# US 9,004,218 B2 · Joystick with improved control for work vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,004,218 B2 - Document ID: US9004218B2 - Status: Granted - Kind: B2 - Application number: 14/265,417 - Filed: 2014-04-30 - Published: 2014-12-25 - Granted: 2015-04-14 - Earliest claimed: 2013-06-23 - Assignees: CNH Industrial America LLC - Applicants: CNH Industrial America, LLC - Inventors: Navneet Gulati; Duqiang Wu; Aditya Singh - Web page: https://patentgrep.com/patent/US9004218B2 ## CPC - G05G 9/047: the controlling member being movable by hand about orthogonal axes, e.g. joysticks {(for switches H01H25/04)} - G05G 5/03: Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce (arrangements for indicating the position of the controlling member G05G1/015) - G05G 2009/0474: {characterised by means converting mechanical movement into electric signals} - G05G 2009/04766: {providing feel, e.g. indexing means, means to create counterforce} - Y10T 74/2003: Electrical actuator - Y10T 74/2014: Manually operated selector [e.g., remotely controlled device, lever, push button, rotary dial, etc.] - Y10T 74/20159: Control lever movable through plural planes - Y10T 74/20474: Rotatable rod, shaft, or post - G05G: CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY ("Bowden" or like mechanisms F16C1/10; gearings or mechanisms not peculiar to this purpose F16H; speed changing or reversing mechanisms for gearings conveying rotary motion F16H59/00 - F16H63/00) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract A system for controlling a work vehicle is disclosed. The system may include a controller configured to control motion of the work vehicle and an electronic joystick communicatively coupled to the controller. The electronic joystick may be configured to transmit signals to the controller as it is moved between a neutral position and a full stroke position. The joystick may also be configured such that a varying joystick force is required to move the joystick between the neutral and full stroke positions. In addition, a rate of change of the joystick force may be varied as the electronic joystick is moved across a start/stop position defined between the neutral and full stroke positions. ## Claims ### Claim 1 A system for controlling a work vehicle, the system comprising: a controller configured to control motion of the work vehicle; an electronic joystick communicatively coupled to the controller, the electronic joystick configured to transmit signals to the controller as the electronic joystick is moved between a neutral position and a full stroke position, the electronic joystick being configured such that a varying joystick force is required to move the electronic joystick between the neutral and full stroke positions, wherein a rate of change of the joystick force is varied as the electronic joystick is moved across a start/stop position defined between the neutral and full stroke positions, and wherein the variation in the rate of change of the joystick force at the start/stop position is provided by first and second springs operably coupled to the electronic joystick. ### Claim 2 (depends on 1) The system of claim 1, wherein the first spring is configured to apply a first force against the electronic joystick as the electronic joystick is moved from the neutral position and the second spring is configured to apply a second force against the electronic joystick as the electronic joystick is moved across the start/stop position such that the rate of change in the joystick force is increased across the start/stop position. ### Claim 3 (depends on 1) The system of claim 1, wherein the joystick force is defined by a torque curve, wherein a slope of the torque curve increases at or adjacent to the start/stop position. ### Claim 4 (depends on 3) The system of claim 3, wherein the slope of the torque curve at a joystick position defined between the neutral position and the start/stop position is less than the slope of the torque curve at the start/stop position. ### Claim 5 (depends on 3) The system of claim 3, wherein the slope of the torque curve at a joystick position defined between the start/stop position and the full-stroke position is less than the slope of the force curve at the start/stop position. ### Claim 6 (depends on 1) The system of claim 1, further comprising a force application device configured to apply a force against the electronic joystick at the start/stop position in response to an electric stimulus. ### Claim 7 (depends on 6) The system of claim 6, wherein the force application device comprises an electric solenoid coupled to the electronic joystick. ### Claim 8 (depends on 1) The system of claim 1, wherein the rate of change in the joystick force is constant as the electronic joystick is moved between the start/stop position and the full stroke position. ### Claim 9 (depends on 1) The system of claim 1, further comprising a vibration source associated with the electronic joystick, wherein the vibration source is configured to generate a vibratory response when the electronic joystick is moved across the start/stop position. ### Claim 10 A system for controlling a work vehicle, the system comprising: a controller configured to control motion of the work vehicle; an