthcare Workers —A Systematic Revi ew ", 2001, The Hospital Infection Society, 0195-6701 / 01/030173 + 08, K) pages_ Neue Seite 1," IWF Hexaglide ", 9/20/2002, www.iwf.bcpr.ethz.ch/wcb/ en / forschune: / wzm / hexa 1 .shtml 9 pp. New Holland Series LM Ding dehandlers http: // ww \ v.newhoj 1 and.com/nh/t:eleh.htm, 5/20/2002, 2 pages New Holland, “Attachment Adapter Plates”, 1996, 2 pp. New Holland, “Skid Steers”, 2000, 12 pp. New Holland, “Skid-Steer Loader Attachments”, 5/20/2002, 1 page. New Holland, "Skid-Steer Loader Attachments", 5/20/2002, 2 pp. New Holland, "Skid-Steei. Loader", 5/20/2002, 3 pp. NRL-Materials Science and Technology Division, "Six Dimensional Loader ", 9/20/2002, http://mstd.nrl.navv.mil, 2 pp. Pike, G," Electrical properties of Conducting Elastomers ", NASA: Center for Aerospace Information, Pittet, D. ^ Effectiveness of a Hospital-Wide Program to Improve Compliance with Hand Hygiene. Infection Control Program ", 2000, PubMed: 11073019, 2 pages_ Pittet, D., Bacterial Contamination of the Hands of Hospital Staff During Routine Patient Care '', 1999, PubMed: 10,219,927, 2 Pages_ Posfay-Barbe, Klara, et al "" New Concepts in Hand Hygiene '', 2001, WB Saunders Company, 13 pages_ Piedko , M., "PicMicro Microcontroller Pocket Reference", McGraw-Hill, 2000 Predko, M ·, "Programming and Customizing PicMicro Microcontrollers", McGraw Hill, 2001 Retro Tech Search & Tech Track Summary; http: //asp.nerac .com / cust access asp / SearchRequest / rctro tech track confirm.asp: 9/20/2002, 2 pages Richfield, P., ^ Integrated avionics suites showcase new pilot interface concepts ,, J Professional Pilot, January 2002, pages 56- 60 Robinson, David, et al., NASA Goddard Space Flight Center, "DCATT Peer Review", August 17, 1998, 77 pp. Rotter, M., "Arguments for Alcoholic Hand Disinfection", 2001, The Hospital Infection Society , 7 pages_ Sabin, Malcolm home page, wwvv.damtp.cam.ac.uk. 9/28/2002, 2 pp. Sakashita, M ., '' Antimicrobial Effects and Efficacy on Habitually Hand-Washing of Strong Acidic Electrolyzed Water-a Comparative Study of Alcoholic Antiseptics and Soap and Tap Water 5 ', 2002, PubMed: 12,073,573, 2 pages_ Sattar, SA, et al., UHygiene Hand Antiseptics: Should They Not Have Activity and Label Claims Against Viruses? ^, American Journal Infection Control, 2002 Oct 30 (6): 355: 72, PMID: 12360145, p. 1_ Sau, KP uThe Effect of Compressive Strain and Stress on Electrical Conductivity of Conductive Rubber Composites' ,, Rubber Technology Centre, Indian Institute of Technology, pages 310-324 Serkey, JM, "Handwashing Compliance: What Works?", Cleveland Clinical Journal of Medicine 2001 Apr; 68 (4): 325-9 , 333-4, 336_ Sharir, R., et al ”“ High-Level Handwashing Compliance in a Community Teaching Hospital: A Challenge That Can Be Met! '', Journal of Hospital Infection 2001 Sep; 49 (1): 55- 8_ -74- 200422920

