Patent Publication Number: US-2018043921-A1

Title: Three-Axis Motion Joystick

Description:
FIELD OF THE DISCLOSED TECHNOLOGY 
     The disclosed technology relates generally to hand-held controllers and, more specifically, to joysticks which move around three wrist axes. 
     BACKGROUND OF THE DISCLOSED TECHNOLOGY 
     Conventional automobiles have three primarily hydromechanical actuators: hydraulic steering assist, hydraulic transmission, and hydraulic brakes. This hydraulic machinery is operated by arms moving a steering wheel and legs moving foot pedals. Arms, legs, steering wheel, and foot pedals all have significant inertia, and therefore relatively slow operating times. However, their slow operation is a good speed match for the slow response times of hydraulic steering, transmission, and brakes. 
     The typical electric vehicle (EV) has three primarily electromechanical actuators: electric power steering, electric motor propulsion, and electric regenerative braking (plus hydraulic brakes as backup). This electric machinery is also operated by arms moving a steering wheel and legs moving foot pedals. However, the slow operation of arms, legs, steering wheel, and foot pedals is a poor speed match for the fast response times of electric steering, propulsion, and braking. 
     Arms and legs moving a steering wheel and pedals are too cumbersome and slow to fully exploit the responsiveness of an EV&#39;s electric machinery. Automobile manufacturers have tried several alternatives, mainly the 2 degrees of freedom (DoF) tilt joystick. A 2 DoF tilt joystick is more nimble and faster to operate than a steering wheel and pedals, but it is not used in EVs because it is still not fast enough, and it has low steering precision. 
     A 2 DoF tilt joystick can be operated more nimbly than a steering wheel. However, like the steering wheel, it requires significant movement of the driver&#39;s entire arm. This is due to its pivot point being located below the driver&#39;s wrist. This pivot location simplifies the design and construction of the tilt joystick and makes it a very compact controller, but the required arm movement means it is not much faster than a steering wheel. 
     A typical steering wheel has a rotational range up to 900 degrees lock to lock—all the way left to all the way right. Using a steering wheel, a driver can turn an automobile through its entire range of steering and still make precise steering adjustments at any steering angle. A 2 DoF tilt joystick&#39;s maximum practical tilt range around its pivot point is about 90 degrees in any direction, or one tenth that of a steering wheel. This limited tilt range makes precise steering adjustments with a 2 DoF joystick very difficult to achieve over the entire range of steering. Because of its minimal speed advantage and low precision steering, the 2 DoF tilt joystick is not compelling enough to replace the mature technology of the steering wheel. 
     While some three degree of freedom joysticks do exist, there is a need in the art for devices which are configured for rapid, precise, and safe driving. 
     SUMMARY OF THE DISCLOSED TECHNOLOGY 
     A controller of embodiments of the disclosed technology has a fixed position mounting base and a first flange having a first end and second end at right angles to each other, the first end of the first flange being rotatably connected to the fixed position mounting base. A second flange has a first end and second end at right angles to each other, the first end of the second flange rotatably connected to the second end of the first flange. A U-shaped third flange has a mid-section and first and second ends, the mid-section rotatably connects to the second end of the second flange, and a joystick is formed between the first and second ends of the third flange. 
     A yaw sensor (defined as a device which measures a degree, amount, or angle rotation of the joystick) measures rotation of the first flange with respect to the fixed position mounting base. A pitch sensor measures rotation of the second flange with respect to the first flange, and a roll sensor measures rotation of the third flange and the joystick with respect to the second flange. The pitch and roll sensors are defined as identical to the yaw sensor, except that they measure pitch and roll, respectively, instead of yaw. 
     In embodiments of the disclosed technology, the first and second ends of the third flange are substantially perpendicular to the second end of the second flange, and the second end of the first flange and the first end of the second flange are at right angles to each other. 
     In some embodiments, rotation of the joystick with respect to the second flange causes a vehicle to turn left or right, and rotation of the first flange (e.g., yaw) with respect to the fixed position mounting base causes the vehicle to turn left or right to a lesser degree (e.g., vehicle turning) per degree of rotation than said rotation of said joystick (e.g., roll) with respect to the second flange. In other embodiments, rotation of the first flange with respect to the fixed position mounting base causes the vehicle to turn left or right, and rotation of the joystick with respect to the second flange causes the vehicle to turn left or right to a lesser degree (e.g., vehicle turning) per degree of rotation than said rotation of said first flange with respect to the fixed position mounting base. Rotation of the second flange with respect to the first flange may cause the vehicle to accelerate or decelerate. 
