Patent Publication Number: US-6906700-B1

Title: 3D controller with vibration

Description:
CROSS REFERENCE TO RELATED APPLICATIONS AND PATENTS 
     This application is a continuation of U.S. patent application Ser. No. 08/677,378 filed on Jul. 5, 1996, now U.S. Pat. No. 6,222,525. 
     U.S. patent application Ser. No. 08/677,378 is a continuation-in-part of U.S. patent application Ser. No. 08/393,459 filed on Feb. 23, 1995, now U.S. Pat. No. 5,565,891. 
     U.S. patent application Ser. No. 08/677,378 is also a continuation-in-part of U.S. patent application Ser. No. 07/847,619 filed on Mar. 5, 1992, now U.S. Pat. No. 5,589,828. 
     The instant application claims the benefits under 35 U.S.C120 of the filing dates of the above listed Patents and or Applications. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     This invention relates to hand input controllers which serve as interface input devices between the human hand(s) and image displays and electronics such as a computer or television display, a head mount display or any display capable of being viewed or perceived as being viewed by a human. 
     2. Description of the Prior Art 
     All of the references cited in the applications and patents which are above mentioned may be of interest, copies of which are of record in the specific application file wrappers, and the reader is requested/invited to review such references. All of the references cited in the above patents and applications listed in the “CROSS REFERENCE TO RELATED APPLICATIONS AND PATENTS” are not prior art, although some are, to the present invention as claimed, because through a chain of pendency, the present invention finds support in my U.S. Pat. No. 5,589,828 filed as an application on Mar. 5, 1992. Although there are related physical-to-electrical hand-controlled interfacing devices interfacing with computers, game consoles and the like image generation machines connected to image displays and the like shown and described in disclosures/documents (references) currently in the file wrappers of the above specified patents and applications, no disclosures or documents which are/is “prior art” teach or suggest singularly or in reasonable combination the present claimed invention. 
     SUMMARY OF THE INVENTION 
     The positive teachings and disclosure of U.S. Pat. No. 6,222,525 is herein incorporated by reference. 
     The invention is new and or improved apparatus associated with human control or manipulation of objects, views or the like imagery shown on a display and associated or driven with or by a computer or the like electronics. The present invention as claimed finds substantial support in the description and drawings in the incorporated U.S. Pat. No. 5,589,828. From one viewpoint for example only, the invention is a hand operated controller structured for allowing hand inputs rotating a platform on two mutually perpendicular axes to be translated into electrical outputs, the controller structured with sensors to allow controlling objects and navigating a viewpoint, such as within a display for example, the sensors including spaced components generally preventing false activation thereof through vibration, and the controller including an electro-mechanical tactile feedback means mounted thereto, i.e. motor with shaft and offset weight mounted to shaft to rotate and provide vibration detectable by the user through the hand operating the input member of the controller. 
     Increased appreciation of the numerous structural arrangements in accordance with the invention can be gained with continued reading and with a reading of the incorporated disclosures. 
     In order that hand input to electrical output controllers be more affordable, and for a user to be easily able to control objects and/or navigate a viewpoint within a three-dimensional graphics display, I have developed improved, low-cost hand operated controllers, providing up to 6 degrees of freedom in preferred embodiments, for use with a computer or computerized television or the like host device. The controllers in preferred embodiments, while not restricted or required to be full six degrees of freedom (6DOF), provide structuring for converting full six degrees of freedom physical input provided by a human hand on a hand operable input member(s) into representative outputs or signals useful either directly or indirectly for controlling or assisting in controlling graphic image displays. The present controllers sense hand inputs on the input member via movement or force influenced sensors, and send information describing rotation or rotational force of the hand operable input member in either direction about three mutually perpendicular bi-directional axes herein referred to as yaw, pitch and roll, (or first, second and third); and information describing linear moment of the hand operable input member along the axes to a host computer or like graphics generation device for control of graphics of a display, thus 3D or six degrees of freedom of movement or force against the input member are converted to input-representative signals for control of graphics images. 
     The present controllers include at least one hand operable input member (platform) defined in relationship to a reference member, e.g., base, housing or handle of the controller. The input member can be a trackball operable relative to a housing (reference member), or the input member can be any handle fit to be manipulated by a human hand, such as a joystick type handle, but in any case, the input member(s) accept 3D of hand input relative to the reference member, and the converter acts or operates from the hand inputs to cause influencing of the sensors which inform or shape electricity to be used as, or to produce such as by way of processing, an output signal suitable for a host device to at least in part control or assist in controlling the image on the display of the host device. 
     The present 3D controller provides structuring for sensors to be located, in some embodiments, in a generally single plane, such as on a substantially flat flexible membrane sensor sheet, or a circuit board sheet. The use of flat sheet mounted or positioned sensors preferably electrically connected with fixed-place trace circuitry provides the advantages of very low cost sensor and associated sensor circuit manufacturing; ease in replacing a malfunctioning sensor or conductor by entire sheet replacement, and increased reliability due to the elimination of individually insulated wires to the sensors. 
     The use of sheet supported sensors and associated circuits enable the use of highly automated circuit and sensor defining and locating, resulting in lower manufacturing costs and higher product reliability. The utilization of flat sheet substratum supporting the sensors, and preferably sensor circuitry in conductive fixed-place trace form, provides many advantages, with one being the allowance of a short or low profile 3D controller, and another, as previously mentioned, lower cost in manufacturing. In at least one preferred embodiment, all sensors for 3D are positioned on one substantially flat sheet member, such as a circuit board sheet or membrane sensor sheet, and electrically conductive traces are applied to the sheet members and engaging the sensors. The conductive traces can be used to bring electricity to the sensors, depending on the sensor type selected to be utilized, and to conduct electricity controlled, shaped or informed by the sensor to an electronic processor or cable-out lead or the like. 
     As will be detailed in reference to a present embodiment of 3D controller, the sensors and conductive traces can be manufactured on a generally flat flexible membrane sensor sheet material such as a non-conductive plastic sheet, which then may or may not be bent into a three dimensional configuration, even a widely-spread 3-D sensor constellation, thus sheet supported sensor structuring provides the advantages of very low cost sensor and associated sensor circuit manufacturing; ease in replacing a malfunctioning sensor or conductor by entire sheet replacement, and increased reliability due to the elimination of individually insulated wires to the sensors. 
     The present invention solves the aforementioned prior art problems associated with 3D controllers having one 3D input member, with multiple, individually hand mounted and positioned sensors or sensor units in widely-spread three dimensional constellations, and the problems of hand applied wiring of individually insulated wire to the individual sensors or sensor units. The present 3D controller solves these problems primarily with sheet supported sensor structuring and most associated circuitry on the sheet which is at least initially flat when the sensors and conductive circuit traces are applied; the sheet circuitry and sensors being an arrangement particularly well suited for automated manufacturing, and well suited for fast and simple test-point trouble shooting and single board or “sheet” unit replacement if malfunction occurs. Hand applying of the sensors and associated electrical conductors onto the flat sheet is not outside the scope of the invention, but is not as great of an advancement, for reasons of cost and reliability, compared to utilizing automated manufacturing processes that are currently in wide use. 
     Automated manufacturing of circuit boards with fixed-place trace conductors, sensors, discrete electronic components and integrated chips is in wide use today for television, computer, video and stereo manufacturing for example, and can employ the plugging-in of sensor and electrical components with computer controlled machinery, and the application of conductive trace conductors onto the otherwise non-conductive circuit board sheets is usually performed using automatic machinery, wherein the solder or conductive material adheres to printed fluxed or non-etched areas where electrical connections and conductive traces are desired, although other processes are used. Automated manufacturing of flat, flexible membrane sensor sheets is in wide use today for computer keyboards, programmable computer keypads, and consumer electronics control pads, to name just a few for example. Flexible membrane sensor sheets are currently being manufactured by way of utilizing non-conductive flexible plastics sheets, and printing thereon with electrically conductive ink when the sheets are laying flat, to define circuit conductors and contact switches (sensors). Usually, and this is believed well known, printed contact switches on flexible membranes utilizes three layers of plastic sheets for normal contact pair separation, with a first contact on one outer sheet, and a second contact of the pair on the opposite outer sheet, and a third inner sheet separating the aligned contact pair, but with a small hole in the inner sheet allowing one contact to be pressed inward through the hole to contact the other aligned contact of the pair, thus closing the circuit. A conductor trace of printed conductive ink is printed on each of the outer sheets and connects to the contact of that sheet. The contacts are also normally defined with conductive ink. Although this flexible membrane sensor structure in formed of multiple sheets stacked upon one another, it will herein generally be referred to as a membrane sensor sheet since it functions as a single unit. The printed conductive inks remain, or can be formulated to remain flexible after curing, and this allows the flexible membrane sensor sheet to be bent without the printed circuits breaking. Flexible membrane sensor sheets can be cut into many shapes before or after the application of the sensors and associated circuits. 
     For the purposes of this teaching, specification and claims, the term “sensor” or “sensors” is considered to include not only simple on/off, off/on contact switches, but also proportional sensors such as, proximity sensors, variable resistive and/or capacitive sensors, piezo sensors, variable voltage/amperage limiting or amplifying sensors, potentiometers, resistive and optical sensors or encoders and the like, and also other electricity-controlling, shaping or informing devices influenced by movement or force. Pressure sensitive variable resistance materials incorporated into sensors applied directly on flexible membranes, circuit boards and sensor packages mounted on sheet structures are anticipated as being highly useful as proportional sensors and desirable in 3D controllers of the types herein disclosed. 
     A primary object of the invention is to provide a 3D image controller (physical-to-electrical converter), which includes at least one input member being hand operable relative to a reference member of the controller, and the controller providing structure with the advantage of mounting the sensors in a generally single area or on at least one planar area, such as on a generally flat flexible membrane sensor sheet or circuit board sheet, so that the controller can be highly reliable and relatively inexpensive to manufacture. 
     Another object of the invention is to provide an easy to use 3D controller (physical-to-electrical converter) which includes at least one input member being hand operable relative to a reference member of the controller, and which provides the advantage of structure for cooperative interaction with the sensors positioned in a three dimensional constellation, with the sensors and associated circuit conductors initially applied to flexible substantially flat sheet material, which is then bent or otherwise formed into a suitable three dimensional constellation appropriate for circuit trace routing and sensor location mounting. 
     Another object of the invention is to provide an easy to use 3D controller, which includes at least one input member hand operable relative to a reference member of the controller, and which has the advantage that it can be manufactured relatively inexpensively using sensors and associated circuits of types and positional layout capable of being assembled and/or defined with automated manufacturing processes on flat sheet material. 
     Another object of the invention is to provide an easy to use 3D controller, which includes at least one input member hand operable relative to a reference member, e.g., base, housing or handle of the controller, and which has the advantage that it can be manufactured using highly reliable automated manufacturing processes on flat sheet material, thus essentially eliminating errors of assembly such as erroneously routed wiring connections, cold or poor solder connections, etc. 
