WO2004066135A1 - Interface de simulation manuelle - Google Patents
Interface de simulation manuelle Download PDFInfo
- Publication number
- WO2004066135A1 WO2004066135A1 PCT/FR2003/050170 FR0350170W WO2004066135A1 WO 2004066135 A1 WO2004066135 A1 WO 2004066135A1 FR 0350170 W FR0350170 W FR 0350170W WO 2004066135 A1 WO2004066135 A1 WO 2004066135A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- actuators
- handle
- cuff
- rod
- displacement
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
- G05G1/02—Controlling members for hand actuation by linear movement, e.g. push buttons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
- G05G9/04788—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement comprising additional control elements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
- G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
- G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
- G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
- G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
- G05G2009/04774—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with additional switches or sensors on the handle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/015—Force feedback applied to a joystick
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20012—Multiple controlled elements
- Y10T74/20201—Control moves in two planes
Definitions
- the subject of the invention is a manual simulation interface envisaged above all as a link with a virtual environment, carried by the user at arm's length and which allows him to both impose certain commands while receiving, according to the simulated environment, various sensations of tact in return.
- the simulation interface comprises two clearly different reaction modes for expressing the accomplishment of actions of different natures. It becomes possible to distinguish in response to operator actions on the one hand feedback of effort, associated in particular with grasping, and on the other hand more delicate action reactions associated with tactile recognition.
- the simulation interface is characterized in that it comprises a cuff attached to a user's wrist and a handle placed in front of a user's hand, the handle is mounted to the cuff by displacement actuators, and the handle has tactile actuators in front of fingers of the hand, the displacement and tactile actuators being controlled by motors sensitive to simulation response pulses.
- a rod can replace the cuff; it then makes it possible to hold the interface by the other hand of the user. It can also be added to the cuff to support the handle.
- the handle can comprise a portion close to the cuff, equipped with at least a thumb control button; or the cuff (or the rod) can be equipped with a contactless displacement sensor, whose movements are identified in the surrounding environment.
- This interface worn by the user should also remain light, especially in its mobile parts. It is thus advantageous that the control actuators of the displacement actuators are placed on the cuff (or the rod) rather than on the movable handle that they cause to move.
- the richness in the sensations of reaction also depends on the number of possible movements that can be inflicted on the handle.
- the displacement actuators control displacements in different essentially perpendicular directions, two of the displacement actuators being placed between opposite lateral edges of the handle and a support portion associated with the cuff.
- the handle is then very mobile; it is even movable in all directions if it comprises a transverse rod mounted on said two actuators, which control movements in directions perpendicular to each other and inclined relative to the rod, and a third displacement actuator is disposed between the transverse rod and a main portion of the handle by sliding the main portion on the rod.
- FIG. 1 is a general view of an embodiment of the interface, FIGS. 2, 3, 4 and 5 specific views,
- the interface of FIG. 1 comprises a cuff 1 composed of a band which the user fastens around the wrist, for example by superimposing edges 2 covered with gripping fabric or by any equivalent means, and a handle 3 extending in front of the user's hand.
- the exploration of the virtual environment is also carried out by operator commands. Some can be provided through the interface discussed here.
- the main portion 10 comprises at least one button 13 at the end of a straight part containing the rod 8 opposite to the touch actuators 12: this right part of the handle is a support for the thumb of the operator, who presses on buttons 13 as soon as necessary.
- the command of these buttons can be associated with a specific action in the environment, such as taking a tool or another object.
- Other control means are constituted by a movement sensor 14 on the cuff 1. It is a sensor of the optical, magnetic or other type, which allows, using a radiation source 17 forming a fixed reference, to measure the displacements in position and orientation of the interface with respect to the source 17. This type of sensor is well known.
- each table 19 or 20 is carried by each table 19 or 20 and control the movements on the slides. If these movements are identical and in the same directions, pure translations of the handle are obtained; if the directions are opposite, pure rotations.
