WO2012063069A1 - A simulator including a controller - Google Patents

A simulator including a controller Download PDF

Info

Publication number
WO2012063069A1
WO2012063069A1 PCT/GB2011/052188 GB2011052188W WO2012063069A1 WO 2012063069 A1 WO2012063069 A1 WO 2012063069A1 GB 2011052188 W GB2011052188 W GB 2011052188W WO 2012063069 A1 WO2012063069 A1 WO 2012063069A1
Authority
WO
WIPO (PCT)
Prior art keywords
controller
motor
relative angle
sensor
simulator
Prior art date
Application number
PCT/GB2011/052188
Other languages
French (fr)
Inventor
Jan Telensky
Prajay Kamat
Original Assignee
Jt Consultancy Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GB1018974.4A external-priority patent/GB2485359B/en
Priority claimed from GB1107050.5A external-priority patent/GB2485428B/en
Application filed by Jt Consultancy Limited filed Critical Jt Consultancy Limited
Priority to CN201180003614.XA priority Critical patent/CN102652328B/en
Priority to RU2012105332/12A priority patent/RU2600906C2/en
Priority to IN883DEN2012 priority patent/IN2012DN00883A/en
Publication of WO2012063069A1 publication Critical patent/WO2012063069A1/en

Links

Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/24—Use of tools
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/0069—Engineering, e.g. mechanical, electrical design
    • 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