     Another object of the invention is to provide an easy to use 3D controller, which includes at least one input member hand operable relative to a reference member of the controller, and which has the advantage that it can be manufactured using sensors and associated circuits on flat sheet material so that serviceability and repair are easily and inexpensively achieved by a simple sheet replacement. 
     Another object of the invention is to provide a 3D controller which is structured in such a manner as to allow the controller to be made with a relatively low profile input member, which offers many advantages in packaging for sale, operation in various embodiments and environments (such as a low profile 3D handle integrated into a keyboard so that other surrounding keys can still be easily accessed) and functions of the device such as still allowing room for active tactile feedback means (electric motor, shaft and weight) within a still small low handle shape as indicated in the attached  FIG. 21  in broken lines. “tactile feedback means” in reference to the active type as herein used can be an equivalent to or that which is detailed in the incorporated U.S. Pat. No. 5,589,828 which is shown and described therein basically as a motor with shaft and weight on the shaft, the shaft being offset so that when rotated, vibration occurs which can be felt by the hand(s) operating the controller. 
     Another object of the invention is to provide and meet the aforementioned objects in a 3D controller which allows for the application and advantage of sensor choice. The invention can be constructed with sensors as simple as electrical contacts or more sophisticated proportional and pressure-sensitive variable output sensors, or the like. The printed circuit board provides great ease in using a wide variety of sensor types which can be plugged into or formed onto the board with automated component installing machinery, and the flexible membrane sensor sheet can also utilize a variety of sensors such as contact pairs and pressure-sensitive variable output sensors (pressure-sensitive variable resistors) printed or otherwise placed onto flexible membrane sensor sheets. 
     Another object of the invention is to provide and meet the aforementioned objects in a 3D or six degree of freedom controller providing the advantage of versatility of complex movements wherein all three perpendicular Cartesian coordinates (three mutually perpendicular axes herein referred to as yaw, pitch and roll) are interpreted bi-directionally, both in a linear fashion as in movement along or force down any axis, and a rotational fashion as in rotation or force about any axis. These linear and rotational interpretations can be combined in every possible way to describe every possible interpretation of three dimensions. 
     These, as well as further objects and advantages of the present invention will become better understood upon consideration of the remaining specification and drawings, as well as the incorporated disclosures. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a top view of a trackball type embodiment of the invention within a housing specific for a carriage and the trackball. 
         FIG. 2  is a cross-sectional side view of the  FIG. 1  embodiment taken at line  2 . 
         FIG. 3  is a cross-sectional end view taken at line  3  of FIG.  1 . 
         FIG. 4  is a partial illustration of the carriage, the trackball and a track frame between two walls. 
         FIG. 5  is an illustration showing a portion of a slightly varied carriage, the trackball, and a collet which is rotatable about the trackball which can be used within the scope of the present invention. A rotary encoder is shown as an example of a sensor in contact with the bottom of the collet. 
         FIG. 6  is an illustration basically showing another form of the rotatable collet. 
         FIG. 7  shows three mutually perpendicular axes herein referred to as first, second and third, or respectively roll, pitch and yaw axes, which are shown having a mutual point of intersection at the center of the input member which is shown as a trackball but may be any hand manipulated input member. 
         FIG. 8  is an illustration of a housing structured specific for the carriage and trackball, and one which is generally flat-bottomed and thus structured suitably to rest upon a support surface such as a table or desk when utilized. A broken outline indicates the possibility of an additional extension which is ergonomically designed as a wrist and forearm rest. 
         FIG. 9  is the carriage and trackball in a hand held housing sized and shaped to be grasped in a hand of a user while the user controls graphic images with the controller. 
         FIG. 10  is the carriage and trackball housed in an otherwise relatively conventional computer keyboard having well over 40 keys for the alphabet, numbers 1-9, a spacebar and other function keys. 
         FIG. 11  represents a display such as a computer or television with display showing a cube displayed three dimensionally. 
         FIG. 12  is a partial cross-sectional end view of a joystick type embodiment of the invention. This embodiment is or can be structured identically to the  FIG. 1  trackball embodiment, with the exception of an elongated graspable handle engaged on an exposed portion of the ball. 
         FIG. 13  shows an exploded view of another joystick embodiment of the current invention exhibiting structuring enabling use of a membrane sensor sheet. 
         FIG. 14  shows a membrane sensor sheet in flat form. 
         FIG. 15  shows a membrane sensor sheet in the folded 3-D configuration. 
         FIG. 16  shows all sensors in mechanical flat mount and right angle mount packages as they may be positioned on a rigid flat sheet, such as a circuit board sheet. 
         FIG. 17  shows a membrane sensor sheet in a variation where all 3D sensors are positioned on a flat plane. 
         FIG. 18  shows structuring of the membrane sensor sheet as described in  FIG. 17  as a novel appendage on an otherwise conventional membrane sensor sheet such as is found in a typical modern computer keyboard. 
         FIG. 19  shows an external view of a 3D controller in accordance with the present invention positioned where the arrow key pad would be on an otherwise common computer keyboard housing. 
         FIG. 20  shows an exploded view of a two-planar embodiment having rocker-arm actuators. 
         FIG. 21  shows a side view of the embodiment of FIG.  20 . 
         FIG. 22  shows a perspective view of the rocker-arm actuators of the embodiment of  FIGS. 20-21 . 
         FIGS. 23-25  show various side views of two-armed rocker arm actuators in operation. 
         FIG. 26  shows a top view of a rocker arm layout and its reduced area by using two one-armed actuators. 
         FIG. 27  shows a side view of a one-armed rocker actuator. 
         FIG. 28  shows an exploded view of the handle of the embodiment of  FIGS. 20 and 21 . 
         FIG. 29  shows an otherwise typical computer keyboard membrane with custom appendages to fit into and be actuated by the structures of the embodiment shown in  FIGS. 20-28  located in the arrow pad region of an otherwise typical computer keyboard. 
         FIG. 30  shows a perspective view of a 3D handle integrated into an otherwise typical remote control device such as are used to control TVs, VCRs, Cable Boxes, and some computers, etc. 
         FIG. 31  shows a perspective view of the device of  FIG. 30  in dashed lines and an internal view of a membrane shaped to fit the embodiment shown in  FIGS. 20-29 . 
         FIG. 32  shows a side view of a 3D two planar device using one circuit board per plane for support of sensors and electronics with eight sensors located on a plane in the base and four sensors located on a plane in the handle. 
         FIG. 33  shows a perspective view of a third axis translation component for the embodiment shown in FIG.  32 . 
         FIG. 34  shows a side view of the component of  FIG. 34  in a carriage. 
         FIG. 35  shows a perspective view of the components shown in  FIGS. 32-34 . 
         FIG. 36  shows a side view of a two planar embodiment using circuit boards but having substantially different sensor placements and structuring, with eight sensors located on a plane in the handle and four sensors on a plane in the base. 
         FIG. 37  shows a side cross-section view of a typical right angle solder mount sensor package for a momentary-On switch sensor. 
         FIG. 38  shows a side cross-section view of a horizontal or flat solder mount sensor package containing a proportional pressure sensitive element internally. 
         FIG. 39  shows a side cross-section view of a proportional membrane sensor having a metallic dome cap actuator in the non-activated position. 
         FIG. 40  shows a side cross-section view of a proportional membrane sensor having a metallic dome cap actuator in the activated position. 
         FIG. 41  shows a side cross-section view of a compound membrane sensor having multiple simple On/Off switched elements piggy backed one on top of another. 
         FIG. 42  shows a side cross-section view of a compound membrane sensor having both a simple on/off switched element and a proportional element which are simultaneously activated. 
         FIG. 43  shows a side cross-section view of two compound sensors of the type shown in  FIG. 42  arranged to create a single bi-directional proportional sensor. 
         FIG. 44  shows a side cross-section view of two uni-directional proportional sensors electrically connected to form a single bi-directional sensor with a central null area. 
         FIG. 45  shows a perspective view of a generic rocker arm actuator operating a bi-directional rotary sensor. 
         FIG. 46  shows a perspective view of a generic rocker arm actuator operating a bi-directional optical sensor. 
         FIG. 47  shows a perspective view of the sensors of  FIGS. 45 and 46  as they can be embodied within a handle. 
         FIG. 48  shows a side cross-section view of a novel structure for anchoring a membrane sensor in position and also for holding sensor actuating structures in position. 
         FIG. 49  shows an exploded view of the embodiment of FIG.  41 . 
         FIG. 50  shows a median cross-section view of the embodiment of  FIGS. 48 and 49  but in a right angle variation. 
     
    
    
     BEST MODES FOR CARRYING OUT THE INVENTION 
     Referring now to the drawings in general, and particularly to drawing  FIGS. 1 through 11  for a description a trackball-type embodiment  9  exemplifying principles of the invention. Joystick-type embodiments further exemplifying the principles of the invention are then described as additional preferred embodiments of the invention. 
     With reference to  FIGS. 1-4  in particular wherein trackball-type embodiment  9 , being a hand operable 3D controller for outputting control information is illustrated showing a rectangular housing  10  which is considered a reference member relative to which is operated trackball  12  which in this example is the hand operable single input member operable in full six degrees of freedom.  FIGS. 2-3  being cross-sectional views of the  FIG. 1  embodiment showing housing  10  which can at least in part support, retain and protect moveable carriage  14 . 
     As may be appreciated already from the above writing and drawings, carriage  14  is supported at least in part within housing  10  and with structuring for allowing carriage  14  to be moveable or moved in all linear directions relative to housing  10 , for example, left, right, forward, rearward, up and down, and in the possible combinations thereof. Furthermore, housing  10  may be specific for the present 3D or six degree of freedom controller as exemplified in  FIGS. 1-3  and  8 , or the housing  10  of another functional device such as an otherwise typical hand held remote control housing or computer keyboard housing as shown in  FIGS. 9 and 10  respectively, and offering or including functions such as keyboarding, cursor control, on/off, volume control, channel control and the like in addition to that offered by the present 3D or six degree of freedom controller. Housing  10  may be in effect the panel or panels of a control console of a vehicle or machine. Housing  10  may be any size within reason, although trackball  12 , any exposed part of carriage  14  or housing  10  intended to be manually controlled or hand held should of course be correctly sized to interface with the human hand or hands. When housing  10  is too large to allow easy use of the housing walls upon which to place carriage movement stops (stationary walls or posts to limit movement of the carriage) or sensor actuators or sensor supports such as would be likely with the keyboard housing of  FIG. 10  wherein the housing side walls are a substantial distance apart, then walls, partitions or posts specific for these purposes may be placed in any desired and advantageous location within housing  10  as shown for example in  FIG. 2  wherein actuators  100  and  104  are shown extending vertically upward from the interior bottom of housing  10 , inward of the interior side walls of the housing, and supporting or serving as a switch/sensor actuator, or a second component of the sensor, such as a second component of a two piece proximity sensor for example. Actuator  100  functions in conjunction with forward sensor  102 , and actuator  104  functions in conjunction with rearward sensor  106  in this example.  FIG. 3  illustrates for example the use of side walls  18  of housing  10  as the sensor actuators  116  and  120  or press plates for right sensor  118  and left sensor  122 . Housing  10  in most all applications will be made of rigid or semi-rigid plastics for cost, weight and strength considerations, although other materials might be functionally suitable. 