- the handle 3 is supported by a pair of cardan joints 27 between the tables 19 and 20 and the ends of the rod 8, as well as a slide 29 between the lower end of the rod 8 and the table 20 to adjust the space between the universal joints 27 integral with the tables 18 and 20.
- a fifth actuator 28, coaxial with the rod 8, rotates the latter around its axis.
- the cuff 1 could be eliminated: the user would then directly grasp the rod 5 next to the handle 3 with his other hand. In this case, the control by simulation would be done with said other hand, which would move the interface, and the reactions would be felt by the first hand as before.
- FIG. 7 represents a general view thereof.
- This embodiment also includes a cuff 31, a handle 33, a mount 34, and two displacement actuators 36 and 37 whose general characteristics are the same as those of the corresponding parts 1, 3, 4, 6 and 7 already encountered.
- the displacement actuators 36 and 37 are constructed differently as it appears in FIG. 6.
- the screw actuators are replaced by cable actuators of a particular kind. Each of them comprises a motor 38, a drive pulley 39 located at the end of an engine output shaft 40, a pair of return pulleys 41 and 42, a cable 43 visible in FIG. 6A, and a take-up pulley 44 , reduced here to a sector.
- the receiving pulleys 44 are both connected to the mount 34, and the motors 38 of the displacement actuators 36 and 37 are respectively fixed to bases 45 and 46 belonging respectively to the cuff 31 and to the handle 33.
- the cable 43 is fixed at its two ends to the receiving pulley 44; it is rolled up, between its ends, successively to the deflection pulley 41, the driving pulley 39 and the other deflection pulley 42.
- the particularity of the displacement actuators 36 and 37 is that, contrary to the usual design, the driving pulley 39 has an axis of rotation which is perpendicular to those of the idler pulleys 41 and 42 and the take-up pulley 44.
- the transmissions of the displacement actuators 36 and 37 are both placed at the height of the user's wrist, and the mount 34 is bent, so that the axes of rotation Y and Z of the receiving pulleys 44 are perpendicular to each other and s extend through the wrist: the interface therefore has a mobility zone which coincides well with that of the user, so that it does not interfere with its natural movements.
- the handle is provided with tactile actuators 47 shown diagrammatically in Figure 6 and which should be understood that they are mounted on the housing of the handle 33. This housing may also include other buttons, not shown, which can take the appearance of pushers or knobs to cause actuations or sequences.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Theoretical Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- User Interface Of Digital Computer (AREA)
- Prostheses (AREA)
- Position Input By Displaying (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2003302177A AU2003302177A1 (en) | 2003-01-13 | 2003-12-15 | Manual simulation interface |
JP2004567026A JP2006513500A (ja) | 2003-01-13 | 2003-12-15 | マニュアルシミュレーションインターフェース |
US10/541,631 US20060156848A1 (en) | 2003-01-13 | 2003-12-15 | Manual simulation interface |
EP03809983A EP1584021A1 (fr) | 2003-01-13 | 2003-12-15 | Interface de simulation manuelle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0300294A FR2849937B1 (fr) | 2003-01-13 | 2003-01-13 | Interface de simulation manuelle |
FR03/00294 | 2003-01-13 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004066135A1 true WO2004066135A1 (fr) | 2004-08-05 |