Spacetech, "This isn't your fathers Joystick 'http://vvww.gamedemo.com/ezine/ian97/orb36Q.htm, printed February 22, 2002, 2 pages Stevens, B., uBirth Place of the SpaceOrb 360: Engineering Technology Transfer Begets New Low-Cost Consumer “6D” Gaming Device ”, http: //vvww.casvstems.eom/piOilles/l 997/9711 a05.htmL printed February 22, 2002, 2 pages Storrs, John,“ Distribution Notes for Hexapod-1.1 ", Copyright 1997, www.i-wav.co.uk. 4 pp. Storrs, John," Hexapod Software Model ", 9/28/2002, www.i-wav.co.uk ·, 3 pp. Storrs, John, “LME Hexapod Machine”, 9/28/2002, vvww.i-wav.co.uk, 2 pp. Stump Grinder, http: //static.ho \ vstuffworks.com/gif/skid- steer-stump-grinder.gif, 5/20/2002 Techno park, "Know how Navigator: Firmenansicht Sundin GmbH, http: // \ vww. navi gator, technopark. ch / htdocs / firmcn / Sundin = 95 GmbH.html, printed February 24, 2002 The Hospital Infection Society, ^ Studies Have Consistently Demonstrated Rates of Handwashing Compliance Are Lesss Than 50 %,?, 2000, The Hospital Infection Society, 5 pages_ Trencher, http: //static.howstufrvvorks.coiri/gil7skid-steer-trencher.gif, 5/20/2002 University of Washington-Control & Robotic Systems Laboratory, UA Look at the Pole / Zero Structure of a Stewart Platform Using Special Coordinate Basis ", 6/24/1998, 16 pp. US Patent Application Publication US2002 / 0117017 Al," Control Lever "10/15/01 5 pages Utility Grapple Bucket, http: //static.howstuffworks.eom/gii7skid-steer-utilitv-grapple~buckct.g: if. 5/20/2002 Versic, Ronald J., ^ Flavor Encapsulation-An Overview ,,) 1988, http: // www.rtdodge.com/fl-ovrvw.htm, printed 07/21/02, 6 pages_ Versic, Ronald J., “Coacervation for Flavor Encapsulation”, http://www.rtdodge.com/coacer.htm, printed 07/21/02, 6 pages Versic, Ronald J., et al., `` Microencapsulation and Scented Fragrance Inserts '', http://www.rtdodge.com/fr-insrt.htm, printed 07/21/02 , 1989, 4 pages_ Viren, B ·, "How to Use the SpaceOrb under Linux or Unsu pported Secrets of the SpaceOrb Protocol ", printed February 22, 2002, 5 pages VR News," Notion Simulation ", 9/20/2002, www.vniews.com, 2 pp. Wendt, C ·," Hand Hygiene Comparison of International Recommendations ", 2001, The Hospital Infection Society, 10 pages_ White, CQ" Reduction of Illness Absenteeism in Elementary Schools Using an Alcohol-Free Instant Hand Sanitizer ", 2001, PubMed: 11885342, 2 pages_ Worksaver, Inc.," Worksaver Grapple for Skid Steer and Front Loader ", wwvv.worksaver.com. 5/20/2002, 2 pp. Yashin, VV, et al. 4 < A Model for Rubber Degradation Under Ultrasonic Treatment: Part II. Rupture of Rubber Network and Comparison with Experiments ", Department of Polymer Engineering, The University of Akron, page 325 Yuzhen, Huang, et al" "Forward Displacement Analysis of a Special Stewart-Gough Platform", 10 pp. Zhai, S., PhD "Human Performance in Six Degree of Freedom Input Controj ", htlp: //vered,rose.utoiOnto.caype〇ple/$ humin dir / papers / PhD Thesis / Chapterl / Chapter! 1 .html, March 25, 2002, 2 pages Zhai, S., PhD, “Interaction in 3D Graphics”, http.7 / wvvw.siggraph.org / piiblications / newletter /v32n4/contributions/zhai.html. March 25, 2002,] 2 pages Zhai, S., PhD, “User Performance in Relation to 3D Input Device Design”, httD: //wvvw.ali~naden.ibm.com/ cs / people / zhai / papers / siggraph / fmal.html, March 25, 2002, 15 pages -75- 200422920

Annex A

(l) The l-D accelerometer is at points A and B, both parallel to the radius and away from the center. The x-axis is along the moving element, and the y-axis is perpendicular to the element shown. (1) The 1-D accelerometer is parallel to the y-axis and fixed at point A. The acceleration at each point is:

aA νϊ] ΤΑ vf rB. where t and t are tangential velocities. Τα Ϊβ I, so we can define: gx = ”g2 -g2y

Because it dagger Θ = a r c t a n / Λ \ r \ Sy = a r c t a n) Us2-g2vj

l J ((rB ^ J). l 4 ·) YB \ ri) -76- 200422920 Therefore: Sy

l-k rB θ, · 1- Modular aA.y ^^ aB, y _ΓΒ ΚΒ (r, Y " " aB, y r rB! v) θ

Factory B 8 aAJT- g:

aA.y ^ Tfa ^ rB. 1- Mod. rB instead of Θ (factory / -Γ3) (V) The diagrams are briefly explained. Figures 1 a to 1 e are for showing one of the preferred embodiments Schematic diagram of various solid models of the six-axis joysticks created by SolidWork®. Figure 1a is a top plan view showing the Z-axis of the six-axis joystick when the light path is drawn. Figure 1b is a cutaway elevation view showing the main components of the joystick. Figure 1c is a cut-away perspective view showing the main components of the joystick. Figure 1d is an elevation view showing the joystick. Figure 1e is a cross-sectional view showing the convex corner components of the joystick. Figure 2 is a perspective view of the -77- 200422920 active control handle with the internal reflective facet drawn to show the joystick. Figure 3 is a schematic diagram showing the cylindrical protrusion of a six-axis joystick in combination with a certain type of related electrical strategy. Fig. 4 is a schematic view showing the cylindrical protrusion of the six-axis rocker under the function of a curved facet mirror. FIG. 5 is a schematic diagram showing a cylindrical protrusion according to a preferred embodiment of the present invention in combination with a corresponding electrical strategy for displaying a touch-sensitive device and a cut-off mirror facet.

FIG. 6 is a perspective view showing an integrated photoelectric transmitter / photodetector package combination according to a preferred embodiment of the present invention. FIG. 7 is a schematic diagram showing a cylindrical protrusion in a six-axis rocker according to another embodiment of the present invention in combination with a corresponding electrical strategy. Figures 8a to 8e are schematic diagrams showing various solid models of a six-axis joystick constructed by Solid Work® according to another embodiment of the present invention. Figure 8a is a top plan view showing the Z-axis of the six-axis joystick when the light path is drawn. Figure 8b is a sectional elevation view showing the main components of the joystick. Figure 8c is a cut-away perspective view showing the main components of the joystick. Figure 8d is an elevation view of the joystick. Figure 8e is a cross-sectional view of some of the convex corner components of the joystick. Figure 9 is a perspective view of the active control handle of the joystick under the internally reflective facet. Figure 10a is a cross-section-78-200422920 diagram according to an embodiment of the present invention, which is characterized by a traditional "joystick" active control handle, an enhanced range of motion, and a protective nature. Pressure-compensated bellows. Fig. 1 Ob is another cross-sectional view showing the embodiment of Fig. 10a. The first la, 1 lb, 1 1c, and 1 id diagrams are respectively a plan, a cross section, a perspective view, and a sectional view for showing an example of a magnetic flux sensor according to an embodiment of the present invention. Fig. 12 is a plan view showing a magnetic element according to an embodiment of the present invention.