     Although it must be noted that within the scope of the invention carriage  14  functions may conceivably be provided with numerous structures, carriage  14  is shown in the drawings as including a lower member  20  and an upper member  22  positioned above lower member  20 . In this example, lower member  20  is shown as a rigid sheet member such as a circuit board, but could be structured as a rigid sheet supporting a flexible membrane sensor sheet having at least circuitry in the form of electrically conductive circuit traces which are stationary on the sheet member. Lower and upper members  20 ,  22  in this example are each plate-like and rectangular, are in spaced parallel relationship to one another, are horizontally disposed, and are rigidly connected to one another via vertically oriented rigid connecting posts  24 . Upper member  22  and lower member  20  are preferably of rigid materials such as rigid plastics, as are connecting posts  24  which may be integrally molded as one part with upper member  22  and connected to lower member  20  utilizing a mushroom-head shaped snap connector end on each posts  24  snapped through holes in member  20 , or with screws passed upward through holes in member  20  and threadably engaged in holes in the bottom terminal ends of posts  24 . Glue or adhesives could be used to connect posts  24  to lower member  20 . Typically four connecting posts  24  would be used as indicated in dotted outline in  FIG. 1  although the posts could easily be substituted with equivalent structures such as two walls, etc. The separate lower member  20  which is then attached to upper member  22 , allows member  20  to be flat on each side and more suitably shaped and structured to allow circuit traces and sensors to be applied utilizing automated machinery, without upper member  22  being in the way. Upper member  22  includes an opening  26  in which trackball  12  resides and extends partly therethrough, and opening  26  may include an annular raised lip or ring such as a threaded ring  28  or the like for engaging a cooperatively structured collet  16  such as one having threading at the bottom edge thereof, or it may be an opening absent any raised lip or extending collet as illustrated in  FIG. 8  wherein trackball  12  is shown extending upward through opening  26  in upper member  22 . Trackball  12  also might be exposed in great part (more than 50 percent) without using collet  16  by utilizing an arm extending upward from carriage  14  and partially over trackball  12  is such a manner as to retain trackball  12  in unison with carriage  14  for all linear movements. Collet  16 , if utilized, serves as an easily gripped member allowing the human hand to move carriage  14  and thus trackball  12  in any linear direction desired, although when collet  16  is not utilized, trackball  12  can be grasped by the fingers of the hand to also move carriage  14  in any linear direction. If a graspable collet is not used, then the exposed portion of trackball  12  is available for grasping with the fingers to apply force in any linear direction, much like a basketball player grasps a basketball in one hand or in the fingers. 
     Lower member  20  of carriage  14  preferably physically supports wheels, rollers, bearing or slide members or smooth surfaces which otherwise aid in supporting trackball  12  in a freely spherically rotatable manner, and in the example illustrated, three mutually perpendicular encoders (sensors)  124 ,  126 ,  128  mounted on the upper surface of lower member  20  for sensing rotation, direction and amount of rotation of trackball  12  about the yaw, pitch and roll axes include rotatable wheels upon and against which trackball  12  rests, and is thereby rotatably supported. In most applications, the weight of trackball  12  and its most common positioning within the supporting rotatable wheels of the encoders causes sufficient frictional engagement between the encoder wheels and trackball  12  so that rotation of the trackball causes rotation of one or more of the encoders, depending upon the axis about which trackball  12  is rotated. The structure of carriage  14  and collet  16  if the extending collet is used, is sufficiently close in fit to trackball  12  to render a substantial link in linear movement between carriage  14 , collet  16  and trackball  12 . In other words, linear movements in trackball  12  are substantially equal to linear movement of carriage  14  and collet  16 . It should be noted that I consider collet  16  as shown in FIG.  2  and some other drawings, whether it is a fixed or rotatable collet (to be detailed) to be part of carriage  14  since it is supported or fastened to carriage  14  and moves therewith. As previously stated, carriage  14  is supported with structuring for allowing movement in all linear directions relative to housing  10 , for example, left and right which is linear movement along the pitch axis in this example; forward and rearward which is linear movement along the roll axis in this example; up and down which is linear movement along the yaw axis in this example; and in the possible combinations thereof, and sensors are positioned to detect and provide (output) information related to such linear movements of carriage  14  relative to housing  10 . Clearly since trackball  12  and collet  16  are linked to move linearly with carriage  14 , trackball  12  can be moved linearly in all directions relative to housing  10 , wherein housing  10  is considered the reference member. I prefer carriage  14  to be not rotatable relative to housing  10  since rotation interpretations about the three mutually perpendicular axes (see  FIG. 7 ) are provided via trackball  12  and encoders  124 ,  126 ,  128  for sensing spherical rotation of trackball  12  about yaw, pitch and roll. Therefore, I prefer carriage  14  to be supported or retained in such a manner and by appropriate structure to allow carriage  14  to be moved linearly in all possible directions, but prevented from being axially rotated relative to housing  10  so that trackball  12  can be rotated when desired without carriage  14  unintentionally being rotated, and this so the encoders (or whatever rotational sensors which may be utilized) will be rotated. I would consider it to be within the scope of the invention if carriage  14  was to be supported in a manner which would allow limited axial rotation thereof, although I believe this to be an undesirable aspect. 
     Although the structuring to physically support carriage  14  so it can be moved in any linear direction can conceivably be accomplished through numerous structural arrangements, two are illustrated for example, with a first shown in  FIGS. 1-4 , and a second shown in  FIG. 6. I  prefer there be a return-to-center aspect regarding carriage  14 , and preferably a center null associated with this return-to-center wherein no significant linear sensor activation occurs. This carriage return-to-center and to center null can conceivably be accomplished with numerous structures, but one structure which should be readily understandable and therefore makes a good example is to simply utilize on/off switches as the carriage position linear sensors for moment related information output, with the switches including activation buttons which are outwardly spring biased, wherein carriage  14  can be pushed against one of the switches to the point of activating the switch closing or opening a set of electrical contacts), which of course sends or outputs information relating to this event via allowing or interrupting current flow, and the button spring being depressed by carriage  14  would then push carriage  14  back toward the center and the null position upon the user releasing pressure toward that particular switch. Furthermore, as mentioned above, if such an on/off switch using spring biasing were to be of a type which made a detectable click or snap upon being activated by pressure from carriage  14 , and this is a commonly available snap switch, then this click or snap could be felt or heard by the user, and thus the user would be provided information alerting him of the activation or possibly deactivation of the switch. Snapping or clicking mechanisms which are not sensors can of course be installed when sensors of a type which are silent are used, and tactile or audible signals indicating sensor activation or deactivation is desired. 
     With reference to  FIGS. 2-3 , expanded foam rubber  30  is shown placed against the bottom interior of housing  10  and underneath lower member  20  of carriage  14 . Snap or spring biased switches as described above may be used in conjunction with foam rubber  30 . Foam rubber  30  is a resiliently compressible and thus spring material. Foam rubber  30 , and other spring materials such as coiled compression springs, leaf springs and the like could conceivably be used instead of foam rubber, however foam rubber functions well, is inexpensive, readily available and easily shaped or cut. I have even considered suspending carriage  14  on tension springs hung from the underside interior of housing  10 , but this seems to be an excessively complicated structure compared to using foam rubber as shown and described. Foam rubber  30  in the example of  FIGS. 2-3  is a rectangular piece having a center cut-out or opening at  32  to allow for the interaction of down sensor  110  shown mounted on the underside of lower member  20  with actuator  108  specific for interaction with down sensor  110  located beneath the sensor  110 . The actuator  108  for down sensor  110  is sized to allow the abutment or actuation of the down sensor  110  no matter where carriage  14  has been moved laterally when the user wishes to push down on carriage  14  to activate the sensor  110 . Foam rubber  30  being compressible will allow the user to push down on trackball  12  or collet  16 , or possibly the exposed top of carriage  14  (upper member  22 ) to push carriage  14  downward to activate the down sensor  110 . This pushing downward compresses the foam rubber  30 , and when the user releases the downward pressure, the foam rubber  30  being resilient pushes carriage  14  upward again to deactivate the down sensor  110  and to move carriage  14  into the center null position. Foam rubber  30  in the example shown in  FIGS. 2-3  is rectangular and slightly larger in all dimensions than the size of lower member  20 , and the foam rubber  30  is affixed to the underside of lower member  20  such as by glue or mechanical fasteners so that the foam is securely affixed to the lower member (carriage). Since the foam rubber  30  is slightly larger than the lower member  20 , the foam rubber  30  extends outward laterally beyond all peripheral sides of the lower member  20 . This extending portion of the foam rubber  30  serves as a spring bumper which as shown in  FIG. 2  is compressed against actuators  100 ,  104  (or housing side walls  18  under some circumstances) prior to the sensors  102 ,  106  shown on the left and right being activated, and in the case of the  FIG. 3  drawing is compressed against the side walls  18  of housing  10  prior to the sensors  118 ,  122  shown on the left and right being activated. When the user releases the pushing pressure, the compressed foam rubber  30  will push carriage  14  back toward the center null position, as the foam rubber  30  is normally in a partially extended state, being able to be compressed and to then spring back. The up sensor  114  shown in  FIG. 2  is shown mounted on the top of the lower member  20 , and the weight of carriage  14  is normally sufficient to pull carriage  14  and sensor  114  downward away from its actuator  112  upon release of upward pulling pressure by the user, although a spring such as a foam rubber pad or the like could conceivably be placed between the underside of the housing top panel and the upper member  22  to push carriage  14  downward to deactivate the up sensor  114  if weight and gravity were insufficient or unavailable such as in outer space. The actuator  112  for the up sensor  114  is shown suspended from the interior underside of the housing top portion, and is a member which may be formed as an integral component of housing  10  if desired. The actuator  112  for the up sensor  114  may be simply a plate or panel against which a snap switch mounted on carriage  14  strikes or is pressed against, or it may be a second component of the sensor, or may be supporting a second component of the sensor such as the second component of a two piece proximity sensor, and this is generally true of all of the actuators shown and described. Also generally true of all of the actuators shown and described is that they must be sufficiently large and or properly positioned be useful even when carriage  14  is moved to any allowed extreme position. 