Family
ID=32524854
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2003/050170 WO2004066135A1 (fr) | 2003-01-13 | 2003-12-15 | Interface de simulation manuelle |
Country Status (6)
Country | Link |
---|---|
US (1) | US20060156848A1 (fr) |
EP (1) | EP1584021A1 (fr) |
JP (1) | JP2006513500A (fr) |
AU (1) | AU2003302177A1 (fr) |
FR (1) | FR2849937B1 (fr) |
WO (1) | WO2004066135A1 (fr) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8276476B2 (en) * | 2007-10-03 | 2012-10-02 | Caterpillar Inc. | Joystick offset controls |
US20090139360A1 (en) * | 2007-11-30 | 2009-06-04 | Caterpillar Inc | Joystick attachment |
US8212770B2 (en) * | 2008-02-11 | 2012-07-03 | Caterpillar Inc. | Joystick assembly for improved machine control |
US20100221163A1 (en) * | 2009-02-27 | 2010-09-02 | Caterpillar Inc. | Method to sequester co2 as mineral carbonate |
WO2011112898A1 (fr) * | 2010-03-11 | 2011-09-15 | Hdt Robotics, Inc. | Vérin de commande à nombre élevé de degrés de liberté |
US9575504B2 (en) | 2010-03-11 | 2017-02-21 | Hdt Expeditionary Systems, Inc. | High degree of freedom (DOF) controller |
US20130293362A1 (en) | 2012-05-03 | 2013-11-07 | The Methodist Hospital Research Institute | Multi-degrees-of-freedom hand controller |
US11896255B2 (en) | 2015-10-05 | 2024-02-13 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
US9889874B1 (en) * | 2016-08-15 | 2018-02-13 | Clause Technology | Three-axis motion joystick |
US9823686B1 (en) * | 2016-08-15 | 2017-11-21 | Clause Technology | Three-axis motion joystick |
US10331233B2 (en) | 2016-10-27 | 2019-06-25 | Fluidity Technologies, Inc. | Camera and sensor controls for remotely operated vehicles and virtual environments |
US10520973B2 (en) * | 2016-10-27 | 2019-12-31 | Fluidity Technologies, Inc. | Dynamically balanced multi-degrees-of-freedom hand controller |
US10324487B2 (en) | 2016-10-27 | 2019-06-18 | Fluidity Technologies, Inc. | Multi-axis gimbal mounting for controller providing tactile feedback for the null command |
US10331232B2 (en) | 2016-10-27 | 2019-06-25 | Fluidity Technologies, Inc. | Controller with situational awareness display |
US10198086B2 (en) | 2016-10-27 | 2019-02-05 | Fluidity Technologies, Inc. | Dynamically balanced, multi-degrees-of-freedom hand controller |
EP3532842A4 (fr) | 2016-10-27 | 2020-12-16 | Fluidity Technologies, Inc. | Dispositif de commande manuel à plusieurs degrés de liberté à équilibrage dynamique |
US10845876B2 (en) | 2017-09-27 | 2020-11-24 | Contact Control Interfaces, LLC | Hand interface device utilizing haptic force gradient generation via the alignment of fingertip haptic units |
EP3701349A4 (fr) | 2017-10-27 | 2021-07-28 | Fluidity Technologies, Inc. | Commandes de caméra et de capteur pour des véhicules télécommandés et des environnements virtuels |
EP3700639A4 (fr) | 2017-10-27 | 2021-08-25 | Fluidity Technologies, Inc. | Dispositif de commande équipé d'un dispositif d'affichage de connaissance de la situation |
WO2019084505A1 (fr) | 2017-10-27 | 2019-05-02 | Fluidity Technologies, Inc. | Monture à cardan à axes multiples pour dispositif de commande fournissant une rétroaction tactile pour la commande nulle |
AT520763B1 (de) * | 2017-12-21 | 2022-09-15 | Hans Kuenz Gmbh | Kransteuerung |
CN109015685B (zh) * | 2018-08-28 | 2022-08-12 | 广东海翔教育科技有限公司 | 一种用于教育机器人 |
US11599107B2 (en) | 2019-12-09 | 2023-03-07 | Fluidity Technologies Inc. | Apparatus, methods and systems for remote or onboard control of flights |
