Control inceptor systems and associated methods
View Patent ↗Control inceptor systems and associated methods, including inceptors suitable for high-g operations and/or inceptors having a center of rotation located within an operator's grasp region, are disclosed herein. One aspect of the invention is directed toward a control inceptor having a grip coupled to a support. The inceptor is configured so that a center of rotation for movement in at least one plane is located within the grasp region of an operator when an operator grasps the grip. The support is positioned so that when the operator moves the grip (e.g., makes an input movement), the support arcs about the center of rotation.
1. A control inceptor system for use by an operator having a hand with a grip region, comprising:
a grip configured to be grasped by the operator's hand wherein the grip is located within the grip region of the hand;
a first movement mechanism coupled to and exterior of the grip, the first movement mechanism having a collapsible first linkage arrangement, and at least a portion of the first movement mechanism being rotatable with the grip in a first plane about a first center of rotation that is positioned within the grip region when the operator is grasping the grip; and
a second movement mechanism coupled to and exterior of the grip, the second movement mechanism having a collapsible second linkage arrangement, and at least a portion of the second movement mechanism being rotatable with the grip in a second plane about a second center of rotation that is positioned within the grip region when the operator is grasping the grip,
wherein the second plane is angularly offset from the first plane;
wherein the grip is connected to the first movement mechanism, and wherein the first movement mechanism is connected to the second movement mechanism intermediate the grip and the second movement mechanism.
2. The control inceptor system of claim 1 wherein the first plane is orthogonal to the second plane.
3. The control inceptor system of claim 1 wherein first center of rotation is substantially collocated with the second center of rotation.
4. The control inceptor system of claim 1 wherein the first movement mechanism and the grip are rotatable as a unit about an axis substantially parallel to a line extending between a back of the operator's hand and a palm of the hand as the operator grasps the grip.
5. The control inceptor system of claim 1 wherein the grip and the first movement mechanism are rotatable in the first plane about the first center of rotation in response to an input movement from the operator's hand.
6. The control inceptor system of claim 1 wherein the grip and the first movement mechanism are rotatable in the first plane about the first center of rotation simultaneous with rotation of the grip and the second movement mechanism in the second plane about the second center of rotation.
7. The control inceptor system of claim 1 wherein the first movement mechanism and the grip are moveable as a unit in the second plane about the second center of rotation when the second movement is rotated in the second plane.
8. The control inceptor system of claim 1 wherein the first movement mechanism has a first support member connected to the grip, the first linkage arrangement connected to the first support member with the first support member intermediate the grip and the first linkage arrangement, and a second support member connected to the first linkage arrangement with the first linkage arrangement intermediate the first and second support members, and wherein a portion of the first linkage arrangement is movable relative to the second support member so the first support member and the grip move in an arc in the first plane about the first center of rotation.
9. The control inceptor system of claim 8 wherein the first linkage arrangement includes first and second collapsible assemblies coupled to the first support member and being moveable between collapsed and expanded positions, wherein the first collapsible assembly moves toward the collapsed position and the second collapsible assembly moves toward the expanded position when the first support plate and the grip rotate in the first plane in a first direction, and the first collapsible assembly moves toward the expanded position and the second collapsible assembly moves toward the collapsed position when the first support member and the grip rotate in the first plane in a second direction opposite the first direction.
10. The control inceptor system of claim 8 wherein the second movement mechanism has a third support member connectable to a mounting structure, the second linkage arrangement connected to the third support member and the second support member, wherein the second linkage arrangement is intermediate the second and third support members, and wherein the second linkage arrangement being movable relative to the third support member so the second first support member and the grip move in an arc in the second plane about the second center of rotation.
11. The control inceptor system of claim 8 wherein the second linkage arrangement includes third and fourth collapsible assemblies coupled to the first support member and being moveable between collapsed and expanded positions, wherein the third collapsible assembly moves toward the collapsed position and the fourth collapsible assembly moves toward the expanded position when the second support plate and the grip rotate in the second plane in a first direction, and the third collapsible assembly moves toward the expanded position and the fourth collapsible assembly moves toward the collapsed position when the second support plate and the grip rotate in the second plane in a second direction opposite the first direction.
