Dynamically balanced multi-degrees-of-freedom hand controller
A controller is capable of controlling an asset or target in physical and/or virtual three-dimensional space using a single hand by generating control inputs in four or more degrees of freedom while also limiting cross-coupling (unintended motions). The controller includes a first control member is configured to be gripped in a user's single, second control member is disposed on or near a top end of the first member movable with at least one degree of freedom independently of the movement of the first control member, and a third control member positioned on the first member for displacement by one or more digits of the user's single hand and coupled with the second member to move in opposition to movement of the second control member.
1. A controller, comprising:
a control member coupled to a gimbal and movable in at least three degrees of freedom relative to a base of the gimbal,
the gimbal including a socket extending from the base and a ball mounted within the socket such that the ball can rotate within the socket in the three degrees of freedom,
the gimbal including three detents and three energy storage members, with each detent extending from the socket and being biased against the ball in response to a force provided by an energy storage member from the three energy storage members,
the ball defining a groove that is engaged with the three detents when the control member is in a null position, such that movement of the control member in at least one of three degrees of freedom from the null position disengages at least one detent from the groove, thereby providing tactile feedback to a user at the control member.
2. The controller of claim 1 , wherein the three energy storage members are springs.
3. The controller of claim 1 , wherein the three energy storage members, absent external forces applied to the control member, are configured to place the control member in the null position.
4. The controller of claim 1 , further comprising a cap extending over an outer surface of the socket, with a coupler extending from the cap and coupled to the control member, the coupler further coupled to the ball such that angular displacement of the coupler causes corresponding rotation of the ball within the socket.
5. The controller of claim 4 , wherein the coupler is a post with a first end coupled to the control member and a second end coupled within a complementary opening defined by the ball such that angular displacement of the post relative to the base causes rotation of the ball relative to the base.
6. The controller of claim 1 , further comprising a sensor configured to detect angular displacement of the ball within the socket.
7. The controller of claim 6 , wherein the sensor is disposed below the ball.
8. The controller of claim 1 , wherein the control member is a first control member that is shaped for gripping by a user's hand, the controller further comprising a second control member mounted on the first control member in a location for displacement relative to the first control member by a digit on the user's hand while gripping the first control member.
9. The controller of claim 1 , wherein the control member is configured to provide active mechanical feedback to the user indicative of displacement from null position in at least one degree of freedom.
10. The controller of claim 1 , wherein the control member is configured to provide active feedback to the user indicative of displacement from null position in at least one degree of freedom, the active feedback including at least one of reactive motion, a force, vibration, or haptic.
11. A controller, comprising:
a first control member mounted to a gimbal with a base, the gimbal including centering mechanisms to generate forces to inform a user of a null position by tactile feedback of the first control member relative to the base, the first control member movable relative to the base in three degrees of freedom; and
a second control member mounted on the first control member in a position configured to be displaced by a digit of the user relative to the first control member, the second control member including centering mechanisms to generate forces to inform the user by tactile feedback of a null position of the second control member relative to the first control member.
12. The controller of claim 11 , wherein the gimbal includes a socket and a ball movably coupled within the socket,
the centering mechanisms being springs, the springs being engaged with detents of the socket to provide a force towards the ball and urge the first control member into the null position.
13. The controller of claim 12 , wherein the detents include three pairs of detents, at least two pairs of which are orthogonally oriented relative to one another.
14. The controller of claim 11 , further comprising a sensor configured to detect angular displacement of the first control member relative to the base.
15. The controller of claim 11 , further comprising a magnet disposed below the ball and a Hall effector sensor disposed below the magnet, when the first control member is in the null position.
16. The controller of claim 11 , wherein the first control member is configured to provide active mechanical feedback to the user indicative of displacement from null position in at least one degree of freedom.