Fig. 13 is a plan view showing a combined magnetic element according to an embodiment of the present invention. Fig. 1a is a sectional elevation view showing a magnetic element according to an embodiment of the present invention. Figure 14 is a detailed view showing a printed circuit board according to an embodiment of the present invention. Fig. 15a is a sectional view showing an elastic body according to an embodiment of the present invention. Fig. 15b is a sectional view showing the embodiment shown in Fig. 15a. Fig. 15c is another sectional view showing the embodiment shown in Fig. 15a. Fig. 15d is an elevation view showing the embodiment shown in Fig. 15a. Figure 15e is used to display ~ similar to the cross-sectional view of Figure 15a. Figure 16 is a cross-sectional view showing an elastomer according to another embodiment of the present invention. Figure 17 is a representative equivalent circuit of an elastic body according to an embodiment of the present invention. -79- 200422920 Figure 18a is an elevation view showing an elastomeric sensor part according to yet another embodiment of the present invention. Figure 18b is another elevation view showing the sensor element shown in Figure 18a. Figure 18c is a plan view showing the sensor element shown in Figure 18a. Figure 18d is a perspective view showing the sensor element shown in Figure 18a. Fig. 18e is a representative equivalent circuit of the sensor element shown in Fig. 18a. Figures 19a, 19b, 19c, and 19d are perspective, perspective, another perspective, and plan views, respectively, of an elastomer sensor assembly according to another embodiment of the present invention. Figure 19e is a representative equivalent circuit of the elastomer sensor assembly shown in Figures 19a, 19b, 19c, and 19d. Figures 20a and 20b are plan and cross-sectional elevation views showing one of several elastomers filled with electrolyte in accordance with an embodiment of the present invention. Figures 2 1 a, 2 1 d, 2 1 e, and 2 1 f are respectively used to show a plan view, a plan view, and a plan view of an elastomer assembly filled with an electrolyte according to another embodiment of the present invention. And perspective. Figure 2 1b is a schematic diagram showing a single converter assembly among the converter assemblies shown in Figures 2 1 a, 2 1 d, 2 1 e, and 2 1 f. Figure 21c is a sectional view taken along line A-A of Figure 21b. Fig. 22 is a cross-sectional view showing a period of time during manufacturing and assembling the representative stages taken along the -80-200422920 of an elastomer filled with electrolyte according to yet another embodiment of the invention. Figure 23 is a partial cross-sectional view taken along a hexagonal path of an electrolyte-filled elastomer in a device according to yet another embodiment of the present invention. Fig. 24 is a partial cross-sectional view showing a hexagonal path cut along an electrolyte-filled elastomer in a device according to still another embodiment of the present invention.

Figure 25a is a front view showing an elastic body composed of various solid elements and force sensors used in a device according to an embodiment of the present invention. Fig. 25b is a front view showing an elastic body composed of solid elements and force sensors in another device according to an embodiment of the present invention.

Figure 25c is a plan view showing one of the many available fixture configurations. Fig. 26 is a partial cross-sectional view showing an element composed of a multi-axis sensor portion on an elastic body using a combination of solid devices and pressure sensor devices in a device according to an embodiment of the present invention. Fig. 27 is a cross-sectional view showing a separate uniaxial displacement sensor used in a device according to an embodiment of the present invention in combination with a deformable elastomer structure. Fig. 28 is a representative partial cross-sectional view showing a separate uniaxial displacement sensor used in combination with a deformable elastomer structure in a device according to another embodiment of the present invention. Fig. 29 is a representative partial cross-sectional view showing a separate uniaxial displacement sensor used along with a deformable elastomer structure in a -81-200422920 device according to still another embodiment of the present invention. Fig. 30 is a representative partial cross-sectional view showing a portion of an upper inductor using a variable inductor embedded in a deformable elastomer structure with an extensible coil embedded in a device according to another embodiment of the present invention.

FIG. 31 is a view showing a device according to yet another embodiment of the present invention, which is combined with a plurality of cavities that can be deformed by internal pressure under force or position feedback, and is embedded in a deformable elastomer structure. Representative partial cross-sectional view of the sensor section of the variable inductor of a stretch coil. Figures 3 2a, 3 2b, 5 3 2 c, and 3 2d are respectively a cross-sectional front view, a partial plan view, a partial cross-sectional front view, and a perspective view of a device according to an embodiment of the present invention. Deformable sensor of elastic body, wristrest filled with gel and integrated data input keyboard. Figure 33 is a schematic diagram showing a two-handed game controller according to an embodiment of the present invention, including a multi-axis sensor device having left and right control handle portions for connecting the game controller.

