Abstract:
A robotic master controller having a series of linking members interconnected by pivots to each other and a hand grip with relative position sensors therein and sensing yaw and pitch of the hand grip due to movement of the user. The final linking member including an arched section that terminates in a pivot for the hand grip that is located within the user&#39;s hand during use and has an axis of rotation that generally aligns with a roll axis of rotation of the arm when the user&#39;s hand rotates between a palm up configuration to a palm down configuration. The final linking member also includes an arched section that extends over and cradles the outer palm of the hand when the hand is in the palm up configuration. The user reaches around the outside (to the right for a right arm controller) to grasp the hand grip.

Description:
BACKGROUND OF THE INVENTION 
     The present invention relates to master controllers for operating robotic devices and, in particular, to such a controller for a robotic device having an arm like structure and wherein the controller senses movement in the user&#39;s own arm and causes such movement to be mimicked in the robotic device. 
     Many robotic devices utilize robotic arms or arm like structures (herein generally referred to as arms) for conducting work at a site of use. Often such robotic arms are utilized in environments which are dangerous or hazardous to humans, such as deep sea construction or exploration, chemical or explosives handling, outer space construction and the like. Consequently, it is advantageous to have a master controller that links to the robotic device and that allows a user, especially a user in a remote area from the robotic device to control the robotic device. That is, the robotic device is slaved to the master controller, follows the movement of the user&#39;s arm, including the hand, and transfers this movement to the robotic device, so that the robotic arm can be controlled by the user to make movements in a manner similar or equivalent to the motions the user would make, if the user were performing the task. 
     The art of such controllers has been well developed in sensors that sense motion in the user&#39;s body and transmit the motion to the robotic device and such sensing and transmitting is not part of the invention of the present application. It is also possible to provide such controllers with force feedback so that the user senses the reactionary force being applied to the robotic arm. Such devices are disclosed in applicant&#39;s prior U.S. Pat. No. 5,019,761 which is incorporated herein by reference. 
     Prior master controllers have been developed that provide for mimicking some movement of the upper and lower arm, such as applicant&#39;s previous U.S. Pat. No. 5,019,761 and D461,484; however, the present device is an improvement over the devices shown in those patents. In some prior art devices, the controller is too bulky, heavy or cumbersome. But, the most significant problem has to do with positioning the controller to sense roll (rotation about the long axis of the forearm) and then allowing the user a wide range of movement, while providing a sturdy and easy to use structure. 
     Roll has always presented difficulty to the designers of such controllers. This is because it is desirable in such controllers for a handle, hand control or hand grip to be allowed to rotate almost one hundred and eighty degrees without the hand grip or the user hitting another part of the controller and the prior art has had difficulty in providing such. In the U.S. Pat. No. 5,019,761 this was accomplished by providing a circular track or hoop that followed a structure at the end of a remainder of the controller. Such a track is fragile and can easily become dirty or damaged by nicks or the like in the metal, thereby significantly reducing smoothness of operation over time and producing an undesirable resistance. Other devices have tried to resolve this by placing the point of rotation of the hand grip outside the axis of rotation of the forearm, but this does not properly mimic the arm. Still other attempts have been made to place the roll pivot and sensor to the front of the hand, but this makes the device bulky and cumbersome to use, especially in tight quarters. 
     In the past, such controllers were designed so that the arm was placed on the inside of the controller or to the left of a controller for a right handed person. Because the forearm also rotates the hand to the right, when the hand turns from palm up to palm down, such movement of the hand would interfere with any structure that extended directly from the rest of the controller to the hand grip. 
     Consequently, applicant conceived of moving the arm to the outside or right side of a right handed controller and developed structure that cooperates with such placement and that allows the hand grip to roll with the hand while maintaining the axis of rotation of the hand grip aligned with the axis of rotation of the forearm. 
     SUMMARY OF THE INVENTION 
     A robotic arm master controller having elements which when moved by an arm of a user mimics the user&#39;s arm movements and conveys those movements to a robot slaved to the controller. The controller includes five rigid links, arm sections or members linked together at pivots with position sensors adapted to sense relative movements between each. 
