Robotic devices, such as those having robotic end effectors, are often used in hazardous, unstructured environments where a human operator should not or cannot be present, but where it is desirable to have a human operator to properly operate the robot. With an intuitive mastering device, the human operator can be more productive. Robotic master control devices exist in many different form factors. Conventional master control devices providing degrees of freedom at the hand, referred to herein as robotic master hands, are generally based on wearable glove devices or external mechanisms attached to the back of the hand. In order to accommodate the movement of the human operator's hand, many prior robotic master hands employ complicated mechanisms or structurally elaborate components to accomplish their task resulting in cumbersome devices that are bulky, expensive, and non-robust. Furthermore, many of such devices do not incorporate force reflection functionality due to its difficulty and complexity. Other industries or areas of interest, namely video games and virtual environments, have not, until recently, had the complexity where such physics-based quantities could realistically be determined in real-time. As a result, it is believed that there currently are no force reflective human/virtual environment interfaces and control devices that employ force reflection that are sufficiently effective and economical, particularly economical enough to be used with video games.
Features and advantages of the invention will be apparent from the detailed description which follows, taken in conjunction with the accompanying drawings, which together illustrate, by way of example, features of the invention; and, wherein:
Reference will now be made to the exemplary embodiments illustrated, and specific language will be used herein to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended.
As used herein, the term “substantially” refers to the complete or nearly complete extent or degree of an action, characteristic, property, state, structure, item, or result. For example, an object that is “substantially” enclosed would mean that the object is either completely enclosed or nearly completely enclosed. The exact allowable degree of deviation from absolute completeness may in some cases depend on the specific context. However, generally speaking the nearness of completion will be so as to have the same overall result as if absolute and total completion were obtained. The use of “substantially” is equally applicable when used in a negative connotation to refer to the complete or near complete lack of an action, characteristic, property, state, structure, item, or result.
As used herein, “adjacent” refers to the proximity of two structures or elements. Particularly, elements that are identified as being “adjacent” may be either abutting or connected. Such elements may also be near or close to each other without necessarily contacting each other. The exact degree of proximity may in some cases depend on the specific context.
An initial overview of technology embodiments is provided below and then specific technology embodiments are described in further detail later. This initial summary is intended to aid readers in understanding the technology more quickly but is not intended to identify key features or essential features of the technology nor is it intended to limit the scope of the claimed subject matter.
Although master control devices exist in a variety of forms, current mastering devices are often complicated, cumbersome, unreliable, and expensive, with none of these offering an economical force reflective interface for a virtual world environment, such as a video game. Thus, there is a need to intuitively teleoperate robotic end effectors and control virtual world interfaces with compact, affordable, and reliable mastering devices.
Accordingly, a hand control device for controlling a peripheral system is disclosed that provides a compact hand control that is easy and intuitive to use. A “peripheral system” or device can include any system or device, component thereof, or aspect thereof, controllable by the hand control device. Peripheral systems or devices can include, but are not limited to, electronic systems or devices, robotic systems or devices, objects or aspects within a virtual environment, etc.
In one exemplary embodiment, to be discussed in more detail below, the hand control device provides for control with at least one thumb degree of freedom and at least one finger degree of freedom. The hand control device can include a handle configured to be grasped by a user. The handle can comprise a body portion to be supported against a palm of a user. The hand control device can also include a finger control supported about the handle and comprising a rotatable joint to facilitate control based on flexion/extension of an index finger of the user. Additionally, the hand control device can include a thumb control supported about the handle and comprising first and second rotatable joints to facilitate control based on flexion/extension and abduction/adduction of a thumb of the user.
In another exemplary embodiment, also to be discussed in more detail below, a hand control device for controlling a peripheral system, or a component thereof, is disclosed. The hand control device can include a handle configured to be grasped by a user and can comprise a body portion to be supported against a palm of the user. A finger control can be supported about the handle and can comprise a rotatable joint to facilitate control based on flexion/extension of an index finger of the user. The hand control device can also include a finger actuator operable to provide force reflection for the finger control, and can be configured to be operable with and located proximate the joint of the finger control. A thumb control can be supported about the handle and can comprise first and second rotatable joints to facilitate control based on flexion/extension and abduction/adduction of a thumb of the user. The hand control device can further comprise a first thumb actuator and a second thumb actuator operable to provide force reflection for the thumb control. The first thumb actuator can be configured to be operable with and located proximate the first rotatable joint and the second thumb actuator can be configured to be operable with and located proximate the second rotatable joint. In addition, the hand control device can include one or more force sensors operatively associated with the finger control and the thumb control, respectively, the force sensors being configured to provide force data for force reflection of the finger control and the thumb control.