Figure 34 is a schematic diagram showing a handheld device according to an embodiment of the present invention. 35a, 35b, 35c, 35d, 35e, 35f, 35g, and 35h are photographs showing a device model according to an embodiment of the present invention, wherein a diameter is larger by 1.5 inches and has, for example, six A fingertip-type control handle of the degree of freedom is attached to a hand-held control handle having, for example, six additional degrees of freedom. Figures 36a and 36b are used to show a device according to an embodiment of the present invention, except that the fingertip-operated control handle is a -82-200422920 sphere with a large diameter of 1 inch, as shown in Figure 3 5 Photos of the model shown at a to 3 5 h. Figures 37a and 37b are photos showing a device I »according to an embodiment of the present invention, in which a fingertip type control handle is attached to a fixed hand stable control handle and the fingertip operation type control The handle is a 1.5 inch sphere. Figures 38a, 38b, 38c, and 35d are similar to those shown in Figures 3a and 3 except that the fingertip-operated control handle is a sphere with a large diameter of 1 inch in a device according to an embodiment of the present invention. Photo of the model shown in Figure 7b. Fig. 39 is a circuit diagram showing an elastic body bridge circuit corresponding to an embodiment of the present invention. Figure 40a is a perspective view showing an elastomer sensing element according to an embodiment of the present invention. Figure 40b is a cross-sectional view showing the sensing element shown in Figure 40a. Figure 41 is a front view showing a device incorporating a plurality of conductive elastomeric tensile members according to an embodiment of the present invention. Figure 42 is a schematic diagram showing a device according to an embodiment of the present invention. Figure 43 is a schematic diagram showing a device according to another embodiment of the present invention. Fig. 44 is a schematic view showing a cavity having an almost shape of a S t e w a r t platform inside a variable elastic elastomer sensing element according to an embodiment of the present invention, and a cavity filled with an electrolyte. -83- 200422920 Figure 4-5 is a circuit diagram showing a device corresponding to the embodiment shown in Figure 44. Fig. 46 is a sectional view showing a device according to an embodiment of the present invention. Figures 4 to 7 are diagrams for explaining the relationship between the three phase excitation signals and the output signals from a device according to an embodiment of the present invention. Fig. 48 is a schematic diagram showing a printed circuit board configuration which can be used in combination with the embodiment shown in Fig. 46. Figure 4a is a plan view showing a device according to an embodiment of the present invention, wherein the base portion of the six-axis rocker is stabilized by a gel pad type wristrest. Figure 4 9b is a cross-sectional front view of the embodiment shown in Figure 4 9a. Figure 4 9c is a sectional view showing an embodiment shown in Figure 4 9a. Figure 49d is a perspective view showing a part of the embodiment shown in Figure 49a. Fig. 50a is a cut-away view showing a device according to an embodiment of the present invention, and is characterized by having a one-piece optical position converter. Figure 50b is a cut-away view of an embodiment as shown in Figure 50a. Figure 50c is a perspective view showing a one-piece optical position converter as shown in Figure 50a. -84- 200422920 Figure 5 1a is a perspective view showing a finger-operated joystick attached to a three-axis mouse. Fig. 51b is a bottom view showing an embodiment shown in Fig. 51a. Fig. 51c is a terminal diagram showing an embodiment shown in Fig. 5a. Figure 5 1 d is a side view of an embodiment shown in Figure 5; [a].

Figure 5 1 e is a plan view showing an embodiment shown in Figure 5 丨 a. Figures 5 1 f and 5 1 g are perspective views showing an embodiment as shown in Figures 5! A. Fig. 52 is a perspective view showing an apparatus including a sensor equipped with a sensor to facilitate coordinate conversion to control the Stewart platform adapter using a joystick according to an embodiment of the present invention. Fig. 53 is a schematic diagram showing an example of a control strategy of the embodiment shown in Fig. 52. Φ Figure 5 4 a is a cross-sectional view showing a one-piece converter. Fig. 54b is a schematic diagram showing a local side of the embodiment shown in Fig. 54a. Figure 55 is a sectional front view showing a joystick according to the present invention. Figure 56a is a cross-sectional view showing a rocker-85-200422920 rod including two axial springs placed symmetrically with respect to the conversion element according to an embodiment of the present invention. Figure 56b shows an example of a reflection pattern. Figure 5c shows an example of a reflection pattern. Fig. 57 is a schematic diagram showing an example of aligning the angle and the axial direction of the zero state of the converter device with the reflection pattern. Figure 58 is a schematic diagram showing an example of stress analysis of a spring used in a concept according to the present invention. Figures 5 and 9 are diagrams showing another example of stress analysis of a spring used in a concept according to the present invention. Fig. 60 is a schematic diagram showing an example of a spring having a single elastic element according to an embodiment of the present invention. Figures 6 1 a and 6 1 b are diagrams showing a simulated image incident on a device according to an embodiment of the present invention. Description of the main symbols of the main part 1 Active control handle 1 a-1 c Active control handle 1a Upper control handle 1b Lower control handle 1 c Block 4 Light source (photoelectric transmitter) -86- 200422920 5 Photodetector 5 a-5 f Detector 6 Bezel 7? 8 Screw 9 Socket 10 Coil spring 11, 12 Recess 13 Printed circuit board 14 Optical path 15 Touch detection circuit 16 Programmable interface controller 17 Signal receiver 1 8a- 1 8f amplifier 1 9a- 1 9f resistor 2 1 space layer 22 hole 23 screw 24 active control handle 25 converter 26, 27 Bellows 28 installation block 29,30 leaf spring 3 1,3 2,3 3,3 4 beam 35 connection block 36 installation block

-87- 200422920 3 7 Housing 4 1 Light-absorbing surface 42a- 42 f Photodetector 43 Phototransmitter 44 One-piece optical converter 44a Connection pin 44b Photodetector 44c Phototransmitter 44d Mixed signal microcontroller 44e Substrate 44h Transparent medium 44i Opaque medium 44j Reflective coating 45 Electrical connection structure 4 6a- 46 f Detector 47, 48 Grooves for spring support 50a- 50f Hall effect sensor 52 Magnetic pole piece 52a- 52c Magnetic pole 53 Permanent magnet 54 Nut 55 Tack 56 Spring-loaded control handle 57 Magnetic flux path 58, 59 Damping circuit