Definitions

  • This invention relates to a simulator including a controller. More specifically, but not exclusively, this invention relates to a simulator for the training of a tradesman.
  • Vocational training courses were developed to give pupils the initial experience needed to start work as a tradesman, in an attempt to reduce the initial, costly, period of the apprenticeship.
  • these courses are subject to relatively high fees due to the number of mistakes the pupils make in the early stages.
  • a controller comprising a first portion and second portion, the portions being rotatably connected, a magnetometer, a gyroscope, an accelerometer, and a bending sensor, wherein the bending sensor is configured to measure a relative angle between the first and second portion.
  • the bending sensor may be a potentiometer or a friction plate.
  • the controller may further comprise a motor, for resisting change in the relative angle between the first and second portions.
  • the motor may be disposed at a first end of the first portion and include a metallic cage, and the gyroscope, accelerometer and magnetometer may be disposed at an opposing end of the first portion.
  • the controller may further comprise a pressure sensor.
  • the first or second portion includes a groove, the pressure sensor being positioned in the groove.
  • Figure 1 illustrates a simulator including a controller of an embodiment of the present invention, also showing, for reference only, a computer, head mounted display and camera unit;
  • Figure 2 illustrates the controller of Figure 1 , showing a first portion and a second portion in a parallel position;
  • Figure 3 illustrates the controller of Figure 1 , showing a relative angle between the first and second portion
  • Figure 4 illustrates the controller of Figure 1 , showing the first and second portion in a substantially perpendicular position
  • Figure 5 illustrates an internal portion of the controller of Figure 1 , showing a potentiometer, braking motor, gearbox and metal cage;
  • Figure 6 illustrates the potentiometer, braking motor, gearbox and metal cage of the controller of Figure 1 ;
  • Figure 7 illustrates the hardware of the controller of Figure 1 .
  • Figure 1 illustrates an overview of a simulator 1 .
  • the simulator 1 includes a controller 100 of an embodiment of the present invention.
  • the simulator 1 also includes, for reference only, a computer 200, a camera unit 300 and a head mounted display 400.
  • the computer 200 is configured to run a computer program which simulates a training scenario, such as using a blowtorch, or bending a pipe.
  • the computer 200 receives data from the controller 100 and the camera unit 300.
  • the controller 100 includes various sensors to measure spatial properties, such as acceleration and orientation, and to measure user input.
  • the controller 100 outputs the data from the sensors to the computer 200.
  • the camera unit 300 includes a first camera 310 and a second, infrared, camera 320, for image acquisition.
  • the camera unit 300 outputs the image data to the computer 200.
  • the computer 200 is configured to process the data from the controller 100 and camera unit 300 as input variables in the computer program.
  • the controller 100 provides spatial data, such as acceleration and orientation, and user inputs, and the camera unit 300 provides images which may be processed for 3-dimensional position recognition of the controller 100.
  • the computer program which may simulate a training scenario, can therefore give the user an immersive and accurate simulation of a real-life skill, such as using a blow-torch or bending a pipe.
  • the controller 100 of the simulator 1 is described in more detail below.
  • the controller 100 includes a housing formed of a first portion 1 10 and a second portion 120.
  • the first portion 1 10 and second portion 120 are rotatably connected at one end.
  • the first portion 1 10 and second portion 120 are configured to rotate between a parallel position, as shown in Figure 2 where the relative angle is zero, and a substantially perpendicular position, as shown in Figure 4 where the relative angle is around 90°.
  • the relative angle in the substantially perpendicular position is 95°.
  • the first portion 1 10 includes a closing button 127, disposed between the first portion 1 10 and second portion 120.
  • the closing button 127 is configured to depress as the relative angle between the first portion 1 10 and second portion 120 approaches zero (that is, approaches the parallel position).
  • the controller 100 includes a number of buttons thereon, including smaller general purpose buttons 1 13a-c, a larger general purpose button 1 1 1 and a thumb operated joystick 1 14.
  • the buttons allow the user to input basic commands to the computer program, such as menu navigation.
  • the first portion 1 10 includes a plurality of LEDS (not shown) to display status and diagnostic information to the user.
  • the second portion 120 includes a plurality of grooves 123a-d, for receiving the user's fingers.
  • the grooves 123a-d allow the user to comfortably hold the controller 100.
  • the second portion 120 includes a plurality of pressure sensors 125a-d, positioned within the grooves 123a-d.
  • the pressure sensors 125a-d are configured to measure the pressure exerted thereon, by varying their resistance in proportion to the pressure.
  • the pressure sensors 125a-d may be activated only when the closing button 127 is depressed, and include a rubber casing to absorb shock.
  • the controller includes a braking motor 131 , for resisting change in the relative angle between the first portion 1 10 and the second portion 120.
  • the braking motor 131 is therefore disposed at a first end of the second portion 120 where the second portion 120 is rotatably connected to the first portion 1 10.
  • the braking motor 131 allows the simulator to replicate the resistance to bending, for example, when the user is bending a pipe.
  • the braking motor 131 is associated with a gearbox 132, for varying the resistance to the change in the relative angle between the first portion 1 10 and the second portion 120.
  • the motor 131 and gearbox 132 are configured such that the resistance to change in the relative angle is inversely proportional to the electrical resistance across the motor 131 (i.e. the motor 131 is shorted in order to provide maximum resistance to change in the relative angle between the first portion 1 10 and the second portion 120).