     In  FIGS. 2-4  is track frame  34  located under the top of housing  10 . Track frame  34  is free to be moved vertically within housing  10 , which will allow carriage  14  to be moved vertically to activate the up or down sensors  114 ,  110 . Additionally from  FIGS. 2-3  it can be seen that carriage  14  is sized and shaped relative to housing  10  and components within housing  10  such as the actuators to allow carriage  14  to be moved in all linear directions, although only in small amounts in the example shown. I prefer the linear movement requirements from the center null to activating a sensor or sensors to be small, although the distances could be made substantial if desired. The track frame  34  is a structure which can be utilized to positively prevent axial rotation of carriage  14 . The foam rubber  30  of  FIGS. 2-3  being positioned tightly between either walls or actuators or both on the four peripheral sides of the foam normally serves to a satisfactory degree as an anti-axial rotation structure for carriage  14 , however, for more positive prevention of axial rotation of carriage  14 , track frame  34  or like structure may be applied. As shown in  FIG. 4 , track frame  34  is a rectangular frame opened centrally in which upper member  22  is slidably retained. Two oppositely disposed sides of frame  34  are abutted, but slidably so, against and between two stationary parallel walls which may be side walls  18  of housing  10  or partitions installed specific for this purpose. The lower member  20  in this arrangement would be supported by resting on foam rubber  30 , and if upper member  22  were pushed forward or rearward for example, frame  34  would slide between the walls  18 . Frame  34  can also move up and down sliding between the walls  18 , but due to the close fit, the frame  34  will not axially rotate between the walls  18 . The upper member  22  fits lengthwise snugly yet slidably between two oppositely disposed U-shaped track sides of frame  34  as can be seen in  FIGS. 2 and 4 , but is narrower than the width of the frame  34  as can be seen in  FIGS. 3-4 , and thus when upper member  22  is pushed forward and rearward (for example) it pushes frame  34  with it due to the close fit in this direction between the frame  34  and upper member  22 , and when upper member  22  is pushed left and right (for example) it slides in the U-shaped track portion of frame  34 , as the frame  34  cannot move in these directions due to its close abutment against the parallel walls  18 . When upper member  22  is moved up and down, track frame  34  moves up and down also, as does the balance of carriage  14  and trackball  12 . It should be remembered that in this example, upper member  22  and lower member  20  are rigidly tied together with connecting posts  24 , and that the members  20  and  22  constitute components of carriage  14 , and that the carriage is to be manually controlled linearly via a hand applying force to collet  16  or the trackball or both, or possibly an exposed portion of the upper member  22  as mentioned previously. It should be noted that a space  36  or clearance is provided between the upper portion of the housing surrounding trackball  12 , carriage  14  or collet  16  to allow movement of carriage  14  laterally, since carriage  14  and trackball  12  move independent of housing  10 . The space  36  or crack may be covered with flexible or rubbery sheet material or any suitable boot or seal arrangement to exclude debris, or the space  36  (crack) may be kept (manufactured) narrow or small to be less likely to collect debris. 
     Another example of using foam rubber  30  is shown in  FIG. 6  wherein the foam  30  is located atop a stationary shelf  38  within housing  10 , and directly under upper member  22  which rests atop of the foam rubber  30 . Foam rubber  30  extends beyond shelf  38  inward as may be seen in the drawing. The inward most edges of the foam rubber  30  are abutted against the vertical connecting posts  24  of carriage  14 . Carriage  14  being supported by foam rubber  30  being between the underside of upper member  22  and the top of the shelf  38  is allowed to be moved in all linear directions, and the foam rubber  30  abutting connecting posts  24  and abutting the interior of the housing walls as shown functions as a return-to-center and return to null arrangement much like that described for the  FIGS. 2-3  structural arrangement. The shelf  38  in this example should be on all interior sidewalls of housing  10 , or at least under some resilient foam placed about the periphery of carriage  14 . It should be noted clearance above upper member  22  and the top interior surface of housing  10  must be provided to allow upward movement of carriage  14  with pulling action to activate the up sensor  114 , and the support for carriage  14  such as the foam rubber must allow carriage  14  to move away and to clear the activation of the up sensor  114  upon the termination of the upward pulling pressure on carriage  14 , and this principle applies in most if not all embodiments of the invention. 
     With reference to  FIGS. 5-6  for a brief description of an optional arrangement wherein collet  16  can be rotatably attached to upper member  22  allowing collet  16  to be manually rotated about trackball  12 , as opposed to being non-rotatably affixed to upper member  22  as in the  FIGS. 1-3  embodiment. The rotatable collet of  FIGS. 5-6  may at least for some users be an easier process to achieve rotation about the yaw axis as compared to rotating trackball  12  at least in terms of rotation about yaw. The rotating collet may be able to rotate 360 degrees as in  FIG. 5 , or only in part rotatable as in  FIG. 6  wherein collet  16  can only move through a short arc back and forth, being limited such as by a multiple-position rocker style sensor  158 . Both of the collets  16  shown in  FIGS. 5-6  are connected to the upper member  22  via a loose fit tongue and groove connection shown for example at  170 , the tongue being an upward extension of upper member  22  and the groove being a component of collet  16  and engaged over the tongue. In  FIG. 5  an optical encoder  168  is shown as an example of a sensor in contact with the bottom of collet  16  so that rotation of collet  16  in either direction rotates the optical wheel of the encoder  168 , this could be achieved by gear teeth around the outer periphery of a drive wheel of encoder  168  mated to gear teeth around the bottom of collet  16 , and the encoder outputs information indicative of the direction and amount of rotation of collet  16  about the yaw axis. In  FIG. 6  a rocker style sensor assembly  158  includes a T-shaped member and having a vertical center arm  160  engaged within a groove in the underside of collet  16 , and the T-shaped member being pivotally supported at a lower center so that the two oppositely disposed lateral arms  162  may be pivotally moved up and down dependent upon the direction of rotation of the collet to interact with a direction indicating negative sensor  164  and a direction indicating positive sensor  166  shown mounted on lower member  20 . The negative and positive sensors  164 ,  166  may be simple on/off switches, or may be more sophisticated sensors which indicate degree or pressure in addition to the direction collet  16  has been rotated, such as by varying voltage via resistance changes, or by varying electrical output such as with piezo electric material and the like. When a rotatable collet is used, a sensor is used to detect rotation of collet  16  as described above, but this does not bar still having a sensor (encoder) in communication with trackball  12  for detecting rotation of the trackball about the yaw axis, and this would give the user the option of rotating about yaw via the trackball or the rotatable collet. Further, the trackball  12  input member may be interpretable on all six axes as previously described, and the rotatable collet can serve as an additional secondary input member for whatever use may be desired by a software designer or end-user. 
     I prefer most all of the circuits, switches and sensors be mounted on carriage  14 , and more particularly the lower member  20 , which is a sheet member, and this being an advantage for maintaining low cost in manufacturing. Dependent upon the type and sophistication of the sensors utilized in the present controller, and the electronics and/or software and electronics of the host graphics image generation device which the present invention is intended to interface, and at least in part control, there may be little more than flexible electrical conductors connected to on/off switches mounted on the lower member  20 , with the flexible conductors leaving the lower member to exit housing  10  via a cord  156  connectable to the host image generation device, or leaving circuitry on lower member  20  to connect to an emitter of electromagnetic radiation (not shown) mounted on housing  10  for communicating the linear moment and rotational information with the host device via wireless communication such as via infra red light or radio signals. Lower member  20  may be a printed circuit board having sensors, integrated and or discrete electronic components thereon, and in  FIG. 2  an application specific integrated circuit chip is illustrated at  130  which could be utilized for computations, encoding, memory, signal translations such as analog to digital conversions, data formatting for communication to the host device, serial and/or parallel communications interfacing, and the like steps or processes. The specific circuitry and electronics built onto or into the present invention will in all likelihood be different when the invention is built primarily for use with a personal desk top computer than when it is built primarily for use with an interactive television or television based electronic game for example. Any required electrical power for electronics or sensors or output signals may be provided by batteries within housing  10 , or via a connected cord or any other suitable power source. A combination of electrical power inputs may be used, and this would depend on the particular application for which the controller was designed. 
     As previously mentioned, housing  10  may be in numerous forms, for example,  FIG. 8  is an illustration of housing  10  structured specifically for carriage  14  and trackball  12 , and one which is structured to rest upon a support surface such as a table or desk when utilized, and this unit may be used to replace a typical mouse used with a computer. An optional extending portion  142  is shown indicated in dotted outline, and which is ergonomically designed as a wrist and forearm rest. The embodiment shown in  FIG. 8  is also shown with two thumb select switches  144  and two finger select switches  146  (secondary input members) which may be included to be used as function select switches as is common on a trackball, mouse or joy stick. A further example of a useful housing  10  is shown in  FIG. 9  wherein a hand held housing  10  sized and shaped to be grasped in a hand of a user while the user controls graphic images with the controller in accordance with the present invention is shown. This “remote control” style version of the invention may be direct wired with long flexible conductors to the host graphic image generation device (computer or television for example), but is preferably a wireless remote controller which sends information to the graphics generation device via wireless electromagnetic radiation indicated at  138 . The  FIG. 9  remote control is battery powered with a battery in compartment  134 , and may include a scan or program window shown at  132  for allowing programming of internal electronics. This version may prove to be particularly useful with interactive television and interactive three-dimensional displays such as are commonly referred to as virtual reality displays, and most likely will include additional function keys  136  for on/off, volume, channel selection, special functions and the like. 
       FIG. 10  shows carriage  14  and trackball  12  (embodiment  9 ) housed in an otherwise relatively conventional computer keyboard  140 . Embodiment  9  is shown replacing the arrow-keypad, although is can be incorporated into other areas of the keyboard  140 . Embodiments  172  and  200 , to be disclosed, can also be incorporated into a computer or like keyboard, and as will become appreciated. 
       FIG. 11  represents a desk top computer  148  as an example of a graphic image generation device, and shown on the display  150  (computer monitor) is a cube  152  displayed three dimensionally. An electromagnetic signal receiver window is shown at  154  for receiving signals such as are sent via a wireless communicating version of the present invention such as that shown in FIG.  9 . Alternatively the keyboard  140  of  FIG. 10  could be connected to the host image generation device via flexible conductor set  156  to allow typical keyboarding when desired, and control of graphic images with the use of the present 3D six degree of freedom controller when desired. 
     With reference now to  FIG. 12 , wherein a partial cross-sectional end view of a joystick type embodiment  172  of the invention is shown. Embodiment  172  is or can be structured identically to the  FIGS. 1-3  trackball embodiment, with the exception of an elongated graspable handle  174  engaged, by any suitable connecting arrangement on an exposed portion of the ball  12 , such as by integral molding or casting, or connecting with adhesives or screws, etc. Full 3D is provided with embodiment  172 , as the user grasps handle  174  and can control carriage  14  and ball  12  with linear and rotational forces applied to handle  174 . The input member in embodiment  172  is considered handle  174 , and the reference member is considered housing  10 . Embodiment  172  can include housings in numerous shapes and sizes such as the housing  10  shown in  FIGS. 8 ,  9  and  10  for example. 
     At this point in the description, it is believed those skilled in the art can build and use at least one embodiment of the invention, and further can build and use a trackball type and a joystick type embodiment in accordance with the present invention without having to resort to undue experimentation, however further joystick type embodiments in accordance with the present invention will be described to further exemplify the broad scope of the invention. 
