Hand controller having pivot axis for minimizing forearm movement

Claim 2

In a hand controller for controlling operation of an apparatus, the combination comprising: (a) a control grip; (b) means for supporting an operator's forearm so that the operator's wrist joint and hand extend forwardly of said supporting means and the operator's hand can grip said control grip; (c) a first motion coupling component being movably mounted at a first location disposed between said control grip and said operator's forearm supporting means and about a fore-and-aft extending roll axis defined along a base line of the operator's forearm when supported by said supporting means; (d) a second motion coupling component being movably mounted at a pair of spaced second locations disposed above and at opposite lateral sides of said first location and about a side-to side extending pitch axis defined through the center of the operator's wrist joint and in transverse relation to and above said roll axis when the operator's forearm is supported by said supporting means; and (e) a third motion coupling component being movably mounted at a third location disposed below said first location and about an up-and-down extending yaw axis defined through the center of the operator's wrist joint and in transverse relation to said roll and pitch axes when the operator's forearm is supported by said supporting means; (f) said first, second and third motion coupling components being coupled to one another and to said control grip in a given sequence for facilitating pivotal motion of the operator's hand about said roll, pitch and yaw axes to activate hand control functions with minimal forearm movement.

Claim 3

The hand controller of claim 1 further comprising: means for sensing movement of said first, second and third motion coupling components and generating control signals in response thereto.

Claim 4

The hand controller of claim 2 wherein said sensing means includes a separate electro-mechanical transducer mechanism associated with each of said motion coupling components.

Claim 5

The hand controller of claim 1 wherein said control grip is attached on one of said first, second and third motion coupling components.

Claim 6

The hand controller of claim 1 wherein: one of said roll, pitch and yaw axes is defined by said supporting means; and the one of said first, second and third motion coupling components corresponding to said one axis is mounted by said supporting means for pivotal movement about said one axis and relative to said supporting means.

Claim 7

The hand controller of claim 5 wherein: another one of said roll, pitch and yaw axes is defined by said one motion coupling component pivotally mounted to said supporting means; and another one of said first, second and third motion coupling components corresponding to said another one axis is mounted by said one motion coupling component for pivotal movement about said another one axis and relative to said one motion coupling component and said supporting means.

Claim 8

The hand controller of claim 6 wherein: the remaining one of said roll, pitch and yaw axes is defined by said another one motion coupling component pivotally mounted to said one motion coupling component; and the remaining one of said first, second and third motion coupling components corresponding to said remaining one axis is mounted by said another one motion coupling component for pivotal movement about said remaining one axis and relative to said one and another one motion coupling component and said supporting means.

Claim 9

The hand controller of claim 1 wherein said supporting means includes: a forearm support assembly; and a controller support housing rigidly mounted to said forearm support assembly.

Claim 10

The hand controller of claim 8 wherein: said yaw axis is defined by said support housing; and said third motion coupling component corresponding to said yaw axis is mounted by said support housing for pivotal movement about said yaw axis and relative to said support housing.

Claim 11

The hand controller of claim 9 wherein: said pitch axis is defined by said third motion coupling component pivotally mounted to said support housing; and said second motion coupling component corresponding to said pitch axis is mounted by said third motion coupling component for pivotal movement about said pitch axis and relative to said third motion coupling component and said support housing.

Claim 12

The hand controller of claim 10 wherein: said roll axis is defined by said second motion coupling component pivotally mounted to said third motion coupling component; and said first motion coupling component corresponding to said roll axis is mounted by said second motion coupling component for pivotal movement about said roll axis and relative to said second and third motion coupling components and said support housing.

Claim 13

The hand controller of claim 11 wherein said control grip is attached on said first motion coupling component.

Claim 14

In a hand controller for controlling operation of an apparatus, the combination comprising: (a) a control grip; (b) a forearm support assembly for supporting an operator's forearm so that the operator's wrist joint and hand extend forwardly of said support assembly and the operator's hand can grip said control grip; (c) a controller support housing rigidly mounted to said forearm support assembly forwardly thereof; (d) a roll gimbal component being pivotally mounted at a first location disposed between said control grip and said forearm support assembly and about a fore-and-aft extending roll axis defined along a base line of the operator's forearm when supported by said support assembly; (e) a pitch gimbal component being pivotally mounted at a pair of spaced second locations disposed above and at opposite lateral sides of said first location and about a side-to-side extending pitch axis defined through the center of the operator's wrist joint and in transverse relation to and above said roll axis when the operator's forearm is supported by said support assembly; (f) a yaw gimbal component being pivotally mounted at a third location disposed below said first location and about an up-and-down extending yaw axis defined through the center of the operator's wrist joint and in transverse relation to said roll and pitch axes when the operator's forearm is supported by said support assembly; (g) said roll, pitch and yaw gimbal components being coupled to one another and to said support housing and said control grip in a given sequence for facilitating pivotal motion of the operator's hand about said roll, pitch and yaw axes to activate hand control functions with minimal forearm movement; and (h) means for sensing movement of said roll, pitch and yaw gimbal components and generating control signals in response thereto.