  • the motor 131 and gearbox 132 are controlled by a microcontroller.
  • the braking motor 131 includes an external metal cage 133, which is attachable to an inner surface of the second portion 120.
  • the external metal cage 133 is injection moulded to the inner surface of the second portion 120, which improves force transmission between the motor 131 and the second portion 120.
  • the controller includes a plurality of sensors (discussed below), disposed within an opposing end of the second portion 120 (i.e. opposite the first end of the second portion 120). Therefore, the external metal cage 133 extends a predetermined distance from the first end of the second portion 120, such that the sensors are not covered by the motor's metal cage 133. Thus, any electromagnetic waves passing through the device are detected by the sensors without being attenuated by the motor's metal cage 133.
  • the controller 100 also includes a bending sensor, for measuring the relative angle between the first portion 1 10 and the second portion 120.
  • the bending sensor is a potentiometer 134.
  • the bending sensor outputs data of the relative position of the first and second portion 1 10, 120 that may be used by the computer program to simulate a pipe bending scenario.
  • the controller 100 also includes vibration generator motors, which may be activated to provide a physical notification to the user.
  • the controller 100 also includes an input for receiving a secondary controller.
  • FIG. 7 s a block diagram illustrating the hardware inside the housing of the controller 100.
  • the controller 100 includes a microcontroller SOC 150 (including a plurality of modules described below), a battery 161 , such as a Lithium-ion cell, a battery management module 162, and voltage regulators 163.
  • a microcontroller SOC 150 including a plurality of modules described below
  • a battery 161 such as a Lithium-ion cell
  • a battery management module 162 such as a Lithium-ion cell
  • voltage regulators 163 voltage regulators
  • the battery management module 162 includes a battery charger, adapted to receive an AC input.
  • the charger includes dynamic power path management (DPPM) that powers the controller 100 while simultaneously and independently charging the battery 161 .
  • the battery management module further includes protection and fuel gauge circuits.
  • the voltage regulators 163 distribute power to the modules on the microcontroller SOC 150, the sensors, and other active components detailed below.
  • the microcontroller SOC 150 includes a CPU 151 , program memory 152 and execution memory 153, connected via a system bus.
  • the microcontroller SOC 150 further includes GIPO 171 , Power Management 172, ADC 173, DAC 174, UART 175, Audio DAC Output 176, I2C 177, and USB 178 modules, connected via a peripheral bus.
  • the GIPO module 171 is a digital IO, configured to receive data from the smaller and larger general purpose buttons 123a-c, 1 1 1 , and the joystick 1 14.
  • the GIPO module 171 is also configured to control the LEDs to provide status and diagnostic information to the user.
  • the controller 100 includes an accelerometer 180, gyroscope 181 and magnetometer 182, providing nine degrees of freedom tracking.
  • the three sensors 180, 181 , 182 are embodied on a circuit board.
  • the circuit board is designed to filter noise from the sensor 180, 181 , 182 readings to provide Euler angles or Quaternions to output as data relating to the orientation of the controller 100.
  • the three sensors 180, 181 , 182 are connected to the microcontroller SOC 150 via the I2C module 177, which configures, initializes and calibrates the sensors 180, 181 , 182.
  • the pressure sensors 125a-d are connected to the microcontroller SOC 150 via a programmable gain amplifier 190 and the ADC module 173.
  • the ADC module 173 and programmable gain amplifier 190 also connect a hall effect sensor 191 and electric field imaging sensor 192 to the microcontroller SOC 150.
  • the electric field imaging sensor 192 is used for non-contact sensing of objects, by generating a low frequency sine-wave field.
  • the electric field imaging sensor 192 detects proximal objects by changes in the sine-wave field.
  • the hall effect sensor 191 measures the proximal magnetic field.
  • the ADC module 173 is configured to receive the data from the programmable gain amplifier 190, convert it to a digital signal and pass onto the CPU 151 for computation.
  • the microcontroller SOC 150 further includes motor driving circuitry 193, for driving motors such as the vibration generating motor, or the dynamic braking motor.
  • the motor driving circuitry 193 is modulated by the PWM module 172, which may be configured to operate without CPU 151 intervention.
  • the microcontroller SOC 150 also includes a USB module 178, for connection with an external USB device 194, and a UART module 175, for interfacing with a wireless communications module 195, e.g. a Bluetooth (RTM) dongle, for communication with the computer 200.
  • the wireless communications module 195 is a transceiver for sending the data collected from the sensors and input devices to the computer 200, and for receiving feedback data, for example, to drive the dynamic braking motor.
  • the microcontroller SOC 150 also includes an Audio DAC output module 176, for controlling a speaker 196 on the controller 100.
  • the pressure sensor is a non-essential feature.
  • the pressure sensor is preferable, as it allows a further user input to the simulator 1 , such that the user may engage in certain training scenarios, such as using a blow-torch.
  • the skilled reader will also understand that it is non-essential for the controller 100 to rotate between the parallel and perpendicular position. Rather, the controller 100 may rotate between any two relative angles, smaller or greater than 90 degrees.
  • the controller 100 uses a potentiometer to measure the relative angle between the first and second portion.
  • the potentiometer is just one way of measuring the relative angle, and further examples may be used.
  • a friction plate, or a position encoder associated with the motor may be used.
  • the dynamic braking motor is just one example of a means to resist change in the relative angle between the first and second portion.
  • friction can be achieved by positioning friction plates and applying pressure between them or by using a wound up spring system.
  • the motor's metal cage may be injection moulded to the second portion 120.
  • the metal cage may be bolted to the second portion 120.