       FIGS. 13-21  show variations on a joystick-type embodiment  200  which is a hand operated 3D physical/mechanical to electrical converter for image control which has all 6 axes bi-directionally mechanically resolved in a pure fashion to the respective individual sensors representing each axis. Further embodiment  200  teaches all necessary sensors located within a handle  202 . Embodiment  200  further teaches structuring enabling the possible location upon a single sheet of all necessary sensors for a 3D controller device. 
       FIG. 13  shows an exploded view of joystick embodiment  200  of the current invention exhibiting structuring enabling use of a membrane sensor sheet  206 . All 3D operations of the input member shown as joystick-type handle  202  (comprised of upper handle part  202 . 2  and lower handle part  202 . 1 ) relative to the reference member shown as shaft  204  are translated to specific locations on membrane sensor sheet  206 . 
     Shown at the bottom of the drawing is shaft  204  which may or may not be mounted to many different base-type or other structures. Shaft  204  is shown as generally cylindrical and substantially aligned, for purposes of description, along the yaw axis. Shaft  204  is substantially hollow to allow passage of the membrane tail, wiring or electrically connecting material, and is made of a generally rigid and strong material such as injection molded acetal plastics or steel etc. Shaft  204  has fixed to one end a short extending pedestal  210  and fixed to pedestal  210  is pivot ball  208 . Shaft  204  also has a yaw slide-rail  212 . Slide-rail  212  is a component that serves to keep translator  214  from rotating relative to shaft  204  about the yaw axis while still allowing translator  214  to move vertically along the yaw axis. One skilled in the art will readily recognize variants in the specifically drawn and described structure after reading this disclosure. For example, slide rail  212  would not be necessary if shaft  204  were square shaped rather than cylindrically shaped. 
     Substantially surrounding but not directly connected to shaft  204  is a lower handle part  202 . 1  which is made of a substantially rigid material and is shown having a round short vertical outer wall and essentially flat bottom with a central large round cut out area to allow for movement of handle  202  relative to shaft  204 . Lower handle part  202 . 1  is fixed, preferably by screws, to upper handle part  202 . 2  thus the two parts in unity form handle  202  which encompasses all the remaining parts of this embodiment. The flat bottom of lower handle part  202 . 1  is slidable horizontally along the pitch and roll axes relative to the essentially flat underside area of a first carriage member  216 . First carriage member  216  has centrally disposed an aperture which is shown with edges forming a planar cut of a female spherical section which is rotatably slidably mated to a male spherical section of translator  214 . Translator  214  has a vertical female cylindrical aperture and yaw slide rail slot  213  to mate with shaft  204  as previously described. Translator  214  additionally has at its upper edge two oppositely disposed anti-yaw tabs  218  which lay essentially in a horizontal plane described by the pitch and roll axes. Anti-yaw tabs  218  fit within substantially vertical slots formed by rising posts  220  which are fixed to and preferably mold integrally with carriage member  216 . The functional result of anti-yaw tabs  218  working within the slots and the mating of the male spherical section of translator  214  with the female spherical section of carriage member  216  creates the mechanical result that while translator  218  is held substantially non rotatable relative to shaft  204 , carriage member  216  is rotatable about the pitch and roll axes but not the yaw axis relative to both translator  214  and the general reference member shaft  204 . Rising posts  220  fixedly connect first carriage member by screws, snap fit connectors, or other connecting means to a second carriage member  222  which may in some variations of this embodiment be a circuit board sheet supporting all necessary sensors, but as shown in the embodiment of  FIG. 13  support sheet allows a formative and supportive backing for membrane sensor sheet  206 . Second carriage member  222  is made of a rigid material such as, for example, injection molded acetal plastic and is shown in  FIG. 13  as being essentially a flat circular plate with a circular cut out at its center and with six downwardly extending plate like structures (as shown) which serve as back supports for sensors located on flexible sensor membrane  206  which is bent or flexed (as shown) at appropriate locations to allow sensors to be positioned correctly between the second carriage member and the activating part for each individual sensor. 
     In association with the sensors, in a preferred embodiment, are resilient “tactile” return-to-center parts  226  (herein after “tactile RTCs  226 ”) which are shown in  FIG. 13  as rubber dome cap type activators. These tactile RTCs  226  are positioned between sensors and activating mechanical hardware so that when the input member is operated a specific piece of activating mechanical hardware, member, or part (which specific activating part depends on which specific sensor is being described) moves to impinge on the local tactile RTC  226  and compresses it. As the impinging/compressing force grows a force “break-over” threshold, inherent in the tactile RTC  226 , is overcome and the force rapidly but temporarily decreases and the sensor is impinged and activated. This break-over tactile threshold can be achieved with numerous simple tactile structures, such as the rubber dome cap structures illustrated as RTCs  226  in  FIG. 13 , or metallic dome cap structures (which give an exceptionally strong clear feedback sensation) and other more complex spring based break over structures. These resilient break-over structures are typically used in the industry for simple on-off switches, such as the audible and tactile break-over switches commonly used to turn on and off lights in the home, and in the operation of typical computer keyboard keys. 
     I believe that my structuring enabling the use of this common break-over technology in a 3D controller is a highly novel and useful improvement in the field of 3D graphic image controllers. Further, it can clearly be seen here, after study of this disclosure, that tactile break-over devices can also be used to great advantage in novel combination with proportional or variable sensors within my mechanically resolved 3D controller structurings, and that this is a novel and very useful structure. 
     The resilient components RTCs  226 , when compressed, are energized within their internal molecular structure, to return to the uncompressed state, thus when the user takes his hand off of the input member, or relaxes the force input to the input member then the resilient RTCs  226  push the mechanical parts of the controller back off of the sensor and toward a central null position of the input member. RTCs  226  serve to great advantage on all six axes in most joystick type controllers and on the three linear axes in the trackball type controller. 
     Positioned to activate sensors  207 . 03  through  207 . 06 , as shown in  FIGS. 14 and 15 , are sliding actuators which are impinged upon by the inside surface of the outer wall of handle  202 . 
     Above member  222  is a yaw translator plate  230  with an oblong central cut out (as shown) and distending plate-like members are two oppositely disposed yaw activators  231  which extend, when assembled, down through the illustrated slots of member  222  to activate sensors  207 . 07  and  207 . 08  when handle  202  is rotated back and forth about the yaw axis. 
     On the upper surface of plate  230  are fixed or integrally molded pitch slide rails  232  which are oriented substantially parallel to the linear component of the pitch axis, and fit into and slide within female complementary pitch slide slots  234  which are molded into the underside of anti-rotating plate  236  which is located above plate  230  and sandwiched between plate  230  and upper handle part  202 . 2 . Anti-rotating plate  236  is a plate like structure with an oblong-shaped central cutout and on the upper surface are molded roll slide slots  238  which are substantially aligned with the linear component of the roll axis and through which slide roll slide rails  240  which are integrally molded on the inside surface of upper handle part  202 . 2 . 
     Within the assembled embodiment  200  located at the approximate center of handle  202  is pivot ball  208  which is fixed to shaft  204 . Pivot ball  208  is immediately surrounded on top and sides by the recess within a linear yaw axis translator  242  which is a substantially rigid structure having an oblong-shaped horizontally protruding upper activating arm  244  (as shown) and on its lower portion are snap-fit feet  246  or other attaching means or structures for fixing a lower activating arm  248  to the bottom of translator  242 , thus pivot ball  208  becomes trapped within the recess within translator  242  by the attachment of lower activating arm  248  forming a classic ball in socket joint, wherein translator  242  is free to rotate about ball  208  on all rotational axes but not free to move along any linear axis relative to ball  208  and shaft  204 . 
       FIG. 14  shows membrane sensor sheet  206  in flat form as it would appear after being printed with conductive pads for sensors  207  and conductive circuit traces  256  but prior to being cut from sheet stock along cut line  254 . 
       FIG. 15  shows a larger clearer view of membrane  206  and second carriage member  222 , with membrane  206  in the folded configuration as it would fit on the membrane support sheet  222  and the rubber dome cap tactile resilient activators  226  where they would rest upon membrane  206  each one above a sensor  207 . 
       FIG. 16  shows all sensors  207  in mechanical packages having solder tangs that are solder mounted to the second carriage member, which in this case, specifically, is a rigid circuit board sheet  250 . Sensors  207 . 01  through  207 . 12  are positioned essentially in the same locations as indicated in  FIGS. 13 and 14 . The different sensor sheet technologies are shown to be interchangeable within the novel structuring of the invention. Substituting circuit board  250  into the embodiment shown in  FIG. 13  replaces the parts shown in  FIG. 15 , specifically, membrane  206 , second carriage member  222 , sliding actuators  228  and rubber dome caps  226  can all be replaced by the structure of FIG.  16 . 
     Whether on membrane sheet  206  or circuit board  250  specific sensors  207  are activated by the following movements and rotations with the respective structures described here:
         linear input along the yaw axis in the positive direction (move up) causes sensor  207 . 01  to be activated by upper activating arm  244 ,   linear input along the yaw axis in the negative direction (move down) causes sensor  207 . 02  to be activated by lower activating arm  248 ,   linear input along the roll axis in the positive direction (move forward) causes sensor  207 . 03  to be activated by the inner surface of the outer wall of handle  202 , (with rubber dome cap  226  and slide  228  on membrane variation),   linear input along the roll axis in the negative direction (move back) causes sensor  207 . 04  to be activated by the inner surface of the outer wall of handle  202 , (with rubber dome cap  226  and slide  228  on membrane variation),   linear input along the pitch axis in the positive direction (move right) causes sensor  207 . 05 , to be activated by the inner surface of the outer wall of handle  202 , (with rubber dome cap  226  and slide  228  on membrane variation),   linear input along the pitch axis in the negative direction (move left) causes sensor  207 . 06 , to be activated by the inner surface of the outer wall of handle  202 , (with rubber dome cap  226  and slide  228  on membrane variation), rotational input about the yaw axis in the positive direction (turn right) causes sensor  207 . 07  to be activated by yaw activator  231 ,   rotational input about the yaw axis in the negative direction (turn left) causes sensor  207 . 08 , to be activated by yaw activator  231 ,   rotational input about the roll axis in the positive direction (roll right) causes sensor  207 . 09  to be activated by the top edge of translator  214 ,   rotational input about the roll axis in the negative direction (roll left) causes sensor  207 . 10  to be activated by the top edge of translator  214 ,   rotational input about the pitch axis in the positive direction (look down) causes sensor  207 . 11  to be activated by the top edge of translator  214 ,   rotational input about the pitch axis in the negative direction (look down) causes sensor  208 . 12  to be activated by the top edge of translator  214 .       