     In some embodiments, at least one of the first flange, the second flange, the third flange, and the mounting base includes a hollow, and at least one linkage connecting two of the first flange, the second flange, the third flange, and the mounting base, or at least one motor for measuring degree of rotation, is disposed in the hollow. 
     In a second embodiment, the controller includes a fixed position mounting base and a substantially U-shaped first flange having a mid-region and having a flange extension extending from one end thereof, the mid-region being rotatably connected to the fixed position mounting base. A second flange has a first end and second end, the first end of the second flange and the flange extension of the first flange being rotatably connected. A joystick is rotatably connected to the second end of the second flange. 
     The mid-region of the first flange is rotatably connected to the fixed position mounting base via a curved rack and pinion mechanism. 
     In some embodiments, a roll sensor measures rotation of the first flange with respect to the fixed position mounting base, a pitch sensor measures rotation of the second flange with respect to the first flange, and/or a yaw sensor measures rotation of the joystick with respect to the second flange. 
     In some embodiments, rotation of the first flange with respect to the fixed position mounting base causes a vehicle to turn left or right, and rotation of the joystick with respect to the second flange causes the vehicle to turn left or right to a lesser degree per degree of rotation than the rotation of the first flange with respect to the fixed position mounting base. In other embodiments, rotation of the joystick with respect to the second flange causes a vehicle to turn left or right, and rotation of the first flange with respect to the fixed position mounting base causes the vehicle to turn left or right to a lesser degree per degree of rotation than the rotation of the joystick with respect to the second flange. In some embodiments, rotation of the second flange with respect to the first flange causes the vehicle to accelerate or decelerate. 
     In some embodiments, at least one torque motor is engaged with a linkage between the first flange and the second flange and provides active force to the second flange. The active force, in embodiments of the disclosed technology, may be zero when the second flange is at a right angle to the first flange and may increase as the second flange moves away from the first/prior right angle to the first flange. 
     “Substantially” and “substantially shown,” for purposes of this specification, are defined as “at least 90%,” or as otherwise indicated. “Identical” and “exactly,” for purposes of this specification, are defined as “within an acceptable tolerance level known in the art.” Any device may “comprise,” or “consist of,” the devices mentioned here-in, as limited by the claims. Any element described may be one of “exactly” or “substantially,” as described. 
     It should be understood that the use of “and/or” is defined inclusively, such that the term “a and/or b” should be read to include the sets: “a and b,” “a or b,” “a,” or “b.” 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  shows a first controller with three axes of movement in a first resting position, in an embodiment of the disclosed technology. 
         FIGS. 2A, 2B, and 2C  show blown-apart versions of the controller of  FIG. 1 ,  FIGS. 2B and 2C  including pancake motors. 
         FIG. 3  shows the controller of  FIG. 1  rotated around the yaw axis. 
         FIG. 4  shows the controller of  FIG. 1  rotated around the pitch axis. 
         FIG. 5  shows the controller of  FIG. 1  rotated around the roll axis. 
         FIG. 6  shows the controller of  FIG. 1  rotated around the yaw and pitch axes. 
         FIG. 7  shows the controller of  FIG. 1  rotated around the pitch and roll axes. 
         FIGS. 8A and 8B  show the controller of  FIG. 1  rotated around the yaw, pitch, and roll axes, in three different extent and direction combinations. 
         FIG. 9  shows the controller of  FIG. 1  rotated around the yaw and roll axes. 
         FIGS. 10A and 10B  show two perspective angles of a second controller with three axes of movement in a first resting position, in an embodiment of the disclosed technology. 
         FIG. 11  shows a blown-apart version of the controller of  FIGS. 10A and 10B . 
         FIG. 12  shows the controller of  FIGS. 10A and 10B  rotated around the roll axis. 
         FIG. 13  shows the controller of  FIGS. 10A and 10B  rotated around the pitch axis. 
         FIG. 14  shows the controller of  FIGS. 10A and 10B  rotated around the yaw axis. 
         FIG. 15  shows the controller of  FIGS. 10A and 10B  rotated around the roll and pitch axes. 
         FIG. 16  shows the controller of  FIGS. 10A and 10B  rotated around the pitch and yaw axes. 
         FIGS. 17A, 17B, and 17C  show the controller of  FIGS. 10A and 10B  rotated around the yaw, pitch, and roll axes, in three different extent and direction combinations. 