Landscapes

  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Computer Hardware Design (AREA)
  • Human Computer Interaction (AREA)
  • Instructional Devices (AREA)
  • Gyroscopes (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Manipulator (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The invention relates to a simulator. The simulator includes a controller, including a gyroscope, magnetometer and accelerometer. The controller is formed of two rotatably connected portions, and includes a bending sensor, to measure the relative angle between the two portions.

Description

A SIMULATOR INCLUDING A CONTROLLER
This invention relates to a simulator including a controller. More specifically, but not exclusively, this invention relates to a simulator for the training of a tradesman.
Traditionally, tradesmen, such as plumbers, have learned their trade on the job as an apprentice. An apprentice learns the various requisite skills by attempting to replicate their master's work. Apprenticeships provide a focussed, personal training experience. However, this form of training is not scalable, as the master's time is dissipated over many pupils. Furthermore, at least in the early stages of training, the apprentice will make mistakes, which will cost the master and deter him/her from hiring apprentices in the future.
Vocational training courses were developed to give pupils the initial experience needed to start work as a tradesman, in an attempt to reduce the initial, costly, period of the apprenticeship. However, these courses are subject to relatively high fees due to the number of mistakes the pupils make in the early stages.
According to a first aspect of the invention, there is provided a controller comprising a first portion and second portion, the portions being rotatably connected, a magnetometer, a gyroscope, an accelerometer, and a bending sensor, wherein the bending sensor is configured to measure a relative angle between the first and second portion.
The bending sensor may be a potentiometer or a friction plate. The controller may further comprise a motor, for resisting change in the relative angle between the first and second portions. The motor may be disposed at a first end of the first portion and include a metallic cage, and the gyroscope, accelerometer and magnetometer may be disposed at an opposing end of the first portion.
The controller may further comprise a pressure sensor. Preferably, the first or second portion includes a groove, the pressure sensor being positioned in the groove.
Embodiments of the invention will now be described, by way of example, and with reference to the drawings in which:
Figure 1 illustrates a simulator including a controller of an embodiment of the present invention, also showing, for reference only, a computer, head mounted display and camera unit;
Figure 2 illustrates the controller of Figure 1 , showing a first portion and a second portion in a parallel position;
Figure 3 illustrates the controller of Figure 1 , showing a relative angle between the first and second portion;
Figure 4 illustrates the controller of Figure 1 , showing the first and second portion in a substantially perpendicular position;
Figure 5 illustrates an internal portion of the controller of Figure 1 , showing a potentiometer, braking motor, gearbox and metal cage;
Figure 6 illustrates the potentiometer, braking motor, gearbox and metal cage of the controller of Figure 1 ; and
Figure 7 illustrates the hardware of the controller of Figure 1 . Figure 1 illustrates an overview of a simulator 1 . The simulator 1 includes a controller 100 of an embodiment of the present invention. The simulator 1 also includes, for reference only, a computer 200, a camera unit 300 and a head mounted display 400. For the purposes of this description, the computer 200 is configured to run a computer program which simulates a training scenario, such as using a blowtorch, or bending a pipe.
The computer 200 receives data from the controller 100 and the camera unit 300. The controller 100 includes various sensors to measure spatial properties, such as acceleration and orientation, and to measure user input. The controller 100 outputs the data from the sensors to the computer 200. The camera unit 300 includes a first camera 310 and a second, infrared, camera 320, for image acquisition. The camera unit 300 outputs the image data to the computer 200.
The computer 200 is configured to process the data from the controller 100 and camera unit 300 as input variables in the computer program. The controller 100 provides spatial data, such as acceleration and orientation, and user inputs, and the camera unit 300 provides images which may be processed for 3-dimensional position recognition of the controller 100. The computer program, which may simulate a training scenario, can therefore give the user an immersive and accurate simulation of a real-life skill, such as using a blow-torch or bending a pipe. The controller 100 of the simulator 1 is described in more detail below.
• The Controller The controller 100 will now be described, with reference to Figures 2 to 7. The controller 100 includes a housing formed of a first portion 1 10 and a second portion 120. The first portion 1 10 and second portion 120 are rotatably connected at one end. The first portion 1 10 and second portion 120 are configured to rotate between a parallel position, as shown in Figure 2 where the relative angle is zero, and a substantially perpendicular position, as shown in Figure 4 where the relative angle is around 90°. In this embodiment, the relative angle in the substantially perpendicular position is 95°.
The first portion 1 10 includes a closing button 127, disposed between the first portion 1 10 and second portion 120. The closing button 127 is configured to depress as the relative angle between the first portion 1 10 and second portion 120 approaches zero (that is, approaches the parallel position).
The controller 100 includes a number of buttons thereon, including smaller general purpose buttons 1 13a-c, a larger general purpose button 1 1 1 and a thumb operated joystick 1 14. The buttons allow the user to input basic commands to the computer program, such as menu navigation. In this embodiment, the first portion 1 10 includes a plurality of LEDS (not shown) to display status and diagnostic information to the user.
The second portion 120 includes a plurality of grooves 123a-d, for receiving the user's fingers. The grooves 123a-d allow the user to comfortably hold the controller 100. Furthermore, the second portion 120 includes a plurality of pressure sensors 125a-d, positioned within the grooves 123a-d. The pressure sensors 125a-d are configured to measure the pressure exerted thereon, by varying their resistance in proportion to the pressure. The pressure sensors 125a-d may be activated only when the closing button 127 is depressed, and include a rubber casing to absorb shock.
In this embodiment (as shown in Figures 5 and 6), the controller includes a braking motor 131 , for resisting change in the relative angle between the first portion 1 10 and the second portion 120. The braking motor 131 is therefore disposed at a first end of the second portion 120 where the second portion 120 is rotatably connected to the first portion 1 10. The braking motor 131 allows the simulator to replicate the resistance to bending, for example, when the user is bending a pipe.
