Pistol-grip for intuitive control of a robotic or virtual hand

1. A method for remotely controlling a robotic end effector having movable peripherals, the method comprising:

providing an end effector controller that is gripped by an operator in one hand, the end effector controller comprising a pistol-grip housing configured to fit in the palm of the operator's hand when gripped, the end effector controller further comprising:

at least three finger-actuated switching mechanisms for actuating a like number of peripherals on the end effector, wherein each finger-actuated switching mechanism is associated with a specific peripheral on the end effector, and further wherein each finger-actuated switching mechanism is configured so that movement of a selected finger-actuated switching mechanism causes a corresponding movement of the associated peripheral; and

a finger-actuated mode selector for selecting between a plurality of preset operating modes, wherein each preset operating mode places the peripherals of the end effector in a different pre-determined configuration;

using the finger-actuated mode selector to select a preset operating mode of the end effector so as to place the peripherals of the end effector in the pre-determined configuration associated with the selected preset operating mode; and

actuating at least one finger-actuated switching mechanism so as to move the peripheral associated with the finger-actuated switching mechanism.

2. A method according to claim 1 wherein additional preset operating modes can be added to the controller.

3. A method according to claim 1 , further comprising using the finger-actuated mode selector to switch between preset operating modes, wherein said switching between preset operating modes commands the end effector to the nearest preset operating mode when actuated.

4. A method according to claim 1 , further comprising remapping of the finger-actuated switching mechanism associated with a peripheral to a different peripheral.

5. A method according to claim 4 wherein remapping occurs between selecting between different preset operating modes.

6. A method according to claim 5 wherein said remapping includes a hysteretic zone to govern the transition between remapping.

7. A method according to claim 1 wherein the method further comprises providing continuous fine adjustment between preset operating modes using a control input element.

8. A method according to claim 7 wherein the control input element comprises a rotatable knob.

9. A method according to claim 1 wherein the method further comprises mapping the finger-actuated switching mechanisms to the associated peripheral of the end effector based on the selected preset operating mode.

10. A method according to claim 1 wherein said controller is moved as a unit to cause corresponding manipulation of the end effector without the actuation of any of the finger-actuated switching mechanisms.

11. A method according to claim 1 wherein each finger-actuated switching mechanisms has (i) a hook shape that receives one finger of the operator to allow for convenient donning and doffing of the controller by the operator's hand; and (ii) a lever arm extending into said housing, and further wherein the controller further comprises an electrical switch mounted to the housing for operatively coupling with the lever arm.

12. A method according to claim 11 wherein said electrical switch is two opposed switches.

13. A method according to claim 12 wherein said opposed electrical switches are different so as to create different resisting forces.

14. A method according to claim 12 wherein said opposed electrical switches are positioned within the housing so as to create different resisting forces.

15. A method according to claim 12 wherein said lever arm is connected to said housing via one or more spring elements to create different resisting forces.

16. A method according to claim 12 wherein said opposed electrical switches are operatively connected to said lever with varying resistances so as to create different resisting forces.

17. A method according to claim 1 wherein the finger-actuated mode selector comprises a thumb switch.

18. A method for remotely controlling a device, the method comprising:

providing a device controller that is gripped by an operator in one hand, the device controller comprising a pistol-grip housing configured to fit in the palm of the operator's hand when gripped, the device controller further comprising:

at least three finger-actuated switching mechanisms for actuating a like number of peripherals on the device, wherein each finger-actuated switching mechanism is associated with a specific peripheral on the device, and further wherein each finger-actuated switching mechanism is configured so that movement of a selected finger-actuated switching mechanism causes a corresponding movement of the associated peripheral; and

a finger-actuated mode selector for selecting between a plurality of preset operating modes, wherein each preset operating mode places the peripherals of the device in a different pre-determined configuration;

using the finger-actuated mode selector to select a preset operating mode of the device so as to place the peripherals of the device in the pre-determined configuration associated with the selected preset operating mode; and

actuating at least one finger-actuated switching mechanism so as to move the peripheral associated with the finger-actuated switching mechanism.