Claim 15

In a hand controller for controlling operation of an apparatus, the combination comprising: (a) a control grip; (b) a forearm support assembly for supporting an operator's forearm so that the operator's wrist joint and hand extend forwardly of said support assembly and the operator's hand can grip said control grip; (c) a controller support housing rigidly mounted to said forearm support assembly forwardly thereof; (d) a roll gimbal component being pivotally mounted at a first location disposed between said control grip and said forearm support assembly and about a fore-and-aft extending roll axis defined along a base line of the operator's forearm when supported by said support assembly; (e) a pitch gimbal component being pivotally mounted at a pair of spaced second locations disposed above and at opposite lateral sides of said first location and about a side-to-side extending pitch axis defined through the center of the operator's wrist joint and in transverse relation to and above said roll axis when the operator's forearm is supported by said support assembly; (f) a yaw gimbal component being pivotally mounted at a third location disposed below said first location and about an up-and-down extending yaw axis defined through the center of the operator's wrist joint and in transverse relation to said roll and pitch axes when the operator's forearm is supported by said support assembly; (g) said roll, pitch and yaw gimbal components being coupled to one another and to said support housing and said control grip in a given sequence for facilitating pivotal motion of the operator's hand about said roll, pitch and yaw axes to activate hand control functions with minimal forearm movement; and (h) means for sensing movement of said roll, pitch and yaw gimbal components and generating control signals in response thereto.

Claim 16

The hand controller of claim 13 wherein said control grip is attached on one of said roll, pitch and yaw gimbal components.

Claim 17

The hand controller of claim 13 wherein: one of said roll, pitch and yaw axes is defined by said support housing; and the one of said roll, pitch and yaw gimbal components corresponding to said one axis is mounted by said support housing for pivotal movement about said one axis and relative to said support housing.

Claim 18

The hand controller of claim 15 wherein: another one of said roll, pitch and yaw axes is defined by said one gimbal component pivotally mounted to said support housing; and another one of said roll, pitch and yaw gimbal components corresponding to said another one axis is mounted by said one gimbal component for pivotal movement about said another one axis and relative to said one gimbal component and said support housing.

Claim 19

The hand controller of claim 16 wherein: the remaining one of said roll, pitch and yaw axes is defined by said another one gimbal component pivotally mounted to said one gimbal component; and the remaining one of said roll, pitch and yaw gimbal components corresponding to said remaining one axis is mounted by said another one gimbal component for pivotal movement about said remaining one axis and relative to said one and another one gimbal component and said support housing.

Claim 20

The hand controller of claim 13 wherein: said yaw axis is defined by said support housing; and said yaw gimbal component corresponding to said yaw axis is mounted by said support housing for pivotal movement about said yaw axis and relative to said support housing

Claim 21

The hand controller of claim 18 wherein: said pitch axis is defined by said yaw gimbal coupling component pivotally mounted to said support housing; and said pitch gimbal component corresponding to said pitch axis is mounted by said yaw gimbal component for pivotal movement about said pitch axis and relative to said yaw gimbal component and said support housing.

Claim 22

The hand controller of claim 19 wherein: said roll axis is defined by said pitch gimbal component pivotally mounted to said yaw gimbal component; and said roll gimbal component corresponding to said roll axis is mounted by said pitch gimbal component for pivotal movement about said roll axis and relative to pitch and yaw gimbal components and said support housing.

Claim 23

The hand controller of claim 20 wherein said control grip is attached on said roll gimbal component.

Claim 24

In a hand controller for controlling operation of an apparatus, the combination comprising: (a) a control grip; (b) means for supporting an operator's forearm so that the operator's wrist joint and hand extend forwardly of said supporting means and the operator's hand can grip said control grip; (c) a first motion coupling component being movably mounted about a fore-and-aft extending roll axis defined along a base line of the operator's forearm when supported by said supporting means; (d) a second motion coupling component being movably mounted about a side-to-side extending pitch axis defined through the center of the operator's wrist joint and in transverse relation to said roll axis when the operator's forearm is supported by said supporting means; and (e) a third motion coupling component being movably mounted about an up-and-down extending yaw axis defined through the center of the operator's wrist joint and in transverse relation to said roll and pitch axes when the operator's forearm is supported by said supporting means; (f) said first, second and third motion coupling components being coupled to one another and to said control grip in a given sequence for facilitating pivotal motion of the operator's hand about said roll, pitch and yaw axes to activate hand control functions with minimal forearm movement; (g) said supporting means including a forearm support assembly and a controller support housing rigidly mounted to said forearm support assembly; (h) said yaw axis being defined by said support housing, said third motion coupling component corresponding to said yaw axis being mounted by said support housing for pivotal movement about said yaw axis and relative to said support housing.

