Manually controlled device, in particular a handle for controlling the movements of a driven member

Claim 1

A manually controlled device provided with a handle (12) for manually displacing, in three directions (x, y, z) at right angles to each other, a driven member, for example of an arm (4) of a manipulator or automatic machine, this device comprising a deformable cruciform membrane (15), the central portion (m) of which is acted upon by said handle (12), and each arm (a, b, c, d) of which carries a pair of strain gauges (Ja,, Ja 2 , Jb,, Jb 2 , Jc,, Jc 2 ) secured respectively on the two faces of the arm (a, b, c, d), the device being characterized in that the end of each of the arms (a, b, c, d) of the membrane (15) is connected to an element (13) firmly attached to the member (4) to be moved, by way of a bearing (16a, 16b, 16c, 16d) formed to enable the corresponding arm (a, b, c, d) of the membrane (15) to turn, without twisting, about its longitudinal axis (α, β) when the handle (12) is subjected to a force in the direction at right angles to this axis (α, β).

Claim 5

A device according to any one of Claims 1 to 3, characterized in that the pairs of strain gauges (Ja,, Ja 2 , Jb,, Jb 2 , Jc,, Jc 2 ), secured respectively to the various arms (a, b, c and d) of the membrane (15), are electrically connected in series between the terminals of an electrical current source (+ V) in such manner that the longitudinal curvature assumed by each arm (a, b, c, d) of the membrane (15) when the control handle (12) is subjected to a force in the longitudinal direction (α, β) of each arm (a, b, c, d), produces a voltage A, B, C or D, at the point common to the pair of corresponding gauges (Ja 1 , Ja 2 , Jb 1 , Jb 2 , Jc 1 , Jc 2 ), and in that electrical circuits (40a) or known kind are provided for obtaining therefrom electrical signals which are respectively proportional to the forces to which the control handle (12) is subjected in the three directions (x, y, z) at right angles to each other ―X=A―C; Y=B―D; Z=A+C―B―D.

Claim 6

A device according to any one of Claims 1 to 4, characterized in that the bearings (16a, 16b, 16c, 16d) associated respectively with the arms (a, b, c, d) of the membrane (15), particularly ball bearings (19a, 19b, 19c, 19d), are mounted on the walls of a case (13) enclosing said membrane (15), this case (13) being secured to the member (14) to be displaced, for example by way of a suspended element (11), and its base being freely traversed by the control handle (12) or by its rod (31), to that end (31 a, 31 b) of which that is located within said case (13) is fixed the central portion (m) of the membrane (15).

Claim 7

A device according to any one of Claims 1 to 5, characterized in that a gripping knob (34), which is hemispherical, for example, is attached, by means of a ball-and-socket joint (35), to the free end (31 c) of the control handle (12) or of its rod (31).

Claim 9

A device according to any c e of Claims 5 to 7, characterized in that stops (33, 13e) are formed on the inner walls of the case (13) so as to limit the movements of the handle (12, 31).