12. The control inceptor system of claim 1 further comprising a first movement sensor coupled to the first movement mechanism and configured to detect rotational movement of the first movement mechanism in the first plane, and a second movement sensor coupled to the second movement mechanism and configured to detect rotational movement of the second movement mechanism in the second plane.
13. The control inceptor system of claim 1 further comprising a vehicle control system, and the wherein the grip, the first movement mechanism, and the second movement mechanism are coupled to the vehicle control system.
14. A control inceptor system for use by an operator having a hand with a grip region, comprising:
a grip configured to be grasped by the operator's hand so the grip is within the grip region, wherein the grip is moveable in a three-dimensional X-Y-Z frame of reference defined by an XY plane, a YZ plane and a ZX plane all orthogonal to each other;
a first movement mechanism coupled to the grip, at least a portion of the first movement mechanism being rotatable with the grip in the XY plane about a first center of rotation that is positioned within the grip region when the operator is applying a first input force to the grip substantially parallel to the XY plane, the first movement mechanism having a first linkage arrangement movable between collapsed and expanded positions upon movement of the grip; and
a second movement mechanism coupled to the grip, as least a portion of the second movement being rotatable with the grip in the YZ plane about a second center of rotation that is positioned within the grip region when the operator is applying a second input force to the grip substantially parallel to the YZ plane, the second movement mechanism having a second linkage arrangement movable between collapsed and expanded positions upon movement of the grip;
wherein grip is connected to the first movement mechanism, and the first movement mechanism is connected to the second movement mechanism intermediate the grip and the second movement mechanism.
15. The control inceptor system of claim 14 wherein first center of rotation is substantially collocated with the second center of rotation.
16. The control inceptor system of claim 14 wherein the portion of the first movement mechanism and the grip are rotatable as a unit in the YZ plane without rotating in the XY plane.
17. The control inceptor system of claim 14 wherein the grip and the portion of the first movement mechanism are rotatable in the XY plane about the first center of rotation simultaneous with rotation of the grip and the portion of the second movement mechanism in the YZ plane about the second center of rotation.
18. The control inceptor system of claim 14 wherein the first movement mechanism has a first support member connected to the grip, the first linkage arrangement connected to the first support member with the first support member intermediate the grip and the first linkage arrangement, and a second support member connected to the first linkage arrangement with the first linkage arrangement intermediate the first and second support members, and wherein the first support member and at least a portion of the first linkage arrangement being movable relative to the second support member so the first support member and the grip move in an arc in the XY plane about the first center of rotation.
19. The control inceptor system of claim 18 wherein the first linkage arrangement includes first and second collapsible assemblies coupled to the first support member and being moveable between collapsed and expanded positions, wherein the first collapsible assembly moves toward the collapsed position and the second collapsible assembly moves toward the expanded position when the first support plate and the grip rotate in the XY plane in a first direction, and the first collapsible assembly moves toward the expanded position and the second collapsible assembly toward the collapsed position when the first support member and the grip rotate in the XY plane in a second direction opposite the first direction.
20. The control inceptor system of claim 18 wherein the second movement mechanism has a third support member connectable to a mounting structure, the second linkage arrangement connected to the third support member and the second support member, wherein the second linkage arrangement is intermediate the second and third support members, and wherein the second linkage arrangement being movable relative to the third support member so the second first support member and the grip move in an arc in the YZ plane about the second center of rotation.
21. The control inceptor system of claim 18 wherein the second linkage arrangement includes third and fourth collapsible assemblies coupled to the first support member and being moveable between collapsed and expanded positions, wherein the third collapsible assemblies moves toward the collapsed position and the fourth collapsible structure moves toward the expanded position when the second support plate and the grip rotate in the YZ plane in a first direction, and the third collapsible assembly moves toward the expanded position and the fourth collapsible assembly moves toward the collapsed position when the second support plate and the grip rotate in the YZ plane in a second direction opposite the first direction.
22. The control inceptor system of claim 14 further comprising a movement sensor coupled to at least one of the first and second first movement mechanisms and configured to detect rotational movement of the one of the first and second movement mechanism in the respective XY and YZ planes.