One embodiment of a hand control device 100 for controlling a peripheral system 101, or a component or aspect thereof, is illustrated in
The hand control device 100 can include a handle 110 configured to be grasped by a user. The handle 110 can comprise a body portion 111 to be supported against a palm 104 of a user. In one aspect, the handle 110 can be configured to be supported against the palm 104 of the user by at least one finger of the user, such as by a middle finger 105, a ring finger 106, and/or a little finger 107. The handle 110 can form the basis for the physical interface with the user. As illustrated, the handle 110 can comprise a pistol grip configuration, although any other suitable configuration may be used. Utilizing the handle 110 as a basis of support for the finger control 120 and the thumb control 130 can provide a compact form factor for the hand control device 100.
The hand control device 100 can further comprise and can further include a finger control 120 supported about the handle 110. The finger control 120 can comprise a rotatable joint 121 to facilitate control based on intuitive and normal human flexion/extension of an index finger 108 of the user.
With reference to
In one aspect, a pivot arm 126 can extend from the joint 121, and the joint 125 can couple the finger interface 123 to the pivot arm 126 to rotatably couple the finger interface 123 about the axis 122 to facilitate flexion/extension of the index finger 108 and control of a portion of the hand control device 100. The pivoting action of the joint 125 can allow the finger interface 123 to move with a portion of the index finger 108 to maintain comfort for the user throughout the range of motion of the finger control 120. In other words, the pivoting action of the joint 125 can reduce or eliminate sliding or binding of the index finger 108 on or with the finger interface 123 as the finger flexes through its range of motion by maintaining the finger interface 123 in a substantially orthogonal position relative to a longitudinal axis of the finger of the user through this range of motion.
An extension member 127 can extend from the handle 110 to position and support the finger control 120 about the handle 110 (and the hand of a user once engaged with the hand control device 100. The extension member 127 can be configured to extend between the index finger 108 and the thumb 109 of the user when grasping the handle 110. Locating the finger control joint 121 adjacent to or proximate the user's hand can provide a compact form factor for the hand control device 100.
Joints 131a, 131b of the thumb control 130 can be rotatable about axes 132a, 132b, respectively, to provide control in two degrees of freedom. The thumb control 130 can also include a thumb interface 133 to couple the thumb 109 of the user to the thumb control 130. The thumb interface 133 can comprise an opening 134 to receive at least a portion of the thumb 109. The thumb interface 133 can be pivotally supported, such as by rotatable joint 135, to facilitate movement of the thumb interface 133 with the thumb 109. The thumb interface 133 can include any pivoting, rotating, and/or translating ring or cup as an interface for the thumb of the user. In one example, the finger interface 123 and/or the thumb interface 133 can include a full or partial glove that is donned by the user that has the various components of the hand control device 100, as described herein, attached to it.
In one aspect, a pivot arm 136 can extend from the joint 131a, and the joint 135 can couple the thumb interface 133 to the pivot arm 136 to rotatably couple the thumb interface 133 about the axis 132a to facilitate flexion/extension of the thumb and control of a portion of the hand control device 100. The pivoting action of the joint 135 can allow the thumb interface 133 to move with a portion of the thumb 109 to maintain comfort for the user throughout the range of motion of the thumb control 130. In other words, the pivoting action of the joint 135 can reduce or eliminate sliding or binding of the thumb 109 on or with the thumb interface 133 as the thumb moves through its various ranges of motion about both axes by maintaining the thumb interface 133 in a substantially orthogonal position relative to a longitudinal axis of the thumb of the user through this range of motion.
A pivot arm 137 can extend from the joint 131b to position and support the joint 131 a and rotatably couple the thumb interface 133 about the axis 132b to control abduction/adduction of the thumb 109. Locating the thumb control joint 131a in or proximate the handle 110 and/or locating the thumb control joint 131b adjacent to or proximate the user's hand can provide a compact form factor for the hand control device 100.
As schematically illustrated in
In one embodiment, the hand control device 100 can be configured to provide force reflection for the user. Force reflection can provide a greater degree of control and sensory feedback to the user by allowing the user to sense forces acting on or within the controlled peripheral system, whether such forces are based in a real or virtual environment. With force reflection, the user can sense the degree of force or pressure acting on or within the peripheral system as a proportional amount of this force or pressure is reflected back to the hand control device 100. With this type of feedback, the user can be made aware of the forces being applied by or within (i.e., at) the peripheral system so the user can adapt and/or make various modifications in control, such as by reducing the amount of force being applied by way of the hand control device in the event too much force is being exerted that may cause damage. Accordingly, the hand control device 100 can also include a finger actuator 128 associated with or otherwise operable to provide force reflection for the finger control 120 in a degree of freedom associated with axis 122. As used herein, and in one aspect, an actuator can be of the “active” type meaning the actuator can exert a force tending to cause or induce movement in the hand control device 100, such as a hydraulic or pneumatic actuator. In another aspect, an actuator can be of the “passive” type, meaning the actuator can resist movement, such as by way of a brake, in order to provide force reflection to the user. As shown in the figures, the finger actuator 128 can be configured to be operable with and located proximate the joint 121 of the finger control 120. The finger actuator 128 can be operably coupled to the pivot arm 126 to transfer force to the index finger 108 of the user. Locating the finger actuator 128 adjacent to or proximate the finger control joint 121 can further contribute to the compact form factor of the hand control device 100.