JP2023528860A (ja) | 2020-06-02 | 2023-07-06 | フレックスデックス,インク. | 外科用ツールおよびアセンブリ |
US11696633B1 (en) * | 2022-04-26 | 2023-07-11 | Fluidity Technologies Inc. | System and methods for controlling motion of a target object and providing discrete, directional tactile feedback |
US11662835B1 (en) | 2022-04-26 | 2023-05-30 | Fluidity Technologies Inc. | System and methods for controlling motion of a target object and providing discrete, directional tactile feedback |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4909514A (en) * | 1988-10-24 | 1990-03-20 | Tano Robert S | Holder for manual video game controller toggle switch mechanisms |
EP0493795A1 (fr) * | 1990-12-31 | 1992-07-08 | Honeywell Inc. | Levier de commande |
GB2283079A (en) * | 1993-10-12 | 1995-04-26 | James Edward Killick | Single handed computer controller eg joystick |
US5577417A (en) * | 1993-11-08 | 1996-11-26 | Commissariat A L'energie Atomique | Tactile and/or kinesthetic manual information return control member |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
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US3028126A (en) * | 1960-05-10 | 1962-04-03 | Euclid C Holleman | Three axis controller |
US4491325A (en) * | 1983-01-26 | 1985-01-01 | Thomas Bersheim | Game control apparatus |
US4795296A (en) * | 1986-11-17 | 1989-01-03 | California Institute Of Technology | Hand-held robot end effector controller having movement and force control |
CA2062147C (fr) * | 1992-03-02 | 1995-07-25 | Kenji Hara | Dispositif de commande multi-axiale a manchet |
JP3199130B2 (ja) * | 1992-03-31 | 2001-08-13 | パイオニア株式会社 | 3次元座標入力装置 |
JPH0720978A (ja) * | 1993-07-05 | 1995-01-24 | Sony Corp | 仮想体感装置 |
US5825308A (en) * | 1996-11-26 | 1998-10-20 | Immersion Human Interface Corporation | Force feedback interface having isotonic and isometric functionality |
JP2001034407A (ja) * | 1999-07-23 | 2001-02-09 | Nippon Telegr & Teleph Corp <Ntt> | ハンドリスト型操作デバイスとその利用方法 |
AU2001295801A1 (en) * | 2000-10-27 | 2002-05-06 | Makex Limited | Haptic input device |
US6550562B2 (en) * | 2000-12-08 | 2003-04-22 | Clark Equipment Company | Hand grip with microprocessor for controlling a power machine |
JP3897547B2 (ja) * | 2001-07-05 | 2007-03-28 | アルプス電気株式会社 | 入力装置 |
-
2003
- 2003-01-13 FR FR0300294A patent/FR2849937B1/fr not_active Expired - Fee Related
- 2003-12-15 WO PCT/FR2003/050170 patent/WO2004066135A1/fr active Application Filing
- 2003-12-15 JP JP2004567026A patent/JP2006513500A/ja active Pending
- 2003-12-15 EP EP03809983A patent/EP1584021A1/fr not_active Withdrawn
- 2003-12-15 AU AU2003302177A patent/AU2003302177A1/en not_active Abandoned
- 2003-12-15 US US10/541,631 patent/US20060156848A1/en not_active Abandoned
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4909514A (en) * | 1988-10-24 | 1990-03-20 | Tano Robert S | Holder for manual video game controller toggle switch mechanisms |
EP0493795A1 (fr) * | 1990-12-31 | 1992-07-08 | Honeywell Inc. | Levier de commande |
GB2283079A (en) * | 1993-10-12 | 1995-04-26 | James Edward Killick | Single handed computer controller eg joystick |
US5577417A (en) * | 1993-11-08 | 1996-11-26 | Commissariat A L'energie Atomique | Tactile and/or kinesthetic manual information return control member |
Also Published As
Publication number | Publication date |
---|---|
FR2849937B1 (fr) | 2005-02-11 |
AU2003302177A1 (en) | 2004-08-13 |
JP2006513500A (ja) | 2006-04-20 |
US20060156848A1 (en) | 2006-07-20 |
FR2849937A1 (fr) | 2004-07-16 |
EP1584021A1 (fr) | 2005-10-12 |
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