Claim 25

In a hand controller for controlling operation of an apparatus, the combination comprising: (a) a control grip; (b) means for supporting an operator's forearm so that the operator's wrist joint and hand extend forwardly of said supporting means and the operator's hand can grip said control grip; (c) a first motion coupling component being movably mounted about a fore-and-aft extending roll axis defined along a base line of the operator's forearm when supported by said supporting means; (d) a second motion coupling component being movably mounted about a side-to-side extending pitch axis defined through the center of the operator's wrist joint and in transverse relation to said roll axis when the operator's forearm is supported by said supporting means; and (e) a third motion coupling component being movably mounted about an up-and-down extending yaw axis defined through the center of the operator's wrist joint and in transverse relation to said roll and pitch axes when the operator's forearm is supported by said supporting means; (f) said first, second and third motion coupling components being coupled to one another and to said control grip in a given sequence for facilitating pivotal motion of the operator's hand about said roll, pitch and yaw axes to activate hand control functions with minimal forearm movement; (g) said supporting means including a forearm support assembly and a controller support housing rigidly mounted to said forearm support assembly; (h) said yaw axis being defined by said support housing, said third motion coupling component corresponding to said yaw axis being mounted by said support housing for pivotal movement about said yaw axis and relative to said support housing.

Claim 26

The hand controller of claim 22 wherein: said pitch axis is defined by said third motion coupling component pivotally mounted to said support housing; and said second motion coupling component corresponding to said pitch axis is mounted by said third motion coupling component for pivotal movement about said pitch axis and relative to said third motion coupling component and said support housing.

Claim 27

The hand controller of claim 23 wherein: said roll axis is defined by said second motion coupling component pivotally mounted to said third motion coupling component; and said first motion coupling component corresponding to said roll axis is mounted by said second motion coupling component for pivotal movement about said roll axis and relative to said second and third motion coupling components and said support housing.

Claim 28

The hand controller of claim 24 wherein said control grip is attached on said first motion coupling component.

Claim 29

In a hand controller for controlling operation of an apparatus, the combination comprising: (a) a control grip; (b) a forearm support assembly for supporting an operator's forearm so that the operator's wrist joint and hand extend forwardly of said support assembly and the operator's hand can grip said control grip; (c) a controller support housing rigidly mounted to said forearm support assembly forwardly thereof; (d) a pivotally-mounted roll gimbal component being pivotal about a fore-and-aft extending roll axis defined along a base line of the operator's forearm when supported by said support assembly; (e) a pivotally-mounted pitch gimbal component being pivotal about a side-to-side extending pitch axis defined through the center of the operator's wrist joint and in transverse relation to said roll axis when the operator's forearm is supported by said support assembly; (f) a pivotally-mounted yaw gimbal component being pivotal about an up-and-down extending yaw axis defined through the center of the operator's wrist joint and in transverse relation to said roll and pitch axes when the operator's forearm is supported by said support assembly; (g) said roll, pitch and yaw gimbal components being coupled to one another and to said support housing and said control grip in a given sequence for facilitating pivotal motion of the operator's hand about said roll, pitch and yaw axes to activate hand control functions with minimal forearm movement; and (h) means for sensing movement of said roll, pitch and yaw gimbal components and generating control signals in response thereto; (i) said yaw axis being defined by said support housing, said yaw gimbal component corresponding to said yaw axis being mounted by said support housing for pivotal movement about said yaw axis and relative to said support housing.

Claim 30

In a hand controller for controlling operation of an apparatus, the combination comprising: (a) a control grip; (b) a forearm support assembly for supporting an operator's forearm so that the operator's wrist joint and hand extend forwardly of said support assembly and the operator's hand can grip said control grip; (c) a controller support housing rigidly mounted to said forearm support assembly forwardly thereof; (d) a pivotally-mounted roll gimbal component being pivotal about a fore-and-aft extending roll axis defined along a base line of the operator's forearm when supported by said support assembly; (e) a pivotally-mounted pitch gimbal component being pivotal about a side-to-side extending pitch axis defined through the center of the operator's wrist joint and in transverse relation to said roll axis when the operator's forearm is supported by said support assembly; (f) a pivotally-mounted yaw gimbal component being pivotal about an up-and-down extending yaw axis defined through the center of the operator's wrist joint and in transverse relation to said roll and pitch axes when the operator's forearm is supported by said support assembly; (g) said roll, pitch and yaw gimbal components being coupled to one another and to said support housing and said control grip in a given sequence for facilitating pivotal motion of the operator's hand about said roll, pitch and yaw axes to activate hand control functions with minimal forearm movement; and (h) means for sensing movement of said roll, pitch and yaw gimbal components and generating control signals in response thereto; (i) said yaw axis being defined by said support housing, said yaw gimbal component corresponding to said yaw axis being mounted by said support housing for pivotal movement about said yaw axis and relative to said support housing.

Claim 31

The hand controller of claim 26 wherein: said pitch axis is defined by said yaw gimbal component pivotally mounted to said support housing; and said pitch gimbal component corresponding to said pitch axis is mounted by said yaw gimbal component for pivotal movement about said pitch axis and relative to said yaw gimbal component and said support housing.

Claim 32

The hand controller of claim 27 wherein: said roll axis is defined by said pitch gimbal component pivotally mounted to said yaw gimbal component; and said roll gimbal component corresponding to said roll axis is mounted by said pitch gimbal component for pivotal movement about said roll axis and relative to pitch and yaw gimbal components and said support housing.

Claim 33

The hand controller of claim 28 wherein said control grip is attached on said roll gimbal component.