# US 2014/0156151 A1 · Remote vehicle control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0156151 A1 - Document ID: US20140156151A1 - Status: Published application - Kind: A1 - Application number: 14/172,546 - Filed: 2014-02-04 - Published: 2014-06-05 - Earliest claimed: 2007-03-28 - Assignees: iRobot Corporation - Applicants: iRobot Corporation - Inventors: Jacob Curtis Jurmain; Aaron John Powers; Marc Vollenweider; Jeffrey Joseph Berkley - Web page: https://patentgrep.com/patent/US20140156151A1 ## CPC - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - B25J 3/04: involving servo mechanisms (servo-actuated heads B25J15/02) - B25J 5/005: {mounted on endless tracks or belts} - B25J 9/1689: {Teleoperation} - B25J 19/023: {including video camera means} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A method for controlling one or more remote vehicles may comprise manipulating remote dexterous manipulators, translating movement of the remote dexterous manipulators into movement of the one or more remote vehicles, and providing a sliding work window allowing control of the one or more remote vehicles' entire range of motion without sacrificing control resolution. ## Claims ### Claim at position 1 1-20. (canceled) ### Claim 21 A remote vehicle system, comprising: a remote vehicle, comprising a manipulator arm having end effector; and a portable remote control system, comprising: a computer in communication with the remote vehicle and configured to display a view of an environment of the remote vehicle on a display; and a remote dexterous control device in communication with the computer and comprising a hand held controller and a workspace in which the hand held controller is manipulated; wherein the computer is configured to translate movement of the hand held controller within the control device workspace into corresponding movement of a portion of the remote vehicle in a portion of the remote vehicle environment and is configured to translate the view of the remote vehicle environment on the display in a direction corresponding to movement of the hand held controller within the control device workspace, when the hand held controller is moved to a perimeter of the control device workspace. ### Claim 22 (depends on 21) The remote vehicle system of claim 21, wherein the remote vehicle comprises a manipulator arm having end effector, and wherein the remote dexterous control device is configured to remotely navigate the remote vehicle and to control the manipulator arm and end effector. ### Claim 23 (depends on 21) The remote vehicle system of claim 21, wherein the remote dexterous control device provides haptic feedback, ### Claim 24 (depends on 22) The remote vehicle system of claim 22, wherein force on the end effector is communicated to the remote dexterous control device, which displays proportional force to a user. ### Claim 25 (depends on 22) The remote vehicle system of claim 22, wherein force on the end effector is communicated to the remote dexterous control device, which communicates the force to a user via force, vibration and/or other motion applied to the hand held controller. ### Claim 26 (depends on 21) The remote vehicle system of claim 21, wherein the perimeter of the sliding work window comprises force walls surrounding the workspace, and wherein manipulation of the hand held controller to a position within a force wall causes translation of the sliding work window. ### Claim 27 (depends on 21) The remote vehicle system of claim 21, wherein the perimeter of the sliding work window comprises force walls surrounding the workspace, and wherein manipulation of the hand held controller to a position within a force wall causes accelerated movement of the remote vehicle. ### Claim 28 (depends on 21) The remote vehicle system of claim 21, wherein the hand held controller includes one of a button, a toggle, and a switch. ### Claim 29 (depends on 21) The remote vehicle system of claim 21, wherein the hand held controller can be manipulated by a user body part not otherwise engaged in manipulation of the remote vehicle to switch between the first and second control mode. ### Claim 30 (depends on 29) The remote vehicle system claim 29, wherein the user body part is a finger. ### Claim 31 (depends on 21) The remote vehicle system of claim 21, wherein motions of the manipulator arm and end effector are slaved to motions of a user's body part via the hand held controller. ### Claim 32 (depends on 21) The remote vehicle system of claim 21, wherein the remote vehicle comprises a video camera in communication with the computer. ### Claim 33 (depends on 21) The remote vehicle system of claim 21, wherein the remote dexterous control device comprises one of a Mimic Mantis, a Logitech® tracker, a Novint® Falcon®, a 3Dconnexion® SpaceNavigator®, a 3Dconnexion® Spaceball 5000, and a Simple Grip Control System joystick. ### Claim 34 (depends on 21) The remote vehicle system of claim 21, wherein the remote vehicle comprises at least one sensor configured to remotely determine the nature of a material without requiring sampling of the material. ### Claim 35 (depends on 33) The remote vehicle system of claim 33, wherein the material is a hazardous material. ### Claim 36 (depends on 21) The remote vehicle system of claim 21, wherein the portable remote control system comprises a virtual reality training simulator.