23. The control inceptor system of claim 14 further comprising a vehicle control system, and wherein the grip, the first movement mechanism and the second movement mechanism are coupled to the vehicle control system.
24. A control system for a vehicle operated by an operator having a hand with a grip region when the operator grasps a portion of the control system, comprising:
a control devices moveable to provide control of at least a portion of the vehicle;
a control area configured to receive the operator therein;
a control inceptor system mounted in the control area and coupled to the control devices, the control inceptor system having:
a grip configured to be grasped by the operator's hand and located within the grip region;
a first movement mechanism coupled to and exterior of the grip, the first movement mechanism having a collapsible first linkage arrangement and at least a portion of the first movement mechanism being rotatable with the grip in a first plane about a first center of rotation that is positioned within the grip region when the operator is grasping the grip; and
a second movement mechanism coupled to and exterior of the grip, the second movement mechanism having a collapsible second linkage arrangement and at least a portion of the second movement mechanism being rotatable with the grip in a second plane about a second center of rotation that is positioned within the grip region when the operator is grasping the grip, wherein the second plane is angularly offset from the first plane;
wherein the grip is connected to the first movement mechanism, and wherein the first movement mechanism is connected to the second movement mechanism intermediate the grip and the second movement mechanism.
25. The control system of claim 24 wherein the vehicle is one of an aircraft, space craft, and watercraft, and the control devices include at least one control surface for controlling movement of the vehicle.
26. The control system of claim 24 wherein first center of rotation is substantially collocated with the second center of rotation.
27. The control system of claim 24 wherein the first movement mechanism and the grip are rotatable as a unit about an axis substantially parallel to a line extending between a back of the operator's hand and a palm of the hand as the operator grasps the grip.
28. The control system of claim 24 wherein the first and second centers of rotation are located at a position within the grip or substantially adjacent to a surface of the grip.
29. The control system of claim 24 wherein the grip and the first movement mechanism are rotatable in the first plane about the first center of rotation simultaneously with rotation of the grip and the second movement mechanism in the second plane about the second center of rotation.
30. The control system of claim 24 wherein the first movement mechanism and the grip are moveable as a unit about the second center of rotation when the second movement is rotated in the second plane without the grip and the first movement mechanism rotating in the first plane.
31. A method of operating a vehicle by an operator for movement of at least a portion of the vehicle, comprising:
grasping with the operator's hand a grip of a control inceptor system, the control inceptor system comprising the grip configured to be grasped by the operator's hand so the grip is within the grip region of the hand, a first movement mechanism coupled to and exterior of the grip, the first movement mechanism having a collapsible first linkage arrangement and at least a portion of the first movement mechanism being rotatable with the grip in a first plane about a first center of rotation that is positioned within the grip region when the operator is grasping the grip, and a second movement mechanism coupled to and exterior of the grip, the second movement mechanism having a collapsible second linkage arrangement and at least a portion of the second movement mechanism being rotatable with the grip in a second plane about a second center of rotation that is positioned within the grip region when the operator is grasping the grip, wherein the second plane is angularly offset from the first plane, wherein the grip is connected to the first movement mechanism, and wherein the first movement mechanism is connected to the second movement mechanism intermediate the grip and the second movement mechanism;
applying a first input force to the grip and rotating the grip and at least a portion of the first movement mechanism to rotate in the first plane about the first center of rotation;
moving a first portion of the vehicle in response to the first input force and rotation of the grip in the first plane about the first center of rotation;
applying a second input force to the grip and rotating the grip and at least a portion of the second movement mechanism to rotate in the second plane about the second center of rotation; and
moving a second portion of the vehicle in response to the second input force and rotation of the grip in the second plane about the second center of rotation.
32. The method of claim 31 wherein the first and second input forces are applied at lease one of simultaneously and sequentially, and the grip and the portion of the first movement mechanism rotate about the first center of rotation simultaneously or sequentially with rotation of the grip and the portion of the second movement mechanism about the second center of rotation.
33. The method of claim 31 wherein the grip and the first movement mechanism move as a unit in the second plane when the grip and the portion of the second movement mechanism rotate in the second plane about the second center of rotation.