       FIG. 17  shows membrane  206  in a variation where all 3D sensors  207  are positioned on a flexible membrane sensor sheet and positioned on a single flat plane. All sensors are activated by structuring acting on membrane  206  from the lower side as membrane  206  is pressed up against the second carriage member  222 , except for sensor  207 . 01  which is activated by structure from above pressing sensor  207 . 01  down against a recessed support shelf  258  which is integrally molded as part of plate member  222 . Shelf  258  is molded in such a way as to leave at least one side, and as drawn two sides, open so that sensor  207 . 01  can be slid through the open side during assembly to rest on recessed support shelf  258 . Sensor  207 . 01  having a cut-out  260  near at least two edges of sensor  207 . 01  thus allowing positioning of membrane  206  with all sensors  207  on an essentially single plane. Sensors  207 . 03  through  207 . 08  which were flexed into right angle positioning in the variation of  FIGS. 13-15  are now all on the same plane and each is impinged upon and activated by right angle translation structuring shown as a rocker-arm activator  262  which pivots on an integrally molded cylindrically shaped fulcrum  264  which is held in position by saddle shaped upward protrusions  266  fixed to first carriage member  216  and saddle shaped downward protrusions  268  fixed to second carriage member  222 . This right angle translation structuring works as follows: For example, if input member handle  202  is pressed to move along the roll axis in a positive manner then a flattened area along the inside surface of the outer wall of handle  202  impinges upon the lower portion of rocker-arm activator  262  causing activator  262  to pivot about fulcrum  264  and the upper part of activator  262  impinges upon tactile resilient activator  226  (shown here as a metallic dome cap) until sufficient force has built to allow tactile actuator  226  to “snap through” and come to bear upon and activate sensor  207 . 03 . These structures do not have to have “snap through” or tactile turn-on resilient structuring to be fully functional, but this tactile turn-on resilient structuring is believed to be novel in 3D controllers and highly advantageous in the feedback it offers to the user. 
       FIG. 18  shows structuring of membrane  206 , as described in  FIG. 17 , integrated into an otherwise typical computer keyboard membrane  270  by connection of membrane tail  224  to keyboard membrane  270  which may be structured of the common three layer membrane structuring, or single layer membrane structuring, or any other type). In this embodiment shaft  204  is fixed to keyboard housing  10  (shown in  FIG. 19 ) and for assembly membrane  206  is rolled up and inserted through shaft  204  and then unrolled where it is positioned against member  222 . 
       FIG. 19  shows an external view of a 3D handle  202  positioned where the arrow key pad would be on an otherwise common computer keyboard housing  10 . With the current structuring many different positionings of a 3D handle on a keyboard are possible, such as positioning handle  202  in the area normally occupied by the numeric keypad, or on an ergonomically designed keyboard having the large key bank of primarily alphabetic keys divided into two banks angled apart positioning of handle  202  between the two alphabetic key banks is a distinct possibility, etc. Further, in the common keyboard the 3D operations can or cannot emulate keys such as the arrow keys when handle  202  is operated appropriately. An optimum keyboard may have proportional sensors built into the membrane and output both proportional and simple switched data. For example, an optimum keyboard may sense a certain handle  202  movement and send out both a scan code value representing an appropriate key stroke (such as an arrow key value) and the keyboard may also output a proportional value representing how intense the input operation is being made. 
       FIGS. 20-31  show another preferred embodiment exhibiting two planar structuring. Two planar design offers some advantages. Such a device still has all the benefits of a pure mechanically resolved device and with two planar execution additional benefits are realized, such as: the capability of exceptionally low profile design for integration into computer keyboards and hand held remote controllers, ready integration of finger operated buttons on the handle for operating sensors incorporated into the sensor sheet, space to place active tactile feedback means in a still small handle, etc. 
     Referring to  FIGS. 20-21 , an input member which is shown as a hand manipulatable handle  300  is shown supported on a shaft  302 . Shaft  302  extends into a base or reference member housing  317 . Shaft  302  passes through a shaft guide first main hole  306  within a sliding plate or platform called a first platform  352 . Shaft  302  further passes through a shaft guide second main hole  310  located in a second platform  322 .  FIG. 21  shows Platform  322  fixedly attached to connecting structure shown as legs  312  which are fixed to first platform  352 , thus platform  322 , connecting structure  312  and platform  352  cooperate together forming the structure of a carriage  314 . 
     First platform  352  is slidably retained along a first axis by a sliding plate called an anti-rotating plate  350  which is slidably retained along a second axis by at least one housing guide  308  which is fixed to housing  317 . First platform  352  and plate  350  are further constrained by retaining shelf  316  and housing  317  from linear movement along the yaw or third axis. Thus plate  350 , guide  308 , housing  317 , and shelf  316  cooperate to form a carriage support structure  316  in which platform  352  (and thus also carriage  314 ) is prohibited from significantly rotating on any axis, and also is allowed to linearly move significantly along the first and second axes (pitch and roll axes) but is prohibited from significant movement along the third axis, relative to housing  317 . 
     Within carriage  314 , and platforms  352 ,  322 , holes  306  and  310  cooperate to offer sufficient fit in the passage of shaft  302  to provide advantageous structural cooperation in two substantial ways. The first is the provision of an anti-tilting structure  324  which prevents shaft  302  from significant tilting (rotating about the first or second axes) relative to carriage  314 . The second is provision of two-axes structure where any and all linear movement along parallel to the first and second axes (linear along length of pitch and roll axes) by shaft  302  is coupled to equivalent movement along parallel to the first and second axes of carriage  314 . 
     A second endward region of shaft  302  as shown in  FIG. 21  is shaped with a male partial spherical shape  318  which slideably contacts a complimentary female partial spherical shape  319  which is part of handle  300 , and shaft  302  also comprises a male pivot protrusion having a pivot or rotational point located approximately central to handle  300  and approximately at the center of the spherical partial section shapes. Protrusion  346  provides a pivot point for handle  300  and may mate to a female pivot receptacle. Thus handle  300  can be rotational relative to shaft  302  yet coupled for all linear movement along parallel to the first and second axes with equivalent linear movement of shaft  302  and also two-axes structure  326 , therefore the above mentioned members connecting handle  300  to shaft  302 , and shaft  302  to carriage  314  serve as a handle support structure  328  in which handle  300  is coupled for equivalent movement with carriage  314  along parallel to the first and second axes. 
     On carriage  314  are rocker-arm structures  364  shown mounted on second platform  322 . Rocker-arm structures  364  convert movement of carriage  314  relative to housing  317  to a resilient thermoplastic rubber (TPR) sheet  366  formed with a plurality of “tactile” resilient dome cap structures  368 . Resilient sheet  366  and second platform  322  sandwich sensors supported on a membrane sensor sheet  330 . Again, shown in broken lines is the motor with shaft and weight mounted offset to the shaft as an example of an active tactile feedback means (vibrator). 
       FIG. 22  shows the positioning of four rocker-arm structures  364  as they are mounted on second carriage part  322  which is shown as a substantially flat plate that might be manufactured as a traditional printed circuit board sheet bearing on-board sensors and containing on-board active electronic circuitry  370  and a cable  372  for routing data to a graphics display device, or as a flat rigid plate-like structure supporting a flexible membrane sensor sheet  330 . Shown on top of and essentially parallel to plate  322  is rubber sheet  366  having a multiplicity of tactile resilient rubber dome cap type actuators  368 . 
     Rocker-arm structures  364  have at least the following structure: a mounting structure  332 , which is structure essentially fixed to carriage  314  and is illustrated as a snap-fit design having two legs which snap into slots within plate  322 ; a fulcrum  334 , illustrated in all figures as a living hinge located at the top of mounting structure  332  except in  FIG. 24  where fulcrum  334  is illustrated as a more traditional cylindrical bore-and-core type hinge; at least one sensor actuating arm  336 , and in all drawings rocker-arm structures  364  are illustrated as commonly having two arms for actuating two sensors one on each side of mount  332 , except in drawings  26  and  27  where are illustrated one-armed variants; and finally rocker-arm structures  364  have a super-structure  338  by which the rocker-arm is activated or caused to move against and actuate the associated sensor(s). Super-structure  338  is the distinctive part of the different two armed rocker-arm types shown in  FIGS. 20-22 , of which are a V-slot type  340 , an H-slot type  342 , and a T-bone type  345  of which there are two rocker-arms being approximately identical but oriented perpendicular to one another and being called a first t-bone  344  and a second t-bone  364  rocker-arm actuators. 
       FIG. 23  shows T-bone actuator  345  mounted to plate  322  by mounting structure  352  and pivoting (shown actuating sensor in dashed lines) about fulcrum  334  shown as a living hinge which is connected to the bottom of two oppositely disposed actuating arms  336  above which is fixed super-structure  338  which is activated into motion by a activating receptacle  339  that is fixed to the reference member base or housing  10  by way of retaining shelf  316 . Under the opposite side of actuator  345  from dome cap  368  (which is shown in dashed lines as being depressed and thus actuating sensor  207  located on flexible membrane sensor sheet  330 ) is illustrated a packaged mechanical sensor  207  soldered to a flat circuit board sheet. Thus,  FIGS. 22 and 23  clearly show how the same inventive structurings can translate mechanical or physical inputs to either a flexible membrane sensor sheet or to a rigid circuit board sensor sheet. 
       FIG. 24  shows H-slot actuator  342  as it is activated by shaft pin  321  which is fixed within shaft  302 . As shaft  302  moves vertically or along the yaw or third axis then so in unison moves shaft pin  321  and actuator  342 . 
     A first end of shaft pin  321  passes through a beveled slot within super structure  338  of rocker-arm H-slot type  342  in which the slot is approximately perpendicular to the third axis and the length of shaft  302 , so that when shaft  302  and shaft pin  321  move along the third axis rocker-arm  342  in moved in kind with one arm descending to compress its respective resilient dome cap  328  and upon collapse of dome cap  328  the respective underlying sensor is actuated, as shown in FIG.  24 . Of course movement of shaft  302  in the opposite direction along the third axis likewise actuates the opposite complimentary sensor of the sensor pair. Rotation within operational limits of shaft  302  about its cylindrical center or approximately about the third axis simply causes shaft pin  321  to move within the slot and does not activate the H-type rocker-arm  342 . 
       FIG. 25  shows activation of V-slot actuator  340 . A second end of shaft pin  321  passes through a slot of V-slot rocker-arm  340  which is activated in the converse of the above H-slot rocker arm  342 . Movement of shaft  302  along the third or yaw axis simply causes shaft pin  321  to move within the slot and not actuate V-type rocker-arm  340 , but rotation about the third axis causes shaft pin  321  to activate rocker-arm  340  in the following manner. Rotational motion of shaft  302  conveyed to shaft pin  321  activates rocker-arm  340  causing compression of dome cap  328  and stimulation of the sensor located on the membrane. Super structure  338  of rocker-arm  340  has a slot in structure slanting away from shaft  302 . This is to accommodate the increasing movement of pin  321  as it may change in distance from fulcrum  334  when shaft  302  is moved along the third axis. Thus the slope of the slot compensates for varying effectiveness of shaft pin  321  so that rotation of shaft about the third axis causes rotationally equivalent activation of rocker-arm  340  regardless of the distance shaft pin  321  is from fulcrum  334  of rocker-arm  340 . 