-88- 200422920 60 6 1 a-61c, 62a > 62c 63 64 6 4a 6 5 66 67 68 69 70a-70f 71a-71c, 72a-72c 73a-73c 75a-75f 76 77 78 79 80 81a-81c, 82a -82c 83 84 85, 86 87 88 Elastomer-sensing element electrical terminal pillar base part Triaxial mouse holder Upper printed circuit board Bottom printed circuit board holder Fixture elastomer equivalent resistance Electrical terminal Elastomer-sensing element cavity Deformable elastomer structure solid insert supporter cover electrical terminal rubber water pipe water pipe clamp platform elastomer structure pin -89- 200422920 89 expansion 90 electrode 92 electrolysis 93,95 upper 94 electrical 96 lower 97 single 98 small 99 internal 1 00 Shapeable 10 1 pressure 1 02 padding 1 03 displacement 104 position 1 05 common 106 sphere 107 pole 108 coil 109 accessories 110 water pipe 111 padding 112 number 113 left half 114 right half 115 multi-axis wristrest keyboard with gel Edge-sensing element type cavity-mass electrode connection structure electrode electrode assembly device solid element becomes elastomer structure sensing device with fluid path measuring device (single Spherical casting chair) of the cavity (of the transformer core) portion (coil component) part of the spring-type

-90- 200422920 116 Game controller 117 Hand strap 118 Wrist strap 119 Base part 120 User's hand 12 1 Sensor device 122 Fingertip control handle 123 Hand control handle 1 24 Coupling for connection 125 Hand-held fixing Control handles 126 Hex hatch adapter 1 26a-126d Micro electromechanical system device 127 Interlocking device 127a-127d Separate sensor 128, 132 Platform 129a MEMS device 1 30 Machine vision sensor 13 1 Construction equipment 133 Removable tools 1 34 Motion controller 13 5 Transceiver 1 36 Hydroelectric generator 13 7 Hydraulic valve manifold 13 8 Transceiver

-91-

Claims (1)