The braking motor 131 is associated with a gearbox 132, for varying the resistance to the change in the relative angle between the first portion 1 10 and the second portion 120. The motor 131 and gearbox 132 are configured such that the resistance to change in the relative angle is inversely proportional to the electrical resistance across the motor 131 (i.e. the motor 131 is shorted in order to provide maximum resistance to change in the relative angle between the first portion 1 10 and the second portion 120). The motor 131 and gearbox 132 are controlled by a microcontroller.
The braking motor 131 includes an external metal cage 133, which is attachable to an inner surface of the second portion 120. In this embodiment, the external metal cage 133 is injection moulded to the inner surface of the second portion 120, which improves force transmission between the motor 131 and the second portion 120.
In this embodiment, the controller includes a plurality of sensors (discussed below), disposed within an opposing end of the second portion 120 (i.e. opposite the first end of the second portion 120). Therefore, the external metal cage 133 extends a predetermined distance from the first end of the second portion 120, such that the sensors are not covered by the motor's metal cage 133. Thus, any electromagnetic waves passing through the device are detected by the sensors without being attenuated by the motor's metal cage 133.
The controller 100 also includes a bending sensor, for measuring the relative angle between the first portion 1 10 and the second portion 120. In this embodiment, the bending sensor is a potentiometer 134. The bending sensor outputs data of the relative position of the first and second portion 1 10, 120 that may be used by the computer program to simulate a pipe bending scenario.
The controller 100 also includes vibration generator motors, which may be activated to provide a physical notification to the user.
The controller 100 also includes an input for receiving a secondary controller.
Figure 7 s a block diagram illustrating the hardware inside the housing of the controller 100. The controller 100 includes a microcontroller SOC 150 (including a plurality of modules described below), a battery 161 , such as a Lithium-ion cell, a battery management module 162, and voltage regulators 163.
The battery management module 162 includes a battery charger, adapted to receive an AC input. The charger includes dynamic power path management (DPPM) that powers the controller 100 while simultaneously and independently charging the battery 161 . The battery management module further includes protection and fuel gauge circuits. The voltage regulators 163 distribute power to the modules on the microcontroller SOC 150, the sensors, and other active components detailed below.
The microcontroller SOC 150 includes a CPU 151 , program memory 152 and execution memory 153, connected via a system bus. The microcontroller SOC 150 further includes GIPO 171 , Power Management 172, ADC 173, DAC 174, UART 175, Audio DAC Output 176, I2C 177, and USB 178 modules, connected via a peripheral bus.
The GIPO module 171 is a digital IO, configured to receive data from the smaller and larger general purpose buttons 123a-c, 1 1 1 , and the joystick 1 14. The GIPO module 171 is also configured to control the LEDs to provide status and diagnostic information to the user.
The controller 100 includes an accelerometer 180, gyroscope 181 and magnetometer 182, providing nine degrees of freedom tracking. The three sensors 180, 181 , 182 are embodied on a circuit board. The circuit board is designed to filter noise from the sensor 180, 181 , 182 readings to provide Euler angles or Quaternions to output as data relating to the orientation of the controller 100. The three sensors 180, 181 , 182 are connected to the microcontroller SOC 150 via the I2C module 177, which configures, initializes and calibrates the sensors 180, 181 , 182.
The pressure sensors 125a-d are connected to the microcontroller SOC 150 via a programmable gain amplifier 190 and the ADC module 173. The ADC module 173 and programmable gain amplifier 190 also connect a hall effect sensor 191 and electric field imaging sensor 192 to the microcontroller SOC 150. The electric field imaging sensor 192 is used for non-contact sensing of objects, by generating a low frequency sine-wave field. The electric field imaging sensor 192 detects proximal objects by changes in the sine-wave field. Similarly, the hall effect sensor 191 measures the proximal magnetic field.
The ADC module 173 is configured to receive the data from the programmable gain amplifier 190, convert it to a digital signal and pass onto the CPU 151 for computation.
The microcontroller SOC 150 further includes motor driving circuitry 193, for driving motors such as the vibration generating motor, or the dynamic braking motor. The motor driving circuitry 193 is modulated by the PWM module 172, which may be configured to operate without CPU 151 intervention.
The microcontroller SOC 150 also includes a USB module 178, for connection with an external USB device 194, and a UART module 175, for interfacing with a wireless communications module 195, e.g. a Bluetooth (RTM) dongle, for communication with the computer 200. The wireless communications module 195 is a transceiver for sending the data collected from the sensors and input devices to the computer 200, and for receiving feedback data, for example, to drive the dynamic braking motor.
The microcontroller SOC 150 also includes an Audio DAC output module 176, for controlling a speaker 196 on the controller 100.
The skilled reader will understand that the pressure sensor is a non-essential feature. The pressure sensor is preferable, as it allows a further user input to the simulator 1 , such that the user may engage in certain training scenarios, such as using a blow-torch. The skilled reader will also understand that it is non-essential for the controller 100 to rotate between the parallel and perpendicular position. Rather, the controller 100 may rotate between any two relative angles, smaller or greater than 90 degrees.
In the above embodiment, the controller 100 uses a potentiometer to measure the relative angle between the first and second portion. The skilled reader will understand that the potentiometer is just one way of measuring the relative angle, and further examples may be used. For example, a friction plate, or a position encoder associated with the motor may be used. Furthermore, the dynamic braking motor is just one example of a means to resist change in the relative angle between the first and second portion. For example, friction can be achieved by positioning friction plates and applying pressure between them or by using a wound up spring system.
The skilled reader will also understand that it is not essential for the motor's metal cage to be injection moulded to the second portion 120. For example, the metal cage may be bolted to the second portion 120.
The skilled person will understand that any combination of features is possible without departing from the scope of the present invention, as claimed.