     Pivotally joined to the last of the members is a hand control or hand grip including various finger operated controls. The hand grip is sized and shaped to fit in the palm of the user and may extend outwardly at opposite ends thereof form the hand. The user holds the hand grip by reaching around the remainder of the controller to the outside or right side thereof for a right handed controller with the operator reaching around the left side of a left handed controller. 
     The last of the members includes an arched section that is sized and positioned so as to be pivotally joined to the hand grip at a location within the hand of a user when the hand grip is being grasped by a user. The arched section is further sized and positioned to enter the hand above the palm to the opposite side from the thumb when the hand is palm up and such that the outer edge of the hand opposite the thumb is cradled by the arched section. The axis of rotation of the pivot joining the arched section to the hand grip is generally aligned with an axis of rotation of the forearm during roll. The arched section extends over an arc of approximately ninety degrees. The hand can rotate generally between palm up and palm down without engaging obstructing structure of the controller during such rotation. 
     In this manner, the controller serves and provides for yaw and pitch associated with the upper arm and lower arm (at the wrist) and roll associated with turning the forearm about the longitudinal axis thereof. Preferably, the controller has axes of rotation associated with yaw, pitch and roll of the wrist that all intersect approximately in the center of the wrist. 
     OBJECTS AND ADVANTAGES OF THE INVENTION 
     Therefore, the objects of the invention are: to provide a robotic master controller that allows for substantial roll movement and wherein the position sensors for such roll movement have a pivot associated therewith that is generally coaxial with rotation of the forearm; to provide such a controller wherein roll movement between a final link of the controller and a distal hand grip is conveyed through a pivot rather than a track; to provide such a controller wherein the roll pivot is located within the hand during usage and aligned with an axis of rotation of the forearm; to provide such a controller wherein the arm of the user wraps about the outside of the controller rather than being located to the inside or left side of a right handed controller; to provide such a controller that is not bulky or heavy and requires comparatively low maintenance; to provide such a controller wherein the roll connection between the hand grip and the rest of the controller remains generally clean and free of nicks throughout the life of the controller thereby providing a smooth and resistance free movement therebetween; and to provide a controller that is easy to use and is especially well adapted for the intended usage thereof. 
     Other objects and advantages of this invention will become apparent from the following description taken in conjunction with the accompanying drawings wherein are set forth, by way of illustration and example, certain embodiments of this invention. 
     The drawings constitute a part of this specification and include exemplary embodiments of the present invention and illustrate various objects and features thereof. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of a master controller in accordance with the present invention. 
         FIG. 2  is a first side elevational view of the controller. 
         FIG. 3  is a second side elevational view of the controller. 
         FIG. 4  is a top plan view of the controller. 
         FIG. 5  is a bottom plan view of the controller. 
         FIG. 6  is a front elevational view of the controller. 
         FIG. 7  is a rear elevational view of the controller. 
         FIG. 8  is a perspective view of the controller mounted on a support and illustrating a user operating the controller. 
         FIG. 9  is a cross sectional view of the controller, taken along line  9 - 9  of  FIG. 8  showing rotation of a hand grip between a first position in solid lines and a second position in phantom lines. 
         FIG. 10  is a fragmentary view of a portion of the controller showing rotation of the hand grip thereof between a first position in solid lines and a second position in phantom lines. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure. 
     The reference numeral  1  generally represents a robotic master controller in accordance with the present invention, mounted on a support  4  and operated by a user  5 . 
     The controller  1  may be used with many different types of robotic devices wherein it is needed or desirable to mimic the movements of the user&#39;s arm or hand in the robotic device. Such a device can include robotic arms used on outer space craft, submergibles for exploration or construction, digging equipment such as backhoes and the like, robots that inspect or disarm hazardous or explosive materials or devices, and similar devices. 
     While the present controller may be used without force feedback, it is preferred that a force feedback system be incorporated herein along with the sensors and motors needed to provide such operation. A force feedback system is illustrated and described in the present inventor&#39;s U.S. Pat. No. 5,019,761 which is incorporated herein by reference. As the present invention is not directed to modification of the force feedback system or of the position sensors or motors, those structures are not reiterated herein in detail and one having ordinary skill in the art is directed to the U.S. Pat. No. 5,019,761 for an explanation of those structures and how to incorporate them within the present invention. 