200422920 Patent application scope: _ 1. A multi-axis input converter device, comprising: a component with at least five input terminals, which can be input relative to at least five reference coordinate systems; T a reflective component, which A radiation source capable of radiating equally on the reflecting element is emitted; and at least one reflecting wheel-emitting detector is used to respond to the radiation from the reflecting element. 2. The multi-axis input converter device according to item 1 of the patent application scope, wherein the element having at least five inputs includes an element having at least six inputs which can be input with respect to at least six reference coordinate systems. φ 3. The multi-axis input converter device according to item 2 of the patent application scope, wherein the at least six reference coordinate systems include at least three translational reference coordinate systems and at least three rotary reference coordinate systems. 4. The multi-axis input converter device according to item 3 of the patent application, wherein the at least three translational reference coordinate systems and the at least three rotary reference coordinate systems are characterized by having three mutually orthogonal axes. 5. The multi-axis input converter device according to item 1 of the patent application, wherein the radiation source includes an electromagnetic radiation source. φ 6. The multi-axis input converter device according to item 5 of the patent application, wherein the electromagnetic $ S radiation source includes a visible light source. 7. The multi-axis input converter device according to item 1 of the patent application scope, wherein the at least five reference coordinate systems include at least three translational reference coordinate systems. 8. The multi-axis input converter device according to item 1 of the patent application scope, wherein the at least five reference coordinate systems include at least three rotary reference coordinate systems -92- 200422920 9. The multi-axis input converter device according to item 1 of the patent application scope, wherein at least five reference coordinate systems include three translational reference coordinate systems and two rotary reference coordinate systems. 10 · The multi-axis input converter device according to item 1 of the patent application scope, wherein at least five reference coordinate systems today include at least five axes. 1 1 · The multi-axis input converter device according to item 10 of the patent application scope, wherein at least five axes include three mutually orthogonal axes. 1 2 · The multi-axis input converter device according to item 1 of the scope of patent application, which further includes a comparison + reflection element which can finally allow radiation from the radiation source to be incident thereon. 13. The multi-axis input converter device according to item 12 of the patent application scope, wherein the relatively non-reflective element forms at least one steep boundary with the reflective element and there is a drastic change from reflective to relatively non-reflective. 1 4 · The multi-axis input converter device according to item 13 of the patent application scope, wherein the at least one steep boundary includes at least two steep boundaries. 15. The multi-axis input converter device according to item 14 of the patent application scope, wherein the at least two steep boundaries include at least two steep boundaries substantially orthogonal to each other. 16. The multi-axis input converter device according to item 14 or 15 of the scope of patent application, wherein the reflective element is adjacent to the non-reflective element to form a triangular pattern. 1 7 The multi-axis input converter device according to item 13 of the patent application scope, wherein the at least one steep boundary includes at least two steep boundaries. -93- 200422920 1 8 · The multi-axis input converter device according to item 17 of the patent application scope, wherein the at least two steep boundaries are in a zigzag configuration. 1 9 · The multi-axis input converter device according to item 1 of the patent application scope, wherein the reflective element is 20 established along the outer radial direction of the radiation source. Device, wherein the at least one reflected radiation detector is established along an inner radial direction of the reflective element. 2 1 · The multi-axis input converter device according to item 12 or 20 of the patent application scope, wherein the reflective element and the relatively non-reflective element are established along the outer radial direction of the radiation source. 2 2 · The multi-axis input converter device according to item 12 or 20 of the patent application scope, wherein the reflective element and the relatively non-reflective element are along the outer radial direction of the at least one! Reflective radiation detector Established. 2 3 · The multi-axis input converter device according to item 1 of the patent application, wherein the element having at least five input terminals includes a joystick. 24. The multi-axis input converter device according to item 1 of the patent application scope, wherein the reflective element comprises a ring-shaped reflective element. 25. The multi-axis input converter device according to item 12 of the patent application scope, wherein the reflective element and the relatively non-reflective element are established in a ring manner. 26. The multi-axis input converter device according to item 21 of the patent application scope, wherein the reflective element and the relatively non-reflective element are established in a ring manner. 27. The multi-axis input converter device according to item 1 of the patent application scope, wherein the at least one reflective radiation detector includes at least six reflected radiation detectors -94- 200422920 2 8. The multi-axis input converter device according to item 1 of the patent application range, wherein the at least one reflected radiation detector can emit a signal relative to the radiation from the reflective element. 29. The multi-axis input converter device according to item 28 of the patent application scope, wherein the signal with respect to the radiation from the reflective element includes an electrical signal. 30. The multi-axis input converter device of claim 28, wherein the signal relative to the radiation from the reflective element includes an optical signal. 3 1. A joystick comprising: a radiation source; a reflector; and a reflective radiation sensor, at least one of which is movable relative to at least one of the three elements along at least three degrees of freedom; wherein the The radiation source projects the radiation finally incident on the reflector, and the reflector reflects a variable reflected optical signal to the reflected radiation sensor in a manner that can be changed on the reflected radiation sensor. And the reflected radiation sensor can sense at least a part of the variable reflected optical signal. 32. The joystick of item 31 in the scope of patent application, wherein the radiation source includes a visible light source. 3 3 · The joystick of item 31 in the scope of patent application, wherein the radiation source includes an infrared radiation source. 34. The joystick of item 3! In the scope of patent application, wherein the radiation source includes an ultraviolet radiation source. 3 5 · If the joystick of item 31 in the scope of patent application 'is used, the optical signal that detects the return is regarded as an image incident on an array composed of image sensing elements. 36. The joystick according to item 35 of the patent application scope, wherein the array composed of the image sensing elements includes a charge-closing device (C C D) type camera. -95- 200422920 3 7 · If the joystick in the 35th item of the patent application scope, which includes a wide-angle lens. · 38. The rocker of item 31 in the scope of patent application, wherein the reflected radiation detector includes a photodetector and the radiation source includes a time-sequential light transmitter. 39. The rocker of item 31 in the scope of patent application, wherein the reflected radiation detector includes a plurality of photoelectric detectors that operate in parallel with the radiation source, wherein the radiation source includes a time-sequential light emission Device. 40. The joystick according to item 3 of the patent application scope, wherein the reflected radiation detector comprises a time-sequential light detector. ϋ 4 1. If the joystick of item 31 in the scope of patent application, the reflected radiation detector and the radiation source can be established as parts of a single-piece device. 4 2 · If the joystick of item 31 of the scope of patent application, the variable reflected optical signal can be converted by a one-piece device. 