WO1998004998A1 - Mehrdimensional wirkende handhabe - Google Patents
Mehrdimensional wirkende handhabe Download PDFInfo
- Publication number
- WO1998004998A1 WO1998004998A1 PCT/EP1997/003814 EP9703814W WO9804998A1 WO 1998004998 A1 WO1998004998 A1 WO 1998004998A1 EP 9703814 W EP9703814 W EP 9703814W WO 9804998 A1 WO9804998 A1 WO 9804998A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rod
- handle according
- actuating rod
- sensors
- handle
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20012—Multiple controlled elements
- Y10T74/20201—Control moves in two planes
Definitions
- the invention relates to a handle according to the preamble of claim 1.
- a handle is known as a three-dimensional or so-called space mouse for complex machine control tasks or for spatial computer inputs to be varied and is described in more detail in its basic form in DE 32 40 251 AI a spherical actuating element is placed between the fingertips of a hand and twisted as possible around the vertical, transverse and longitudinal axes. This is very tiring and therefore prone to errors because considerable torsional forces have to be applied via the fingertips and the hand has to attack from above, cannot be propped up
- an actuating rod is optionally (and also superimposed) subjected to both lateral pressure and bending for a two-axis handle by enclosing it with the fist.A lever system linked to that rod applies different pressure sensors for the two functional axes. These operate practically without a path, so that actually no lever deflections occur and therefore, the rod can be realized coaxially gedrangt in tubular form, such as using four variants with an additional sensor lever for the drawing set forth with the thumb to use third dimension in longitudinal sections • 1 shows the built-in handle with sensors located in the base,
- Fig. 2 is a handle according to FIG 1 but with a load on the central rod sensors via a two-armed lever and
- Fig. 3 shows a handle similar to that of Fig. 1, but now with the displacement of the sensors in the hollow actuating rod
- Fig. 4 a handle like Fig 1 only that the other sensor is arranged mirrored
- the handles 1 1 shown in the drawing can each be fixed in place by means of bases 12, for example installed in a control panel 13.
- An actuating rod 14 for accommodating and transmitting transverse and bending forces introduced manually into this is arranged in front of the respective base 12.
- This actuating rod 14 is at its end 15 remote from the base 12 is pivotally suspended on a central rod 16, which in turn is pivotably supported on the end 17 of the base 12 remote from the actuating rod 14.
- the desk installation level 18 between the base 12 and the actuating rod 14 is bridged by a coupling rod 19 which is articulated on the one hand at the end 20 of the actuating rod 14 facing the plane 18 and on the other hand on the base 12
- All joints 21 are as smooth as possible, for example as convex spherical caps in hollow spherical shells since all the joints 21 around one another when force is applied to the actuating rod 14 parallel (oriented transversely to the plane of the drawing) axes are pivoted, they can also be designed as roller joints 21
- the central rod 16 and the coupling rod 19 are, against their two pivoting directions, supported without play against practically pathlessly responding analog pressure sensors 22, which are loaded over a large area by pressure plates 23, which in turn are in their central areas in accordance with the transverse and bending forces are acted upon by transmission bales 24. Because of the always the same direction of force application, this provides a high degree of constancy of the sensor characteristics The balance is balanced. This results in a high sensitivity of the sensors 22 to the manual introduction of force into the handle 11 and insensitivity of the Sensor output signals from external vibrations acting on the handle 11 and changes in the position of the handle 1 1 in the room
- the rods do not have to be arranged next to one another, but they can be tubular, coaxial with little clearance into one another and through the likewise tubular base 12 then surrounds within the base 12, and still protrudes therefrom beyond its installation plane 18 into a tubular actuating rod below, a tubular coupling rod 19 the central rod 16, which makes it possible with a protected sensor arrangement within the outer tubes an ergonomic and compact structure of the handle 1 1, as shown in the drawing
- the coupling rod 19 acts as a two-armed lever, the central rod 16 as a one-armed lever.
- the sensors 22 of the coupling rod 19 lie between their non-supported end and the structural part on which the lever joint 21 of the coupling rod 19 is held (in Fig.1 this is the base 12)
- the sensors 22 of the central rod 16 are arranged between this and the same structural part, but in the case of the tubular construction of the handle 11 according to FIG.
- the principle drawing does not take into account the fact that the outer surface of the actuating rod is expediently designed to be grippy for the surrounding fingers of a fist, since the rods are each rigidly mounted in the longitudinal direction at their joints 21, and since the sensors 22 are only subjected to radially transmitted transverse forces anyway (but not can be excited by any longitudinal displacements of the rods), there is a fatigue-free operability of the handle 1 1 by the fact that a fist encompassing the actuating rod 14 during operation with full weight on the installation level 18 or on a support collar 26 at the lower end 20 of the Actuating rod 14 can be stored while manual force is being applied. For the same reason, rotation of the actuating rod about its longitudinal axis in ball-and-socket joints would not lead to falsification of the sensor signals
- the introduction of force for a functional axis consists in introducing a transverse force parallel to the installation level 18, which leads to a tendency of the central rod 16 and coupling rod 19 to deflect in the same direction, which can be evaluated for control tasks by evaluating the difference in the sensor signal pairs.
- the second functional axis is obtained by introducing a tilting or swiveling force of the surrounding fist in the actuating rod 14 is operated, which leads to an opposite tendency of deflection of the central and coupling rod 16/19 and can also be detected again by the corresponding opposite behavior of the sensor signals.