     The support  4  can be any structure of sufficient size and strength to support the controller  1  during use. For this purpose, the support may be a desk or table top, a free standing base or even the arm rest of a user&#39;s chair. As the controller  1  may be utilized in tight quarters, such as aboard a deep sea exploratory subermarine, it is preferred that both the size and weight be kept at a minimum. It is also necessary that the length of the controller  1  when fully extended forward not exceed the extended arm length of the user  5 . 
     The controller  1  allows a user  5  to control yaw (side to side pivotal movement or pivot about a lateral plane through a longitudinal portion of a device) and pitch (up and down pivot of a longitudinal portion of a device relative to a vertical axis) of the upper portion  8  of the controller  1  corresponding to an upper arm  9  of the user  5 , as well as yaw, pitch and roll (rotation about a longitudinal axis of a longitudinal portion of a device) of the lower portion  11  of the controller  1  corresponding to a lower arm or wrist  12  of a user  5 . 
     In particular, the controller  1  has a base  15 , a first member  16 , a second member  17 , a third member  18 , a fourth member  19 , a fifth member  20  and a hand grip  21 . The base  15  is attached to the support  4  and does not move relative to the support  4  during use. The first member  16  has a first end  24  that rotates about an axis A relative to the base  15  at a joint  25 . The first member  16  has a second end  26  that rotates about an axis B relative to a first end  27  of the second member  17  at a joint  28 . 
     The second member  17  has a second end  30  that rotates about an axis C relative to a first end  31  of the third member  18  at a joint  33 . The third member  18  has a second end  34  that rotates relative to an axis D relative to a first end  35  of the fourth member  19  at a joint  36 . The fourth member  19  has a second end  37  that rotates about an axis E relative to a first end  38  of the fifth member  20  at a joint  39 . The fifth member  20  has a second end  41  that is pivotally connected to the hand grip  21  and rotates about an axis F at pivot joint  42 . 
     Located at each of the joints  25 ,  28 ,  33 ,  36 ,  39  and  42  and part thereof are interior sensors that sense the relative positions of the elements connected at the joints  25 ,  28 ,  33 ,  36 ,  39  and  42  and motors that provide force feedback to the user  5  relative thereto. 
     The axes B, C and D are parallel to each other and perpendicular to the axes A and E. The axes D and E are positioned or located so as to intersect with a wrist  50  of a user  5  during use. Rotation about the axis E controls yaw at the wrist  50 , whereas rotation about the axis D determines or controls pitch at the wrist  50 . Rotation about the axes B, C and D controls pitch relative to the user&#39;s upper arm  9 , as well as extension or distance of the hand grip  21  relative to the base  15 . Rotation about the axis A controls yaw relative to the user&#39;s upper arm  9 . Rotation about the axis F controls roll of the hand grip  21  relative to the base  15 . 
     The first member  16  extends upwardly from the base  15 . The second member  17  and third member  18  each have an elongate and generally rigid outer structure enclosing the sensors and motors described above. The fourth member  19  includes a rigid portion  55  joined at the first end  35  to a cylindrical portion  56  that rotates coaxially with the axis D. The rigid portion  55  has a medial bend  58  therein and the second end  37  is joined to a cylindrical portion  60  that is coaxial with the axis E. 
     The fifth member  20  has a cylindrical portion  62  at the first end  38  thereof that pivotally connects with the fourth member cylindrical portion  60  and is coaxial with the axis E. Attached to the fifth member cylindrical portion  62  is a rigid and elongate portion  65  having a first downwardly extending section  67 , thereafter a forwardly extending section  68  and thereafter an arched section  69 . The arched section  69  terminates at the second end  41  of the fifth member  20  near a location that is along axis F. 