4 3 · The rocker of item 41 in the scope of patent application, wherein the one-piece device includes each buried non-optical electronic component. 44. The joystick of claim 43 in which the embedded non-optical electronic component includes a microprocessor. β 4 5. The joystick according to item 41 of the patent application scope, wherein the one-piece device includes a support for one or more optical transmitters and one or more optical sensors buried in a light-transmitting medium. The detector is generally a planar substrate. 4 6 · The joystick according to item 41 of the patent application, wherein the one-piece device includes a support for one or more optical transmitters and one or more optical sensors buried in a light-guiding medium. The measuring device is generally a flat-96-200422920 type substrate. 47. The rocker ’according to item 31 of the scope of patent application, wherein the structured light is projected onto the reflector. 48. The rocker ' according to item 31 of the patent application scope, wherein the reflector comprises at least one patterned reflective element. 49. The rocker ’according to item 31 of the scope of patent application, wherein the reflection benefit includes a plurality of reflection facets. 50. The rocker ' according to item 31 of the patent application, wherein the reflector includes at least one retro-reflective element. 5 1 · The rocker of item 31 in the scope of patent application, wherein the radiation source, reflector and reflected radiation detector are protected by an elastic membrane. 5 2 · The rocker ’according to item 31 of the scope of patent application, which includes an elastic position recovery element. 53. The rocker of claim 52, wherein the elastic position restoring element includes a spring. 54. The rocker according to item 52 of the scope of patent application, wherein the elastic position recovery element includes a spring fixed on the first end point of the first movable element and fixed on the second end point of the second movable element, Wherein, a displacement detecting element is positioned near a plane perpendicular to the axis of the spring and near the center of the spring. 5 5 · The rocker of claim 52, wherein the elastic position restoring element includes a spring fixed on the first end of the first movable element and fixed on the second end of the second movable element, wherein The center of a joystick control handle is positioned near a plane perpendicular to the axis of the spring and near the center of the spring at -97- 200422920. 56. The rocker of item 55 in the scope of patent application, wherein the center of the rocker control handle is coplanar with a plane perpendicular to the axis of the spring. 57. The rocker of claim 52, wherein the elastic position restoring element includes a substantially flat spring. 58. The rocker of claim 52, wherein the elastic position restoration element includes at least one spring positioned in a coaxial manner with each optical element of the rocker. 5 9. A joystick comprising at least two elements that are movable relative to each other in at least three degrees of freedom, wherein one or more conductive elastomer elements are used to generate a position signal having at least three degrees of freedom. 6 0 · — A joystick that includes at least two elements that can move with each other in at least three degrees of freedom, wherein one or more ionizing conductive elements are used to generate a position signal with at least three degrees of freedom. 6 1. A rocker comprising at least two elements that are movable relative to each other in at least three degrees of freedom, wherein one or more conductive deformable liquid elements are used to generate a position signal having at least three degrees of freedom . 62. A joystick comprising at least two elements that are movable relative to each other in at least three degrees of freedom, wherein one or more conductive deformable gel elements are used to generate a position signal having at least three degrees of freedom . 6 3. A joystick comprising at least two elements that are movable with respect to each other in at least six degrees of freedom, wherein one or more conductive elastomer elements are used to generate a position signal having at least six degrees of freedom. 6 4 · —A rocker comprising at least two elements that can be moved with each other in at least six degrees of freedom -98 · 200422920 'where one or more ionizing conductive elements are used in order to produce a Position signal. 6 5. — A rocker 'includes at least two elements that are movable relative to each other in at least six degrees of freedom', wherein one or more conductive deformable liquid elements are used to generate a position signal having at least six degrees of freedom . 6 6 · —A kind of rocker 'includes at least two elements that are movable relative to each other in at least six degrees of freedom, wherein one or more conductive deformable gel elements are used in order to create a position with at least six degrees of freedom signal. 6 7. A joystick including at least two elements that are movable with respect to each other in at least three degrees of freedom, wherein one or more conductive elastomer elements are used to generate a position signal having at least three degrees of freedom. 6 8. A joystick comprising at least two elements that are movable relative to each other in at least three degrees of freedom, wherein six or more ionizing conductive elements are used to generate a position signal having at least six degrees of freedom. 69 · —A rocker including at least two elements that are movable relative to each other in at least three degrees of freedom, wherein six or more conductive deformable liquid elements are used to generate a position signal having at least six degrees of freedom . 7 0 · —A rocker comprising at least two elements that are movable relative to each other in at least three degrees of freedom, wherein six or more conductive deformable gel elements are used to produce a Position signal. 7 1. A rocker comprising at least two elements that are movable relative to each other in at least six degrees of freedom, wherein six or more conductive elastomer elements are used to generate a position signal having at least six degrees of freedom . 7 2 · —A rocker comprising at least two elements that are movable with respect to each other in at least six degrees of freedom -99- 200422920, wherein six or more ionizing conductive elements are used to produce one with at least six degrees of freedom Position signal. 7 3 · —A rocker comprising at least two elements that are movable relative to each other in at least six degrees of freedom, wherein six or more conductive deformable liquid elements are used to create a position with at least six degrees of freedom signal. 7 4 · —A rocker that includes at least two elements that are movable relative to each other in at least six degrees of freedom, wherein six or more conductive deformable gel elements are used to produce a Position signal. 7 5 · — A joystick comprising at least two elements that are movable with respect to each other in at least six degrees of freedom, wherein one or more conductive elastomer elements are used to generate a position signal having at least six degrees of freedom. 76. A rocker comprising at least two elements that are movable relative to each other in at least three degrees of freedom, wherein one or more elastomeric cavities of a conductive fluid are used to create a position having at least three degrees of freedom signal. 7 7 · — A rocker that includes at least two elements that are movable relative to each other in at least six degrees of freedom, wherein one or more elastomeric cavities of a conductive fluid are used to create a Position signal. 7 8. A rocker comprising at least two movable joints that can be moved between at least three mutually movable elements, wherein at least one of the movable joints is movable along six degrees of freedom. 79. The rocker of item 78 in the scope of patent application, wherein at least one element can be firmly fixed against the palm of the user, and at the same time, another movable element can be manipulated with the finger of the user. 80. For example, the joystick for item 78 in the scope of patent application, wherein the user's non--100-200422920 finger and little finger can be used to firmly fix at least one element against the user's palm, and at the same time, The user's thumb, index and middle fingers manipulate another movable element. 81. A joystick with at least six degrees of freedom and a control handle with a diameter of less than 2 inches can be manipulated by the user's index finger, middle finger and thumb. 8 2 · —A joystick with at least six degrees of freedom and a control handle with a circumference less than 6 inches, in which the converter device can be positioned in a packet defined by the imaginary extension surface of the user's forearm during any use . 