Multi-axis gimbal mounting for controller providing tactile feedback for the null command
A gimbal support that senses rotational displacement and provides haptic feedback in one, two or three dimensions of a manually-operated control member used to generate control inputs using a single hand while also limiting cross-coupling.
1. A gimbal support for a control member that pivots about each of two, intersecting axes of rotation, the gimbal support comprising:
a base for mounting the gimbal;
a post to which a control member of a controller may be coupled;
a first member connected with the base in a fixed relationship; and
a second member that rotates with respect to the first member around at least one of the two, intersecting axes of rotation, the post being coupled with the second member and constrained by the second member to pivot about each of the two, intersecting axes of rotation, the post having a null position at a predetermined angular displacement about each axis of rotation.
2. The gimbal support of claim 1 , further comprising a first detent aligned with a surface feature, when the angular position of the post with respect to the first member about a first one of the axes of rotation is in a first predetermined null position, the first detent and surface feature cooperating to cause generation of haptic feedback when the post leaves and returns to the first null position, one of the first detent and the surface feature having a fixed relationship with the post and the other of the first detent and the surface feature having a fixed relationship with the first member.
3. The gimbal support of claim 2 , wherein the surface feature is a recess, the surface feature being shaped to allow the first detent to extend under a biasing force, thereby interfering with the movement of the post relative to the first null position.
4. The gimbal support of claim 3 , wherein the recess is a dimple shape.
5. The gimbal support of claim 2 , further comprising a second detent colinear with the first detent, the first detent and the second detent cooperating to provide mechanical tactile feedback to a user at the first null position.
6. The gimbal support of claim 5 , further comprising a third detent aligned with a surface area, when the angular position of the post with respect to the first member about a second one of the two axes of rotation is in a second predetermined null position, the third detent and surface feature cooperating to cause generation of haptic feedback when the post leaves and returns to the second null position, one of the third detent and the surface feature having a fixed relationship with the post and the other of the third detent and the surface feature having a fixed relationship with the first member.
7. The gimbal support of claim 6 , further comprising a fourth detent colinear with the third detent, the third detent and the fourth detent cooperating to provide mechanical tactile feedback to a user at the second null position.
8. The gimbal support of claim 1 , further comprising a sensor disposed to detect movement of the post relative to the base about at least one of the two axes of rotation.
9. The gimbal support of claim 8 , wherein the sensor is a potentiometer, a Hall effect sensor, or an optical encoder.
10. The gimbal support of claim 7 , wherein the control member is connected to the post for relative rotational movement about the axis of the post, defining a third axis of rotation.
11. A controller comprising:
a control member configured to be gripped by a hand of a user;
a base configured to be manipulated by the user;
a gimbal support coupled to the control member and the base to enable movement of the control member by the user relative to the base independently about each of a first axis of rotation and a second axis of rotation, the gimbal support including:
a first member connected with the base in a fixed relationship; and
a second member mounted for rotation about the first axis of rotation, having a slot therein elongate along the first axis; and
a post connected with the control member at a first, upper end and having a second, lower end disposed in the slot of the second member and mounted for pivotal movement relative to the base about the second axis, pivotal movement of the post about the second axis causing the second end of the post to translate along the slot.
12. The controller of claim 11 , further comprising a sensor disposed to detect movement of the post relative to the base about at least one of the first axis or the second axis.
13. The controller of claim 12 , wherein the sensor is a potentiometer, a Hall effect sensor, or an optical encoder.
14. The controller of claim 11 , wherein the control member is connected to the post for relative rotational movement about the axis of the post, defining a third axis of rotation.
15. The controller of claim 11 , further comprising a first detent aligned with a surface feature, when the angular position of the post with respect to the first member about the first axis is in a first predetermined null position, the first detent and surface feature cooperating to cause generation of haptic feedback when the post leaves and returns to the first null position, one of the first detent and the surface feature having a fixed relationship with the post and the other of the first detent and the surface feature having a fixed relationship with the first member.
16. The controller of claim 15 , wherein the surface feature is a recess, the surface feature being shaped to allow the first detent to extend under a biasing force, thereby interfering with the movement of the post relative to the first null position.
17. The controller of claim 16 , wherein the recess is a dimple shape.
18. The controller of claim 15 , further comprising a second detent colinear with the first detent, the first detent and the second detent cooperating to provide mechanical tactile feedback to a user at the first null position.
19. The controller of claim 18 , further comprising a third detent aligned with a surface feature, when the angular position of the post with respect to the first member about the second axis is in a second predetermined null position, the third detent and surface feature cooperating to cause generation of haptic feedback when the post leaves and returns to the second null position, one of the third detent and the surface feature having a fixed relationship with the post and the other of the third detent and the surface feature having a fixed relationship with the first member.
20. The controller of claim 19 , further comprising a fourth detent colinear with the third detent, the third detent and the fourth detent cooperating to provide mechanical tactile feedback to a user at the second null position.
21. The controller of claim 14 , further comprising a centering spring disposed along the third axis and configured to bias the post to a third predetermined null position.