     The fifth member  20  in conjunction with the remainder of the controller  1  is sized and shaped to allow a user  5  to extend or reach the user&#39;s arm laterally around the controller  1  and grasp the hand grip  21 , as is seen in  FIG. 8 . That is, when the controller  1  is designed for a right handed usage, the user  5  reaches laterally outwardly and forward or to the right around the controller to grasp the hand grip  21  and in the opposite manner for a controller  1  for a left handed usage. 
     The hand grip  21  has a typical grip overall shape. The hand grip  21  is sized and shaped to comfortably fit in a palm  75  of a hand  76  of the user  5 , as is seen in  FIGS. 8 and 9 , with fingers  77  and thumb  78  wrapping about the hand grip  21  on both sides. The hand grip  21  is pivotally joined at the joint  42  to the fifth arm  20  by a pivot pin  80  that extends between the hand grip  21  and the arched section  69  so as to be medially located from top to bottom and generally centrally located from side to side. The pin  80  is located in a bore  81  in the arch section  69 . A cover  84  extends along the rear of the hand grip  21  so as to protect the user&#39;s hand  76  from engagement with the pivot  42 ; however, the left lateral side  85  of the cover  84  is open to provide a slot  86  to allow the hand grip  21  to rotate relative to the arch section  69 . In this manner, the hand grip  21  can rotate about axis F over a range of approximately 160°, as is shown in  FIG. 9 , although this range may be varied somewhat in certain applications. 
     The hand grip  21  can be variously equipped with push buttons  90 , depress controls  91 , rocker switches  92  and the like that correspond to certain elements that are to be controlled in the robotic arm slaved to the controller  1 , such as claws or the like. In certain situations the function of the various grip elements on the hand grip  21  can be modified electronically or physically to allow the user  5  to select control of different aspects of the robotic device, different robotic devices or devices that provide information about the robotic device. 
     The arched section  69  is important to the function of the controller  1  in accordance with the invention. In particular, it allows the hand grip  21  to be comfortably held in the hand  76  of the user without interfering with roll of the hand grip  21  over a comparatively wide range of motion. This is seen especially in  FIG. 9  wherein the hand  76  and hand grip  21  that are shown in solid lines are rotated (or rolled) to the right and are shown in phantom lines rotated to the left. The elongate centerline of the hand grip is indicated in each case by the axis G. 
     The arched section  69  has a hand facing surface  94  that is curved and sized and shaped to allow the hand&#39;s palm  75  to swing upward and to the right as the hand grip  21  is rotated to the right and, thereafter, cradle an outer portion  95  of the palm  75  when at the full extent of rotation to the right. The surface  94  extends over an arc of approximately ninety degrees. 
     The pivot  42  is positioned so as to be located generally in the middle of the grasping hand  76  just above the palm  75  and generally along an axis H which passes through the elongate center of a forearm  96  associated with the hand  76  and remaining generally in that location as the hand  76  rolls or rotates between the maximum ranges thereof, as seen in  FIG. 9 . In this manner, the yaw, pitch and roll associated with the user&#39;s lower arm  12  are imparted to the controller  1 , as the user  5  moves, thus conveying substantially equivalent movement to a robotic device slaved to the controller  1 . 
     In use, the user  5  grasps the hand grip  21  in the user&#39;s hand  76  and moves his arm upper portion  8  and hand  76  at the wrist  50  to control similar structure on a robotic device. The position, location and shape of the fifth member  20  and especially the arched section  69  allows the controller  1  to follow roll of the user&#39;s hand  76  over a wide range of rotation without the hand  76  engaging obstructing structure of the controller  1  and with the structure associated with roll. The pivot  42  and hand grip  21  where joined to pivot  42 , are especially located within the hand  76  and generally in line with the forearm rotational axis H. Because the arched section  69  enters the hand holding the hand grip  21  opposite the thumb  78  and the pivot  42  is located in the palm  75 , the hand  76  can turn completely over, as seen in  FIG. 9 , without interference from other parts of the controller  1 , while still allowing the pivot axis F to be generally maintained in alignment with the arm axis H. 
     It is to be understood that while certain forms of the present invention have been illustrated and described herein, it is not to be limited to the specific forms or arrangement of parts described and shown.