8 3. — A computer mouse that can be moved on at least two axes, which play the role of the base of the connected multi-axis joystick. 8 4. A computer mouse that records the gliding movements along the X-axis and along the y-axis relative to the support surface, as well as the rotational movements around the z-axis. 8 5. A combination including a computer mouse such as patent application No. 84 and a multi-axis joystick attached to it. 86 · —A rocker that is movable in at least six degrees of freedom and includes a base portion containing a gel-padded stand. 8 7 · The joystick according to item 86 of the patent application scope, which includes the mouse function provided by the base portion of the joystick relative to its supporting surface. 88. A rocker having at least six degrees of freedom and including a base portion and a control handle portion movable relative to the base portion, wherein the base portion is supported in an elastic manner. 8 9 · The rocker of item 88 in the scope of patent application, wherein the base portion is elastically supported in a manner that restricts the coupling between its rotational freedom and translational freedom. -101- 200422920 9. The rocker according to item 88 of the scope of patent application, wherein the base portion I is elastically supported in a manner that restricts the mechanism coupling between the rotation freedom parameter and the translation freedom degree. 91. The rocker according to item 90 of the scope of patent application, wherein the base portion is elastically supported by rotating the parallel members in an elastic manner around the z-axis. It has elasticity in z-axis translation, but solid structural support in z-axis rotation. 9 2 · The rocker according to item 90 of the scope of patent application, wherein the base part is elastically supported and fixed to one of three or more first elastic members generally parallel to # On one end and align it with the first axis' by allowing the base portion to have elasticity to rotate about the first axis, wherein the other end of each first elastic member is connected to two or more general and The second elastic members are parallel, wherein each second elastic member can be elastically bent along the first axis and aligned along a second axis that is generally orthogonal to the first axis and is along the second axis. ~ Generally speaking, the third axis which is orthogonal is very solid. 9 3 · The rocker according to item 88 of the patent application, wherein one or more movable members are sealed in one or more fixed members by an elastic bellows. 9 4 · The rocker of item 93 in the scope of patent application, wherein the elastic bellows is made to comply with the z-axis in a twisting manner. 95. The rocker according to item 94 of the scope of patent application, wherein the part constituted by the elastic bellows can be fixed around the Z-axis in a manner fixed to the one or more fixed members and one or more movable members. Spin. 96. The rocker according to item 95 of the application, wherein an elastic diaphragm is used to compensate the air or fluid displacement of the elastic bellows. 97. The rocker of claim 95, wherein a second elastic bellows compensates for air or fluid displacement of the first elastic bellows. 98. A rocker as claimed in item 95 of the application, wherein a second elastic bellow mechanically coupled to two or more independently movable elements compensates for air or fluid displacement of the first elastic bellow . 9 9 · A multi-axis rocker, which is moved by coupling with a first elastic bellows or diaphragm, and wherein a second elastic bellows or diaphragm is mechanically coupled to at least two mutually On the movable rocker element. # 1 00 · — A multi-axis joystick that contains a portion of the signal used to remove the output signal due to gravity or inertial force transmitted through the user's hand. 101 · —A multi-axis joystick, including: a finger-operated first part connected to a second part with at least five-axis response; and a hand-operated second part connected with at least single-axis response In a third part, each of the movable connecting devices will generate a signal in response to its relative movement. 1 02 · A multi-axis joystick, including: a finger-operated first part connected to a second part with at least five-axis response; and a hand-operated second part with at least two-axis response Connected to a third part 'Each of the movable connection devices will generate a ~ signal in response to its relative motion. 1 0 3. — A multi-axis joystick, including: -103- 200422920 One-finger-operated first part, connected to a second part with at least five-axis response; and one-hand-operated second part, according to at least The three-axis response method is connected to a third part, and each of the movable connection devices will generate a signal in response to its relative motion. 10 4. A multi-axis joystick, comprising: a finger-operated first part and minute, connected to a second part with at least five-axis response; and a hand-operated second part, responded with at least four axes Is connected to a third part, each of which can generate a signal in response to its relative movement. 1 0 5. — A multi-axis joystick, including: a finger-operated first part connected to a second part with at least five-axis response; and a hand-operated second part that responds with at least five-axis Is connected to a third part, each of which is capable of generating a signal in response to its relative movement. 1 0 6. —A rocker with at least six axes, including: a first part containing a magnetic flux circuit which contains one or more air gaps and is six degrees of freedom relative to the second The part is movable; a second part, which includes a sensitivity sensor for positioning relative to the flux gradient, by generating a signal and deriving from this signal that the first part has six degrees of freedom relative to the second part position. -104- 200422920 1〇7.-A rocker with at least six axes, including: a first part containing a magnetic flux circuit which contains one or more air gaps and is tied to six degrees of freedom It is movable with respect to the second part; a second part includes a sensitive sensor for positioning relative to the second derivative of the flux gradient, by generating a signal and deriving the first part with respect to the first The two parts have a position of six degrees of freedom. 108. The device according to claim 106 or 107, which includes a recovery device which does not substantially cause any translation axis to be coupled with any rotation axis. 1 0 9. The device according to item 108 of the patent application range, wherein the recovery device comprises at least one spring coaxial with the control handle. 1 1 0 · The device according to item 107 of the patent application scope, which includes at least one coil spring. 1 1 1. A rocker with at least six axes, comprising: a magnetic flux source; a first part including a device for controlling magnetic flux along at least three paths and a conductive outer part that functions as a flux return path; A second part, which can be moved relative to the first part in six degrees of freedom, and includes a sensor that is positioned relative to the flux gradient, so that its sensitive axis is three-dimensionally asymmetric and defines a hexagonal Six edges. 1 1 2. The device according to item 11 of the patent application scope, wherein the first part includes a control handle. 1 1 3. The device according to item 11 of the patent application range, wherein the flux structure is movable with respect to one or more damping circuits. 1 1 4. A rocker with at least three axes, comprising a base portion mounted on a slave platform composed of a Stewart platform, the main purpose of which is to activate the base platform. 1 1 5 · A rocker with at least three axes, including a base part mounted on a slave platform composed of a Stewart platform, the main purpose of which is to launch the base platform. 1 1 6. A rocker with at least three axes, including a base portion mounted on a slave platform composed of a Stewart platform, the main purpose of which is to activate the base platform. 1 1 7. A rocker with at least three axes, including a base portion mounted on a slave platform composed of a Stewart platform, the main purpose of which is to activate the base platform. i i 8. If the device is under the scope of patent application No. 114, 115, 116 or 116, the Stewart platform can provide force feedback.丄 丄 9. If the device under the scope of patent application No. 114, 115, 116 or 116 is used, the position of the Stewart platform can be provided. 120. The device of claim 114, 115, 116 or 117, wherein the Stewart platform can provide speed feedback.