Robotic master controller

#The present invention relates to master controllers for operating robotic devices and, in particular, to such a controller for a robotic device having an arm like structure and wherein the controller senses movement in the user's own arm and causes such movement to be mimicked in the robotic device.

#Many robotic devices utilize robotic arms or arm like structures (herein generally referred to as arms) for conducting work at a site of use. Often such robotic arms are utilized in environments which are dangerous or hazardous to humans, such as deep sea construction or exploration, chemical or explosives handling, outer space construction and the like. Consequently, it is advantageous to have a master controller that links to the robotic device and that allows a user, especially a user in a remote area from the robotic device to control the robotic device. That is, the robotic device is slaved to the master controller, follows the movement of the user's arm, including the hand, and transfers this movement to the robotic device, so that the robotic arm can be controlled by the user to make movements in a manner similar or equivalent to the motions the user would make, if the user were performing the task.

#The art of such controllers has been well developed in sensors that sense motion in the user's body and transmit the motion to the robotic device and such sensing and transmitting is not part of the invention of the present application. It is also possible to provide such controllers with force feedback so that the user senses the reactionary force being applied to the robotic arm. Such devices are disclosed in applicant's prior U.S. Pat. No. 5,019,761 which is incorporated herein by reference.

#FIG. 1 is a perspective view of a master controller in accordance with the present invention.

#FIG. 2 is a first side elevational view of the controller.

#FIG. 3 is a second side elevational view of the controller.

#As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure.

#The reference numeral 1 generally represents a robotic master controller in accordance with the present invention, mounted on a support 4 and operated by a user 5.

#The controller 1 may be used with many different types of robotic devices wherein it is needed or desirable to mimic the movements of the user's arm or hand in the robotic device. Such a device can include robotic arms used on outer space craft, submergibles for exploration or construction, digging equipment such as backhoes and the like, robots that inspect or disarm hazardous or explosive materials or devices, and similar devices.