       FIGS. 26 and 27  show space savings structuring for the area of second platform  322 . This space savings may be valuable in tightly constricted areas such as integration of the invention into computer keyboards and hand held remote control devices. The layout of second platform  322  as illustrated in  FIGS. 20-22  is shown by a dashed line indicating the original larger perimeter  370  the area of the newer smaller platform  322  shown by solid line  372  and first t-bone rocker-arm  364  has been divided into two separate one-armed type  348  actuators each with its own mount  332 , fulcrum  334 , sensor actuating arm  336 , and super structure  338 . 
       FIG. 28  shows structuring within handle  300  for support and activation of sensors  207  supported on sensor membrane sheet  330  which may be supported within the inside upper portion of handle  300  or as shown here supported by a rigid support sheet  374  the appendage of membrane  330  passes through shaft  302 . Also shown here are two buttons  378  for operation by the user&#39;s fingers. Buttons  378  have an exterior activating surface area  378  which can be depressed by the user&#39;s finger(s) causing button structure  376  to rotate about an integrated cylindrical fulcrum  380  which rests within saddle supports fixed to handle  300 . The pivoting motion of button  376  causes the internal sensor actuating part  382  to rise against resilient dome cap  368  and activate sensor(s)  384 . This button structuring is similar to that shown in  FIG. 17  with the exception that the structuring of  FIG. 17  is completely internal while this design has the button externally operated for additional input (other than 3D input) by the user&#39;s finger(s). 
       FIG. 29  shows a sensor membrane  330  of a three layer traditional computer keyboard type, but with the inventive exception of having two additional appendages designed for fitting into the two planar structure design shown in  FIGS. 20-28  for incorporation in a keyboard as shown in FIG.  19 . The appendage having the longer attachment and a rounded head passes from inside the keyboard housing  10  up through the shaft and into the handle and the other appendage resides on carriage part  322  within housing  10 . 
       FIG. 30  shows 3D input member handle  300  integrated with shaft  302  fixed to housing  10  of an otherwise normal wireless remote control device, such as for operating a television, or other device, etc. 
       FIG. 31  shows the device of  FIG. 30  in dashed lines showing an internal view of a likely form for membrane sensor sheet  330 . Membrane sheet  330  is shown connected to a circuit board sensor sheet  250  that commonly is positioned under the normal input keys and also contains electronic circuitry. Membrane tail  224  connects from sheet  250  to the greater body of membrane  330  which in this case is shown as a two planar type as shown in  FIGS. 20-28 . This arrangement of sensors on two planes is quite ideal for many uses. It allows the origin of all axes to remain within handle  300  and yet much of the mechanical resolving structure is moved down into housing  10  where space is more plentiful, thus handle  300  can be made even smaller and even lower in profile, if desired. Additionally, auxiliary secondary input buttons (select, fire buttons, special function keys, etc.) are readily integrated in an economical and rugged fashion for operation by the user&#39;s finger(s). 
       FIGS. 33-35  show a preferred embodiment of the two planar design without using rocker arms and having packaged sensors  207  shown here as simple mechanical flat-mount and right-angle-mount switch packages, mounted on second carriage part  322  which, in this embodiment, is a circuit board to which the sensor packages are soldered, and also the sensor packages are solder mounted on a second circuit board  423  within handle  400 . This embodiment has some parts and structures that are similar to equivalent parts in earlier embodiments such as a hand operable input member shown as a handle  400  supported on a shaft  402  which extends into a housing which serves as a reference member or base  417  where it interfaces with carriage  414 . Carriage  414  is supported by a similar carriage support structuring and carriage  414  has platform  352  with distending legs  112  which connect to second carriage part  422  which, in this embodiment, is specifically a circuit board carrying eight sensors for interpretation of four axes. 
     Specifically shown in  FIG. 33  is a 3rd axis actuator part  450  which has a specific structuring that allows all sensor mountings on the circuit board to be fully functional with flat and right-angle-mount mechanical sensor packages. Actuator part  450  is integrated to the end of shaft  402  that is in communication with carriage  414 . Actuator  450  may be integrated with shaft  402  as a single, injection-molded part or actuator part  400  may be a separate molded part fit over the end of shaft  402  and secured to shaft  402  by a pin  452  passing through both shaft  402  and actuator part  450 . Actuator part  450  has at least a 3rd axis rotational actuator  454  which is a plate-like member fixed to actuator part  450  and extending outward in a plane having substantially the 3rd (yaw) axis as a member of that plane so that when shaft  402  rotates in either direction about the 3rd axis, actuator part  454  moves through space, actuating the appropriate right-angle-mount sensors indicating a 3rd axis rotational movement in either the positive or negative direction. Actuator part  450  has a 3rd axis negative (yaw—move down) linear actuator  458  and a 3rd axis positive (yaw—move up) linear actuator  456  which also are fixed to actuator part  450  and extend outward from part  450  perpendicular to the 3rd axis and substantially aligned with a plane parallel to the 1st and 2nd axes, so that when shaft  402  moves along the 3rd axis in a positive direction, actuator  456  activates the appropriate flat mount sensor indicating linear movement along the 3rd axis in a positive direction, and when shaft  402  moves along the 3rd axis in a negative direction, actuator  458  activates the appropriate flat mount sensor indicating linear movement along the 3rd axis in a negative direction. 
       FIG. 36  shows a final preferred embodiment having some similar structures to earlier embodiments, especially those shown in  FIGS. 32-35 , with the primary exception that in this embodiment eight sensors are located within the hand operable input member handle  500  and only four sensors are located within the reference member housing  517 . In this embodiment a similar carriage  514  is located within housing  517  but shaft  502  is fixed to plate  552  of carriage  514  so that shaft  502  is free to move only linearly within a plane perpendicular to the 3rd (yaw) axis. A part shaped almost identically to part  450  is fixed at the top of shaft  502 . Sensors  207  within handle  500  are mounted to circuit board  523 . 
     In the interest of brevity, it is appreciated that after study of the earlier embodiments one skilled in the art will be able to easily construct the full structuring of the embodiment of  FIG. 36  from this full illustration without an overly extensive written description. 
       FIG. 37  shows a right angle simple switched sensor package as is commonly available in the industry. It is comprised of a non-conductive rigid plastic body  600  supported by electrically conductive solder mounting tangs  606  and  608  which are typically made of metal. Electrically conductive tang  606  passes from the exterior of body  600  to the interior where it resides in a generally peripheral position of an internal cavity of body  600 , and electrically conductive tang  608  passes from the exterior of body  600  to the interior where it resides in a generally central position of the internal cavity. Positioned over the internal portions of tangs  606  and  608  is a metallic dome cap  604  having resilient momentary “snap-through” characteristics. Metallic dome cap  604  typically resides in electrical contact with tang  606  on the periphery and typically not in contact with centrally positioned tang  608 . Positioned to depress dome cap  604  is a plunger  602  which is generally made on non-conductive rigid plastic material. Dome cap  604  and plunger  602  are typically held in place by a thin metallic plate  610  which is fixed to body  600  by plastic melt riveting or other means. Plate  610  has an aperture large enough for a portion of plunger  602  to protrude to pressed upon by an outside force and thus to depress conductive dome cap past a tactile snap-through threshold and down onto centrally disposed conductive tang  608 , thus completing an electrically closed circuit between tangs  606  and  608 . 
       FIG. 38  shows an even more typical sensor package body  600  in that it is horizontally mounted, which is the most common style. But the sensor of  FIG. 38  has an additional very important element. In the inner cavity of body  600  and fixed above, and electrically in connection with, centrally positioned conductive tang  608  is a pressure sensitive electrical element  612 , which may have a conductive metallic plate  614  fixed to the upper surface of element  612  for optimal operation. Of course, this same design can be integrated into the sensor of FIG.  37 . Pressure element  612  is constructed of a pressure sensitive material, such as for example, molybdenum disulfide granules of approximately 600 grit size mixed with a base material such as silicon rubber in, respectively, an 80-20 as taught in U.S. Pat. No. 3,806,471 issued to inventor Robert J. Mitchell on Apr. 23, 1974, ratio, or other pressure sensitive electrically regulating materials. I believe that integration of pressure sensitive technology into a tactile-snap through sensor package is novel and of great advantage in 3D controllers as shown herein and described in my earlier 3D controller patent applications. 
       FIGS. 39 and 40  show cross-section views, respectively, of a non-actuated and an actuated flexible planar three layer membrane comprised of an upper electrically non-conductive membrane layer  620 , a mid electrically non-conductive membrane layer  622  and a lower electrically non-conductive membrane layer  624  all positioned essentially parallel to each other with upper layer  620  having an electrically conductive trace  626  on its lower side and lower layer  624  having an electrically conductive trace  628  on its upper side with mid layer  622  normally isolating the traces except in the central switching or sensing region where mid layer  622  has an aperture. In a traditional three layer flexible membrane sensor the aperture in mid layer  622  is empty allowing upper layer  620  to be depressed flexing down until electrically conductive trace  626  comes into contact with electrically conductive trace  628  of lower layer  624  and completes an electrical connection, as is commonly known in the prior art. The membrane layers are supported upon a generally rigid membrane support structure  630  such as a rigid plastic backing plate. 
     The membrane sensor shown is novel with the inclusion of a pressure-sensitive electrically regulating element  638  disposed in the sensing region, filling the traditionally empty aperture of mid layer  622 . Pressure element  638  remains in electrical contact with broad conductive areas of conductive traces  626  and  628  at all times. Pressure element  638  may be of a type having ohmic or rectifying granular materials (such as 600 grit molybdenum disulfide granules 80-98%) in a buffering base matter (such as silicon rubber 2-20%) as described in U.S. Pat. No. 3,806,471 issued to inventor Robert J. Mitchell on Apr. 23, 1974, or other pressure sensitive electrically regulating technology as may exist and is capable of being integrated with membrane sheet technology. 
     Also I believe it is novel to use a metallic “snap-through” resilient dome cap  632  with for its excellent tactile turn-on feel properties in combination with membrane sensors and especially with membrane pressure sensors as shown, where metallic dome cap  632  resides on top of upper membrane layer  620  and is shown held in place by silicon adhesive  636  adhering dome cap  632  to any generic actuator  634 . Generic actuator  634  may be the actuating surface area of any part which brings pressure to bear for activation of a sensor, for example, actuator  634  might be a nipple shaped protrusion on the underside of rocker arm actuator arms  336  on the embodiment of  FIGS. 20-31 , etc. Vibration lines  640  indicate an energetic vibration emanating outward either through support  630  or actuator  634  as a mechanical vibration transmitted through the connected parts to the user&#39;s hand, or as air vibrations perceived by the user&#39;s ear, and indicating the “snap-through” turn-on/off sensation of resilient dome cap  632  as it impinges upon and activates the sensor. With twelve possible singular input operations, and a very large number of combined input operations the user perceivable tactile sensation indicating sensor activation is of high value to the operator of the device. 
