Force reflecting hand controller

US5193963A · kind A · utility

Assignee

• The United States of America as represented by the Administrator of the National Aeronautics and Space Administration · US

Inventors

• Douglas A. McAffee · Rancho Palos Verdes, US
• Edward Ramsey Snow · Lompoc, US
• William T. Townsend · Weston, US

Key dates

• Filing date: Oct 31, 1990
• Grant date: Mar 16, 1993
• Expiry date: Oct 31, 2010

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J13/025
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A universal input device for interfacing a human operator with a slave machine such as a robot or the like includes a plurality of serially connected mechanical links extending from a base. A handgrip is connected to the mechanical links distal from the base such that a human operator may grasp the handgrip and control the position thereof relative to the base through the mechanical links. A plurality of rotary joints is arranged to connect the mechanical links together to provide at least three translational degrees of freedom and at least three rotational degrees of freedom of motion of the handgrip relative to the base. A cable and pulley assembly for each joint is connected to a corresponding motor for transmitting forces from the slave machine to the handgrip to provide kinesthetic feedback to the operator and for producing control signals that may be transmitted from the handgrip to the slave machine. The device gives excellent kinesthetic feedback, high-fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all six degrees of freedom, and zero backlash. The device also has a much larger work envelope, greater stiffness and responsi…