         FIG. 18  shows the controller of  FIGS. 10A and 10B  rotated around the yaw and roll axes. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS OF THE DISCLOSED TECHNOLOGY 
     Controllers having a joystick which can be moved in three dimensions are disclosed. In one embodiment, the joystick is connected by an R (roll) link (sometimes referred to as a “flange”) which is, in turn, connected to a P (pitch) link, which is, in turn connected to a Y (yaw) link. The Y link is rotatable about a fixed-position mounting base. In another embodiment the joystick is connected by a Y (yaw) link which is, in turn, connected to a P (pitch) link, which is, in turn, connected to an R (roll) link. The R link is rotatable about a fixed-position mounting base by a curved rack and pinion mechanism. 
     In both embodiments, one can rotate a joystick in any of three directions. When used to control a vehicle, rotation around the yaw and roll axes can steer (with either yaw or roll being more fine-tuned steering), and rotation around the pitch axis can control acceleration and deceleration. A starting or center position for each link can be defined, and typically the further a link is rotated from this central position, the more resistance is applied, in embodiments of the disclosed technology. 
     Embodiments of the disclosed technology will become clearer in view of the forthcoming description of the figures. 
     Reference is now made to  FIG. 1 , which shows a first controller  10  with three axes of movement in a first resting position, in an embodiment of the disclosed technology, and to  FIGS. 2A, 2B, and 2C , which show blown-apart versions of the controller of  FIG. 1 . 
     As seen in  FIG. 1 , a mounting base  12  is fixedly mounted, such as to an interior of a car, a table top, or the like. It can be mounted onto a console of a vehicle or fixed to a top surface either temporarily or permanently. For example, when the controller is used for video games, one might clamp the mounting base  12  to a top of a table surface, whereas when used in an electric vehicle, it might be within a console and fixedly connected, such that it stays stationary with respect to a car chassis. Although the mounting base is described as being mounted to a top surface, the orientation of the mounting base may be adapted so that it may be mounted to a side surface, such as the surface of a door, or may include a dashboard mount. 
     Using a first linkage (not shown), a first flange  14  is rotatably connected to the mounting base  12 . A second flange  16  is rotatably connected to the first flange  14  by way of a second linkage (not shown). In the neutral, or resting position, shown in  FIG. 1 , the first flange  14  is at a right angle relative to the mounting base  12 , and the second flange  16  is at a right angle relative to the first flange  14 . 
     As seen clearly in  FIG. 2 , each of the first and second flanges  14  and  16  is generally L-shaped, and has a first end and a second end having a ninety degree turn therebetween. The first end  14   a  of first flange  14  has the first linkage passing therethrough, and the second end  14   b  of first flange  14  as well as the first end  16   a  of second flange  16  have the second linkage passing therethrough, as shown in  FIG. 1 . 
     A third flange  18 , which includes a mid-region  20  and first and second ends  22  and  24 , is rotatably connected to the mid-region  20  to the second flange  16  via a third linkage (not shown). A joystick  26  extends between first and second ends  22  and  24 , and is rotatable together with third flange  18  relative to second flange  16 . The joystick can have a wider base  28  connected to second end  24  of the third flange  18  and a wider top region  30  connected to first end  22  of the third flange  18 . The first and second ends  22  and  24  of third flange  18  are generally perpendicular to the mid-region  18 , and to the second flange  16 , in the illustrated resting position. An elongated length of the joystick  26  (the most elongated length or length desired to be perpendicular to a forearm of a person holding the joystick/passes through a clasped hand there-around) is angled between the first and second ends  22  and  24 . 
     In some embodiments, the third flange  18  and/or the joystick  26  includes pushbuttons for secondary controls. For example, in the illustrated embodiment, joystick  26  includes, on top region  30  thereof, a plurality of pushbuttons  34 , and the mid-region  20  of third flange  18  includes a pushbutton  36 . The pushbuttons may control the horn, left and right turn signals, high beam headlights, and/or initiating and deactivating autopilot. However, it is appreciated that such secondary controls may be provided anywhere on controller  10 , and using any suitable interface, and need not necessarily be pushbuttons or be on the third flange or joystick. 
     The first, second, and third linkages, rotatably connect two elements together such that many rotations back and forth can take place while the rotatable connection between the two elements linked, remain rotatably connected. The first and third linkages allow for 360 degrees of rotation around a single axis, whereas the maximum rotation of the second linkage (linkage of the P-link) may be less than 360 degrees, due to interference from the other links. The first, second, and third linkages can be any sort of elongated fastening mechanism such as a dowel, screw, or motor axle. 