       FIG. 41  shows a compound membrane sensor sheet  700  containing a multiple-layer staged sensor  701 . Staged sensor  701  is comprised by layering, one on top of the other, more than one traditional simple membrane switch and sharing layering which can be used in common. For example, the top layer of the lower sensor and the bottom layer of the top sensor can be combined using both sides of the common layer to full avail, thus two three layer sensors are combined into one five layer sensor, etc. Staged sensor  701  can be useful in measuring increased activating force of the impinging activator coming down on sensor  701  from above with sufficient force first activates the upper sensor and with sufficient additional force then activates the second sensor, and so on. Many layered sensors are possible. 
       FIG. 42  shows a compound membrane sensor sheet  700  containing a compound sensor  702  which in essence is a commonly known simple switched membrane sensor on top of my novel proportional membrane sensor as described in the embodiment of  FIGS. 39 and 40 , with the two respective sensors sharing the middle sheet so that two three sheet sensors are combined into one five sheet sensor. In combination with earlier drawings and descriptions herein, and the commonly known prior art the compound sensor shown here becomes self descriptive to one skilled in the art. 
     Some commonly known simple switched sensors use only a single sheet rather than three sheets, with the single sheet having both conductive traces sharing one surface area and the resilient dome cap having a conductive element which when depressed connects the conductive traces. One skilled in the art will also appreciate that the novel compound sensor  702  may be made with less than five sheets using such technology and judicious routing of conductive traces. 
     Both the simple switched portion and the proportional portion of sensor  702  are activated approximately simultaneously when an activator impinges upon sensor  702  with the simple switched sensor indicating an on state and the proportional sensor indicating how much force is being brought to bear on sensor  702 . 
     A novel sensor of this type, having both a simple switched and a proportional component in combination with my novel keyboard integrated devices, such as those shown in  FIGS. 18 ,  19  and  29  demonstrate the design of having a 3D controller which outputs both a scan code (keyboard type information) and a proportional signal. This could be very useful in any multiple-axes controller even strictly hand-held devices such as those taught in my co-pending provisional application filed Sep. 5, 1995. Outputting both scan codes and proportional signals (possibly to separate keyboard and serial ports) could be of substantial value because for all pre Windows95 machines virtually all 3-D graphics programs already have software drivers to be driven by scan codes (with programmable key maps) so that the 3-D software can controlled by common keyboards. Outputting this data type allows my 3D controllers to interface with existing software that is controllable by scan codes. Outputting both of these data types is not dependent on this compound sensor rather it is simply demonstrated here. Information gathered from any proportional sensor can be massaged into these two different data output types which are believed to be novel in regard to output of multiple-axes controller devices and specifically for 3D devices. 
       FIG. 43  shows a pair of compound sensors  702  integrated into compound sensor sheet  700 , the compound sensor on the left side is identified as sensor  702 . 1  and the compound sensor on the right side is identified as sensor  702 . 2 . Sensor pairs are valuable because a 3D device has 6 axes which are interpreted bi-directionally (move along the axis to the left or right, but not both simultaneously). Simple switches and the pressure sensors so far shown are uni-directional sensors so ideally a pair of unidirectional sensors are used to describe each axis, thus six pair of unidirectional sensors (twelve individual sensors) can describe six degrees of freedom. Unidirectional sensors are highly desirable both from and cost stand point and from a superior functional stand point, because they allow a natural null or play space for accommodating inaccuracies of the human hand and for optimally accommodating the passive turn-on tactile feedback where the user can feel the different axes turn on and off with manipulation of the input member as described earlier herein. 
     The pair of sensors  702 . 1  and  702 . 2  offer advantage, for example, in a computer keyboard embodiment where the simple switched portions may emulate key inputs and the proportional portions may serve to create sophisticated 3D outputs. Further, for some applications an incremental output (simple switched) is more desirable than a proportional output. Sensor  702  provides both types of output in hardware. Finally, the compound sensor pair offers structure to lessen the necessary electronics requirement for reading the unidirectional proportional sensors. As shown if  FIG. 43  the simple switched portions have electrical connections  704  which make the switches electrically distinct from each other, but the proportional sensor portions have electrical connections  704  which are in parallel, thus the proportional sensor portions are not electrically distinct one from the other. The simple switched portion yields information about which direction along or about an axis and the proportional sensors yield information representing intensity. Thus allowing only one analog channel to read two unidirectional proportional sensors, and correspondingly, only six analog channels to read twelve unidirectional sensors. A savings in electronic circuit complexity. 
       FIG. 44  shows proportional sensors  638 . 1  and  638 . 2  in a paired relationship within a membrane structure. Sensors  638 . 1  and  638 . 2  have in common a center electrical connection  710  which connects to one side of both sensors  638 . 1  and  638 . 2  of the pair. Each individual sensor has a second and distinct electrical connection, being for sensor  638 . 1  electrical connection  706  and for sensor  638 . 2  electrical connection  708 . The sensors are essentially in a center taped arrangement, so that the center connection  710  can be read with one analog to digital converter yielding bi-directional information, if, for example, connection  706  carries a substantial voltage and connection  708  is grounded. Thus the mechanical and cost advantages of unidirectional proportional sensors is utilized with economical electrical circuitry. 
       FIGS. 45-47  show bi-directional sensors mounted on circuit board sheet means for creating 3D functional structures with previously described structures of the embodiment of  FIGS. 20-28 , thus for full 3D operability six bi-directional sensors would be used. The embodiment shown in  FIGS. 1-3  specifically shows a nine sensor 3D embodiment with three bi-directional rotational sensors and six uni-directional linear sensors. The embodiments shown in  FIGS. 13-36  show twelve sensor 3D embodiments with all sensors being unidirectional sensors. 
       FIGS. 45 and 46  show generic rocker-arm type actuators  364  mounted on circuit board  322 . Actuators  364  are shown without a differentiating super-structure  338  because the illustrated novel bi-directional sensor application could serve on any or all of the actuators  364  in the embodiment shown in  FIGS. 20-27 . 
       FIG. 45  shows rocker-arm actuator  364  mounted on circuit board sheet  322  and a bi-directional sensor  750  such as a rotary encoder or potentiometer solder mounted to sheet  322  and operationally connected to rocker arm  336  by a rack and pinion type gear assembly with the rotary shaft to rotary sensor  750  bearing a small gear or pinion gear  752  which is activated by riding on an arced gear rack  754  fixed to one end of rocker-arm actuator  336  and passing freely through an aperture  756  in sheet  322 . 
       FIG. 46  is similar to  FIG. 45  except that the bi-directional sensor shown is an optical sensor having a light transmitting unit  760  and a light sensing unit  762  which are both solder mounted to circuit board sheet  322  and are separated by an arc shaped light regulating unit  764  such as a graduated optical filter or a shuttering device which is fixed to one end of a actuator arm  336 . 
       FIG. 47  shows sensors of the same type as described in  FIGS. 45 and 46  but with the exception that they are shown with structuring to operate within the handle such as in the embodiment shown in FIG.  28 . 
       FIGS. 48 and 49  respectfully show a cross-section view and an exploded view of novel structuring for anchoring in a desired position a flexible membrane sensor sheet  658  or at least a portion of membrane sheet  658  carrying at least one sensor  660  and for retaining in operational positions structure appropriate for actuating mechanisms. Sensor  660  may be of either the common simple switched type or my novel pressure sensitive proportional membrane type. This embodiment is also for aligning and retaining sensor actuating structures, of which I believe, especially valuable are actuating structures of the resilient tactile type. A package member  650  is a housing like structure shown here with four side walls. Aligned along two of the opposing walls are downwardly distending snap-fit legs  652  having a hook-like snap-fit shape at the bottom most extremity. Package  652  might be made of an injection molded plastic such as a resin from the acetal family having excellent dimensional stability, rigidity and also resiliency for the bending of snap fit legs  652  during mounting of package  650  to a rigid support structure  630 . The internal portion of package  650  is a cavity within which is retained at least an actuator shown here as a plunger  602  which is retained at least in part within housing package  650  by an upper or top portion of package  650  partially enclosing the package cavity but having an aperture through which extends a portion of plunger  602  for being depressed or activated by external forces. Resilient metallic dome cap  604  is also shown within the cavity and located between plunger  602  and membrane sensor  660  which is supported on rigid support structure  630 . Rigid support structure  630  has two elongated apertures  656  sized to allow the passage during mounting and retention thereafter of snap-fit legs  652 . Membrane  658 , which may be any sensor bearing membrane, also has elongated apertures  654  positioned around a membrane sensor shown here as sensor  660 . Apertures  654  being of size allowing the passage of snap fit legs  652 . 
     The entire embodiment is assembled by positioning membrane sensor sheet  658  or at least the portion of membrane sensor sheet  658  bearing a sensor and apertures  654  along side of support structure  630  and aligning membrane apertures  654  with support structure apertures  656 , then, with housing package  650  containing both plunger  602  and dome cap  604 , pressing legs  652  through the aligned apertures thus fixing the membrane sensor and actuating plunger  602  in accurate and secure position for activation. 
     This novel membrane sensor anchoring and activating structure may be useful for fixing into position a flexible membrane and associated sensor(s) in a wide variety of applications, not just for fixing a membrane having multiple relatively long arms to fit a widely-spread set of sensors within a 3D device such as for my co-pending application (Ser. No. 07/847,619, filed Mar. 5, 1992) and for finger activated buttons which may be located elsewhere within the device, such as on either the handle housing or the base housing, etc. This structuring also offers tremendous advantage in many non 3D applications where hand wiring is now common. For example, typical assembly of two axis joysticks involves hand wiring of numerous different finger and thumb operated switches at various different positions located within a handle and often includes additional switches located with the base of the joystick also. The hand wiring to these widely spread switch locations is error prone and expensive in labor, thus this process could be greatly advantaged by employment of flexible membrane based sensors, which is made possible by this novel structuring. 
       FIG. 50  shows a right angle mount embodiment in common with the device of  FIGS. 48 and 49 . The right angle mount embodiment has a housing  650 . 1  formed much like housing  650  with the exception that the aperture in the upper surface is not necessarily round to accommodate passage of plunger  602  but rather the aperture may be slot-shaped to accommodate passage of a right angle actuator  670  which upon external activation pivots about a fulcrum  676 . Right angle actuator  670  is structurally similar to the right angle translator parts shown in  FIG. 17  as part  262 , in  FIG. 27  as part  348  and in  FIG. 28  as part  376 . Specifically actuator  670  has an externally exposed actuating nub  674  which is impinged upon by an actuating part in a manner essentially parallel to mounting  630  thus pivoting about fulcrum  676  and causing an internal actuating nub  672  to impinge downward upon dome cap  604 . Fulcrum  676  is held in place within housing  650 . 1  by a retainer  678  which may be essentially ring like and with protrusions  680  which provide a saddle for pivotal retainment of fulcrum  676 . 
     The anchoring and retaining embodiments shown in  FIGS. 48-50  provide an optimal low-cost of manufacture embodiment where ever membrane sheet based sensors are shown in the current teaching and can also operate to equal advantage providing structuring and translating for sensors based on circuit board sheets. 
     Although I have very specifically described best modes and preferred structures and use of the invention, it should be understood that many changes in the specific structures and modes described and shown in my drawings may clearly be made without departing from the true scope of the invention.