Claims

1 . A controller comprising a first portion and second portion, the portions being rotatably connected, a magnetometer, a gyroscope, an accelerometer, and a bending sensor, wherein the bending sensor is configured to measure a relative angle between the first and second portion.
2. A controller as claimed in Claim 1 , wherein the bending sensor is a potentiometer.
3. A controller as claimed in Claim 1 , wherein the bending sensor is a friction plate.
4. A controller as claimed in any one of the preceding claims, further comprising a motor for resisting change in the relative angle between the portions.
5. A controller as claimed in Claim 4, wherein the motor is disposed at a first end of the first portion and includes a metallic cage, and the gyroscope, accelerometer and magnetometer are disposed at an opposing end of the first portion.
6. A controller as claimed in any one of Claims 1 to 5, further comprising a pressure sensor.
7. A controller as claimed in Claim 6, wherein the first or second portion includes a groove, the pressure sensor being positioned in the groove. A controller substantially as herein described with reference to and as shown one of the accompanying drawings.
PCT/GB2011/052188 2010-11-10 2011-11-10 A simulator including a controller WO2012063069A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201180003614.XA CN102652328B (en) 2010-11-10 2011-11-10 Simulator including controller
RU2012105332/12A RU2600906C2 (en) 2010-11-10 2011-11-10 Modelling installation including control device
IN883DEN2012 IN2012DN00883A (en) 2010-11-10 2011-11-10

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB1018974.4 2010-11-10
GB1018974.4A GB2485359B (en) 2010-11-10 2010-11-10 A simulator including a method and apparatus for determining the co-ordinates of an object in two dimensions
GB1107050.5 2011-04-27
GB1107050.5A GB2485428B (en) 2011-04-27 2011-04-27 A simulator including a controller

Publications (1)

Publication Number Publication Date
WO2012063069A1 true WO2012063069A1 (en) 2012-05-18

Family

ID=45094031

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2011/052188 WO2012063069A1 (en) 2010-11-10 2011-11-10 A simulator including a controller

Country Status (4)