electronic joystick communicatively coupled to the controller, the electronic joystick configured to transmit signals to the controller as the electronic joystick is moved between a neutral position and a full stroke position, the electronic joystick being configured such that a varying joystick force is required to move the electronic joystick between the neutral and full stroke positions, wherein a rate of change of the joystick force is varied as the electronic joystick is moved across a start/stop position defined between the neutral and full stroke positions, and wherein the rate of change in the joystick force is varied at least once as the electronic joystick is moved between the start/stop position and the full stroke position. ### Claim 11 (depends on 10) The system of claim 10, wherein the rate of change in the joystick force is varied as the electronic joystick is moved between the start/stop position and the full stroke position such that a first range of joystick positions is defined across which the joystick force increases at a first rate of change and a second range of joystick positions is defined across which the joystick force increases at a second rate of change. ### Claim 12 (depends on 10) The system of claim 10, further comprising a vibration source associated with the electronic joystick, wherein the vibration source is configured to generate a vibratory response when the electronic joystick is moved across the start/stop position. ### Claim 13 A work vehicle, comprising: an engine; a hydrostatic drive unit coupled to the engine, the hydrostatic drive unit being configured to adjust a travel speed of the work vehicle; a controller communicatively coupled to the hydrostatic drive unit; and an electronic joystick communicatively coupled to the controller, the electronic joystick configured to transmit signals to the controller for controlling the hydrostatic drive unit as the electronic joystick is moved between a neutral position and a full stroke position, the electronic joystick being configured such that a varying joystick force is required to move the electronic joystick between the neutral and full stroke positions, wherein a rate of change of the joystick force is varied as the electronic joystick is moved across a start/stop position defined between the neutral and full stroke positions; and a first spring and a second spring associated with the electronic joystick, the first spring being configured to apply a first force against the electronic joystick as the electronic joystick is moved from the neutral position, the second spring being configured to apply a second force against the electronic joystick as the electronic joystick is moved across the start/stop position such that the rate of change in the joystick force is increased across the start/stop. ### Claim 14 (depends on 13) The work vehicle of claim 13, further comprising a vibration source associated with the electronic joystick, the vibration source being configured to generate a vibratory response when the electronic joystick is moved across the start/stop position. ### Claim 15 (depends on 13) The work vehicle of claim 13, wherein the joystick force is defined by a torque curve, wherein a slope of the torque curve increases at or adjacent to the start/stop position. ### Claim 16 (depends on 13) The work vehicle of claim 13, wherein the rate of change in the joystick force is constant as the electronic joystick is moved between the start/stop position and the full stroke position. ### Claim 17 A work vehicle, comprising: an engine; a hydrostatic drive unit coupled to the engine, the hydrostatic drive unit being configured to adjust a travel speed of the work vehicle; a controller communicatively coupled to the hydrostatic drive unit; and an electronic joystick communicatively coupled to the controller, the electronic joystick configured to transmit signals to the controller for controlling the hydrostatic drive unit as the electronic joystick is moved between a neutral position and a full stroke position, the electronic joystick being configured such that a varying joystick force is required to move the electronic joystick between the neutral and full stroke positions, wherein a rate of change of the joystick force is varied as the electronic joystick is moved across a start/stop position defined between the neutral and full stroke positions, and wherein the rate of change in the joystick force is varied at least once as the electronic joystick is moved between the start/stop position and the full stroke position. ### Claim 18 (depends on 17) The work vehicle of claim 17, further comprising a vibration source associated with the electronic joystick, the vibration source being configured to generate a vibratory response when the electronic joystick is moved across the start/stop position. ### Claim 19 (depends on 17) The work vehicle of claim 17, wherein the joystick force is defined by a torque curve, wherein a slope of the torque curve increases at or adjacent to the start/stop position. ### Claim 20 (depends on 17) The work vehicle of claim 17, wherein the rate of change in the joystick force is constant as the electronic joystick is moved between the start/stop position and the full stroke position.