Haptic interface handle with force-indicating trigger mechanism
AssigneeHarris Corporation
InventorsJohn B. Rust, Matthew D. Summer, Paul M. Bosscher, William S. Bowman, Loran J. Wilkinson
Life of this patent
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Abstract
Method and system for telematic control of a slave device (402) includes a hand control (101) type control interface which includes a hand grip (102) having an elongated body (202). One or more sensors (208) are provided for sensing a physical displacement of a trigger (212) disposed on the hand grip. An actuator or motor (206) is disposed in the hand grip that is responsive to a control signal from a control system (401) for dynamically controlling a force applied by the trigger to a user of the hand control interface.
Claims25
A method for telematic control of a slave device, comprising:
- sensing a physical displacement of a trigger disposed on an elongated hand grip in a radial direction, transverse to a longitudinal axis of said hand grip;
- based on said physical displacement of said trigger, generating one or more first motion control commands to control a position or velocity of one or more fingers of a remotely controlled robot grasping device;
- force sensing at said grasping device a grasping force exerted by said fingers on a grasped object;
- and
- based on said force sensing, dynamically controlling a trigger force exerted upon a user by rotating a pinion gear so as to cause a force to be applied to the trigger in a direction opposed to a direction of a force applied by a user to the trigger, where the pinion gear engages a gear rack disposed on a plunger portion of the trigger.
A system for telematic control of a slave device, comprising:
- a control interface comprising a hand grip having an elongated body;
- at least one sensor configured to sense a physical displacement of a trigger disposed on said hand grip in a radial direction with respect to a longitudinal axis of said hand grip;
- an actuator disposed in said hand grip and configured to dynamically control a trigger force applied by said trigger to a user in response to a control signal;
- and
- a pinion gear engaging a gear rack disposed on a plunger portion of the trigger and rotatable configured to cause a force to be applied to the trigger in a direction opposed to a direction of a force applied by a user to the trigger.
A system for telematic control of a slave device, comprising:
- a control interface comprising a hand grip having an elongated body;
- at least one sensor configured to sense a physical displacement of a trigger disposed on said hand grip in a radial direction with respect to a longitudinal axis of said hand grip;
- an actuator disposed in said hand grip and responsive to a control signal to dynamically control a trigger force applied by said trigger to a user;
- a channel defined in said hand grip;
- a plunger portion of said trigger which slides within said channel, said plunger portion having a gear rack disposed thereon;
- and
- a pinion gear which engages said gear rack and rotates when said plunger slides within said channel;
- wherein said actuator and said at least one sensor rotate on a common axis defined by said pinion gear.
Dependencies are inferred from the claim text.