     Note that the first, second, and third linkages are, in at least one configuration, perpendicular to one another. The joystick  26  is above the mounting piece  12  when every flange is centered. As such, the joystick  26  is in a position to be moved around any of three axes, causing the corresponding flange to rotate with respect to the element to which it is rotatably connected. This will be shown/discussed with reference to  FIGS. 3-9  below. 
     The first flange  14  is also referred to herein as a “Y link”, the second flange  16  as a “P link,” and the third flange  18  as an “R link.” Each link can rotate with respect to the link to which it is connected, or with respect to the mounting base  12 . In embodiments, each link can only rotate with respect to a link to which it is connected. Thus, the Y link  14  can rotate with respect to the mounting base  12  in a manner which constitutes “yaw.” The P link  16  can rotate with respect to the Y link in a manner which constitutes “pitch,” and the R link  18  can rotate with respect to the P link in a manner which constitutes “roll”. Any combinations of changes of roll, pitch, and yaw are possible, though typically limited by the rotation of the forearm and/or wrist of the user of the controller. 
     In some embodiments, sensors for measuring the degree of rotation of flanges  14 ,  16 , and  18  may be provided at the first, second, and third linkage points. In some embodiments, the flanges  14 ,  16 , and  18  may be hollow, at least in the region of the linkage points thereof. In such embodiments, sensors, motors, and wiring thereof may be enclosed within the flanges, forming an exostructural arrangement. In some embodiments, the motors may include any one or more of a direct drive motor, a pancake motor, and a limited angle torque motor.  FIGS. 2B and 2C  illustrate a specific embodiment in which each of mounting base  12  and flanges  14  and  18  includes a pancake motor  40  disposed within the flange adjacent to or surrounding the corresponding linkage. In the context of the present specification and claims, the term “pancake motor” relates to a motor having a printed armature with windings shaped as a disc. Each pancake motor  40  has extending therefrom an axle  42 , adapted to fit into a corresponding bore  44  in a corresponding one of flanges  14  or  16 , thereby to form the first, second, and third linkages. 
       FIG. 3  shows the controller  10  of  FIG. 1  with rotation around the yaw axis. This is accomplished by rotation of the first flange  14  relative to the mounting base  12 , while the relationship between the first flange  14  and the second flange  16  remains unchanged. In the illustrated orientation, the Y link is pulled back, such that an acute angle, indicated by reference numeral  40  is defined between an edge of the mounting base  12  and the first end  14   a  of the Y link (first flange  14 ). The rotation of the Y-link with respect to mounting base  12  causes a change in yaw which can be recorded by a suitable sensor, for example measuring rotation at the first linkage point. 
       FIG. 4  shows the controller of  FIG. 1  with rotation around the pitch axis. This is accomplished by rotation of the second flange  16  relative to the first flange  14 , while the relationship between the first flange  14  and the mounting base  12 , and the relationship between the second flange  16  and the third flange  18 , remain unchanged. In the illustrated orientation, the P link is rotated downward, such that a distance between the P link and the mounting base  12  is decreased relative to the resting position shown in  FIG. 1 . The rotation of the P-link with respect to first flange  14  causes a change in pitch which can be recorded by a suitable sensor, for example measuring rotation at the second linkage point. 
       FIG. 5  shows the controller of  FIG. 1  with rotation around the roll axis. This is accomplished by rotation of the third flange  18  and the joystick  26  relative to the second flange  16 , while the relationship between the first flange  14  and the mounting base  12 , and the relationship between the first flange  14  and the second flange  16 , remain unchanged. In the illustrated orientation, the R link is rotated counterclockwise. The rotation of the R-link with respect to second flange  16  causes a change in roll which can be recorded by a suitable sensor, for example measuring rotation at the third linkage point. 
     Reference is now made to  FIG. 6 , which shows the controller  10  of  FIG. 1  with rotations around the yaw and pitch axes. As seen in  FIG. 6 , in addition to the rotation described with reference to  FIG. 3  around the yaw axis, rotation of the second flange  16  (P-link) with respect to first flange  14  (Y-link) takes place around the second linkage, as described hereinabove with reference to  FIG. 4 . 