Country Link
GB (1) GB2486527B (en)
IN (1) IN2012DN00883A (en)
RU (1) RU2600906C2 (en)
WO (1) WO2012063069A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004021528A (en) * 2002-06-14 2004-01-22 Sony Corp Portable information equipment
WO2005116802A1 (en) * 2004-05-25 2005-12-08 Sony Computer Entertainment Inc. Input device and method, and character input method
EP1867958A2 (en) * 2006-06-13 2007-12-19 Nokia Corporation Position Sensor
JP2009223169A (en) * 2008-03-18 2009-10-01 Seiko Epson Corp Display device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SU1217151A1 (en) * 1984-11-23 1989-08-15 Институт Проблем Моделирования В Энергетике Ан Усср Welderъs training simulator
US5396266A (en) * 1993-06-08 1995-03-07 Technical Research Associates, Inc. Kinesthetic feedback apparatus and method
CA2482240A1 (en) * 2004-09-27 2006-03-27 Claude Choquet Body motion training and qualification system and method
US20100004061A1 (en) * 2008-05-21 2010-01-07 Greg Merril Exercise Gaming Device and Method of Interacting With Gaming or Other Scenarios Based on Physical Exercise

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004021528A (en) * 2002-06-14 2004-01-22 Sony Corp Portable information equipment
WO2005116802A1 (en) * 2004-05-25 2005-12-08 Sony Computer Entertainment Inc. Input device and method, and character input method
US20110134034A1 (en) * 2004-05-25 2011-06-09 Tyler Jon Daniel Input Device and Method, and Character Input Method
EP1867958A2 (en) * 2006-06-13 2007-12-19 Nokia Corporation Position Sensor
JP2009223169A (en) * 2008-03-18 2009-10-01 Seiko Epson Corp Display device

Also Published As

Publication number Publication date
RU2600906C2 (en) 2016-10-27
GB201119412D0 (en) 2011-12-21
IN2012DN00883A (en) 2015-07-10
GB2486527A (en) 2012-06-20
CN102652328A (en) 2012-08-29
GB2486527B (en) 2016-08-03
RU2012105332A (en) 2014-12-20

Similar Documents

Publication Publication Date Title
US10434659B2 (en) Systems, devices, articles, and methods for user input
EP2661311B1 (en) Self-propelled device with actively engaged drive system
Soares et al. The Khepera IV mobile robot: Performance evaluation, sensory data and software toolbox
CN105264452A (en) Multi-purposed self-propelled device
CA2951060C (en) Battery charging base and recharging method implementing such a base
EP3732672A1 (en) Wearable computing apparatus for augmented reality, virtual reality and artificial intelligence interactions, and methods relating thereto
KR101183823B1 (en) Reaction force controlling system and method
Pabon et al. A data-glove with vibro-tactile stimulators for virtual social interaction and rehabilitation
Barber et al. Visual and tactile interfaces for bi-directional human robot communication
WO2012063069A1 (en) A simulator including a controller
WO2018012110A1 (en) Processing device, system, and control method
US10180733B2 (en) Systems, devices, and methods for foot control of robots
Teodorescu et al. A rule-based assistive control algorithm for safe navigation for a powered wheelchair
KR20200067446A (en) Electronic device including spherical mobile device and second device movable thereon, and attitude conrol method of second devcie
US10906178B2 (en) Systems, devices, and methods for distributed graphical models in robotics
CN102652328B (en) Simulator including controller
GB2485428A (en) A Controller for a Plumbing Simulator
GB2485359A (en) A Simulator Including A Controller And A Means For 3-Dimensional Position Recognition Using Correlation
Zhuo LQG Controller Design of the Mobile Inverted Pendulum
Easterbrook Single Spatial Sensor Control of Robotic Arms
Neeley Design and Development of a High-Performance Quadrotor Control Architecture Based on Feedback Linearization
Kraus Sensory feedback implementation for a teleoperated, master-slave robotic manipulator
Anderson Advanced dexterous manipulation for IED defeat: report on the feasibility of using the ShadowHand for remote operations.
Saraf Development and human performance evaluation of a ground vehicle robotic force-feedback tele-operation system
Naya et al. Robobo: The next generation of educational robot

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 201180003614.X

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 11791033

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2012105332

Country of ref document: RU

Kind code of ref document: A

122 Ep: pct application non-entry in european phase

Ref document number: 11791033

Country of ref document: EP

Kind code of ref document: A1