- a simultaneous (superimposed) displacement and pivoting load on the actuating rod 14 in the same actuation plane namely, transversely to the pivot axes of the joints 21) thus provides two-dimensional control information
- the effective lever lengths i.e. the sensor arrangements along the rods, can be used to set the same or different sensitivities (slopes of the sensor signal characteristics)
- sensor pairs are also provided transversely to the plane of the drawing and, for example, a gimbal mounting also enables the rods to be stressed in this pivoting direction, then two further degrees of freedom are created for the third dimension, but an additional one is preferably on the upper end 15 of the actuating rod 14 , also balanced two-armed swivel lever 27 with sensors 22 arranged in a housing 28 which - during the transverse and K ⁇ p stresses of the Actuating rod 14 - operated by means of the thumb of the hand encompassing the actuating rod 14, namely also play-free and path-free on its freely accessible lever arm up or down (and maybe even transversely to it)
- FIG. 5 shows the installation of the handle in a portable operating and display device 34, which consists of the display 31, the keyboard 32 and a fixed handle 33 and the four-axis
- Control lever 29 for the hand and the 2-axis thumb control element 30 exists and enables the correct 6-D input
- a compact, three-dimensional input device that can be compactly handled without fatigue is created for control tasks of all kinds, for example in machine operation or for computer inputs
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP97935524A EP0912960A1 (de) | 1996-07-26 | 1997-07-15 | Mehrdimensional wirkende handhabe |
US09/230,373 US6101893A (en) | 1996-07-26 | 1997-07-15 | Multi-axis hand controller |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19630075A DE19630075A1 (de) | 1996-07-26 | 1996-07-26 | Mehrdimensional wirkende Handhabe |
DE19630075.4 | 1996-07-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998004998A1 true WO1998004998A1 (de) | 1998-02-05 |
Family
ID=7800842
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP1997/003814 WO1998004998A1 (de) | 1996-07-26 | 1997-07-15 | Mehrdimensional wirkende handhabe |
Country Status (4)
Country | Link |
---|---|
US (1) | US6101893A (de) |
EP (1) | EP0912960A1 (de) |
DE (1) | DE19630075A1 (de) |
WO (1) | WO1998004998A1 (de) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000276293A (ja) * | 1999-03-19 | 2000-10-06 | Chen Lily | ジョイスティック装置 |
JP4118462B2 (ja) * | 1999-07-19 | 2008-07-16 | 株式会社リコー | 携帯電子機器 |
US6623194B1 (en) * | 1999-10-27 | 2003-09-23 | Chung Ching Lip | Position encoder system |
JP2004139845A (ja) * | 2002-10-17 | 2004-05-13 | Alps Electric Co Ltd | 力覚付与型入力装置 |
US7466303B2 (en) | 2004-02-10 | 2008-12-16 | Sunnybrook Health Sciences Center | Device and process for manipulating real and virtual objects in three-dimensional space |
NL1025722C2 (nl) * | 2004-03-15 | 2005-09-16 | Univ Delft Tech | Joystick. |
US20050252329A1 (en) * | 2004-05-13 | 2005-11-17 | Jean-Guy Demers | Haptic mechanism |
GB0909510D0 (en) | 2009-06-03 | 2009-07-15 | Airbus Uk Ltd | Fuel level measurement apparatus and method |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3771037A (en) * | 1973-03-15 | 1973-11-06 | Nasa | Solid state controller three-axes controller |
US3835702A (en) * | 1973-09-13 | 1974-09-17 | Us Air Force | Multi-axis bio-mechanical force measuring device |
EP0565757A1 (de) * | 1991-02-14 | 1993-10-20 | Honeywell Inc. | Handsteuerknüppel mit drei Freiheitsgraden |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2451807A1 (fr) * | 1979-03-22 | 1980-10-17 | Renault | Manipulateur six axes |
FR2462743A1 (fr) * | 1979-08-02 | 1981-02-13 | Ass Ouvriers Instr Precision | Dispositif de commande manuelle, notamment poignee pour commander les deplacements d'un organe motorise |
DE3240251A1 (de) * | 1982-10-30 | 1984-05-03 | Deutsche Forschungs- und Versuchsanstalt für Luft- und Raumfahrt e.V., 5000 Köln | Verfahren zum programmieren von bewegungen und erforderlichenfalls von bearbeitungskraeften bzw. -momenten eines roboters oder manipulators und einrichtung zu dessen durchfuehrung |
SE450300B (sv) * | 1985-05-17 | 1987-06-15 | Saab Scania Ab | Styrdon der elektriska styrsignaler alstras via ett fjederelement |
US5831596A (en) * | 1992-03-25 | 1998-11-03 | Penney & Giles Blackwood Limited | Joystick controller using magnetic position sensors and a resilient control arm with sensor used to measure its flex |
-
1996
- 1996-07-26 DE DE19630075A patent/DE19630075A1/de not_active Withdrawn
-
1997
- 1997-07-15 EP EP97935524A patent/EP0912960A1/de not_active Withdrawn
- 1997-07-15 WO PCT/EP1997/003814 patent/WO1998004998A1/de not_active Application Discontinuation
- 1997-07-15 US US09/230,373 patent/US6101893A/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3771037A (en) * | 1973-03-15 | 1973-11-06 | Nasa | Solid state controller three-axes controller |
US3835702A (en) * | 1973-09-13 | 1974-09-17 | Us Air Force | Multi-axis bio-mechanical force measuring device |
EP0565757A1 (de) * | 1991-02-14 | 1993-10-20 | Honeywell Inc. | Handsteuerknüppel mit drei Freiheitsgraden |
Also Published As
Publication number | Publication date |
---|---|
US6101893A (en) | 2000-08-15 |
DE19630075A1 (de) | 1998-05-28 |
EP0912960A1 (de) | 1999-05-06 |
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