As schematically illustrated in
As further schematically illustrated in
In one aspect, a range of motion of the finger control 120 and/or the thumb control 130 can be mechanically limited by one or more mechanical or other types of stops. For example, motion of the finger control 120 can be limited by the pivot arm 126 physically contacting the extension member 127.
Likewise, motion of the thumb control 130 can be limited by the pivot arm 136 physically contacting the pivot arm 137 and/or by the pivot arm 137 physically contacting a portion of the handle 110. In one aspect, a recess and/or other feature can be included in the structural parts of the hand control device 100 to provide for a simple range of motion stop. For example, a mechanical stop can also comprise a tab extending from a pivot arm or a gear associated with an actuator configured to limit rotation of the pivot arm.
As illustrated in
Furthermore, the hand control device 100 can include one or more user interfaces 115, 116, 117 (e.g., a button, switch, toggle, etc.) supported about the handle 110 and operable with the middle finger 105, the ring finger 106, and/or the little finger 107 of the user to provide additional control of the peripheral system 101, or components or aspects thereof. For example, one or more of the user interfaces 115, 116, 117 can control a degree of freedom of the peripheral system 101, can comprise an on/off switch, a position switch, a trigger, or any other objects, devices, etc. used to control one or more aspects of the peripheral system 101. In one aspect, the user interfaces 115, 116, 117 can be continuously variable with regard to position and/or force. In another aspect, the mechanical stops can function to similarly control an aspect of the peripheral system 101. For example, contacting a mechanical stop at the end-of-range can provide switch functionality, as well as functionality controlled by dwell time at the end-of-range position.
Referring again to
In one aspect, the axis 132b for the thumb control joint 131b can be substantially perpendicular to a longitudinal axis 113 of the handle 110. The longitudinal axis 113 of the handle 110 can be at an angle 115 relative to the axis 122 of the finger control joint 121. The angle 115 can be selected to facilitate a comfortable wrist angle for the user (an anatomically and ergonomically correct functional position of the hand of the user) while operating the hand control device 100, such as from between greater than 0 degrees to about 15 degrees. Thus, the hand control device 100 can be specifically configured to orient the hand of the user in one or more functional positions, as such positions are commonly understood, thus providing a natural and comfortable hand position, as well as reducing the possibility of injury to the user, which injuries may include carpal tunnel syndrome, chronic joint stress, and others similar in nature that may be more likely from the use of prior related control devices not as ergonomic in their design.
In accordance with one embodiment of the present invention, a method for operating a hand control device is disclosed. The method can comprise grasping a handle of a hand control device and supporting the handle against a palm of a user. The method can also comprise engaging, with an index finger of the user, a finger control supported about the handle of the hand control device, the finger control being operable to control a peripheral system based on flexion/extension of the index finger. The method can further comprise engaging, with a thumb of the user, a thumb control supported about the handle of the hand master control device, the thumb control being operable to control the peripheral system based on flexion/extension and abduction/adduction of the thumb. Additionally, the method can comprise moving at least one of the index finger and the thumb to control the peripheral system. In one aspect, the method can comprise receiving force reflective feedback from at least one of the finger control and the thumb control in response to a force experienced by or within or at the peripheral system. It is noted that no specific order is required in this method, though generally in one embodiment, these method steps can be carried out sequentially.
It is to be understood that the embodiments of the invention disclosed are not limited to the particular structures, process steps, or materials disclosed herein, but are extended to equivalents thereof as would be recognized by those ordinarily skilled in the relevant arts. It should also be understood that terminology employed herein is used for the purpose of describing particular embodiments only and is not intended to be limiting.
Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment.
As used herein, a plurality of items, structural elements, compositional elements, and/or materials may be presented in a common list for convenience. However, these lists should be construed as though each member of the list is individually identified as a separate and unique member. Thus, no individual member of such list should be construed as a de facto equivalent of any other member of the same list solely based on their presentation in a common group without indications to the contrary. In addition, various embodiments and example of the present invention may be referred to herein along with alternatives for the various components thereof. It is understood that such embodiments, examples, and alternatives are not to be construed as de facto equivalents of one another, but are to be considered as separate and autonomous representations of the present invention.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided, such as examples of lengths, widths, shapes, etc., to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention can be practiced without one or more of the specific details, or with other methods, components, materials, etc. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention.
While the foregoing examples are illustrative of the principles of the present invention in one or more particular applications, it will be apparent to those of ordinary skill in the art that numerous modifications in form, usage and details of implementation can be made without the exercise of inventive faculty, and without departing from the principles and concepts of the invention. Accordingly, it is not intended that the invention be limited, except as by the claims set forth below.