       FIG. 7  shows the controller  10  of  FIG. 1  with rotations around the pitch and roll axes. Here, the combination of rotating the third flange  18  and the joystick  26  with respect to the second flange  16 , and rotating the second flange  16  with respect to the first flange  14  (rotation of the R link and P link), causes a change in roll and pitch simultaneously. 
       FIGS. 8A and 8B  show the controller of  FIG. 1  with rotations around the yaw, pitch, and roll axes. Here, each element which can be rotated with respect to another, in an embodiment of the disclosed technology, is so rotated. In  FIG. 8A and 8B , the Y-link (flange  14 ) is rotated back, similarly to the rotation shown in  FIG. 3 , and the P-link (flange  16 ) is rotated downward, similarly to the rotation shown in  FIG. 4 . In  FIG. 8A , the R-link (flange  18  and joystick  26 ) is rotated counterclockwise, whereas in  FIG. 8B  the R-link is rotated clockwise, to a greater angular degree of rotation than that shown in  FIG. 8A . 
     Rotation of the R link (flange  18  and joystick  26  with respect to the second flange  16 ) can be used to steer a vehicle left or right. Rotation of the P link (second flange  16  with respect to first flange  14 ) can be used for acceleration and deceleration of a vehicle. Rotation of the Y link (first flange  14  with respect to mounting base  12 ) can be used for fine control of steering, such that, per degree of rotation, steering has less magnitude for rotation of the Y link compared to rotation of the R link. In some embodiments, the assignment of the Y-link and the R-link may be reversed, such that rotation of the Y-link is used to steer the vehicle left or right and rotation of the R-link is used for fine control of steering. 
       FIG. 9  shows the controller  10  of  FIG. 1  with rotations around the yaw and roll axes. Here, the pitch remains constant, compared to  FIG. 1  (first flange  14  and second flange  16  remain at a  90  degree angle with respect to one another). However, the yaw is changed (the angle between the first flange  14  and the mounting base  12  is acute, and changes relative to the angle shown in  FIG. 1 ) as well as the roll (third flange  18  and joystick  26  are rotated counterclockwise with respect to the second flange  16 ). 
     Controller  10  illustrated in  FIGS. 1 to 9  is a controller suited for right handed use. An equivalent controller suited for left handed use would be a mirror image of the illustrated controller, and is considered within the scope of the present invention. 
     Reference is now made to  FIGS. 10A and 10B , which show two perspective angles of a second controller  100  with three axes of movement in a first resting position, in an embodiment of the disclosed technology, and to  FIG. 11 , which shows a blown-apart version of the controller of  FIGS. 10A and 10B . 
     As seen in  FIGS. 10A and 10B , a generally U-shaped mounting base  112  is fixedly mounted, such as to an interior of a car, a table, or the like. It can be mounted onto a console of a vehicle or fixed to a top surface either temporarily or permanently. For example, when the controller is used for video games, one might clamp the mounting base  112  to a top surface of a table, whereas when used in an electric vehicle, it might be within a console and fixedly connected, such that it stays stationary with respect to a car chassis. Although the mounting base is described as being mounted to a top surface, the orientation of the mounting base may be adapted so that it may be mounted to a side surface, such as the surface of a door, or may include a dashboard mount. 
     Using two motor axles  113 , a pair of gears, or pinions,  114   a  and  114   b,  are mounted to the motor axles  113 , and can move relative to the curved rack  118 . A generally U-shaped rack  118  is disposed above pinions  114   a  and  114   b  and in geared engagement therewith, such that rack  118  is fixed with respect to the mounting base  112 , and pinions  114   a  and  114   b  are movable with respect to the rack  118  and to the mounting base  112 . 
     A first flange  120  is supported above rack  118 , for example by a plurality of rollers  127 , and is movable relative to the rack  118  and to the mounting base  112 . Flange  120  includes a main body, also known as a wrist cradle, including front and back surfaces  124  connected by a generally U-shaped upper surface  125 . The surfaces  124  and  125  together define a channel  126  having a generally U-shaped cross-section and accommodating rack  118 , such that front and back surface  124  extend along sides of the rack  118 , and are slidable relative thereto. A pair of side walls  128   a  and  128   b  extend upwards from upper surface  125  at opposing sides thereof. Extending from side wall  128   a  is a flange extension  130 , which forms an obtuse angle with front surface  124  of the flange. 
     The first flange  120  is rotatable, or movable, relative to the rack  118  and to the mounting base  112 , by operation of the curved rack and pinion mechanism formed by pinions  114   a  and  114   b  and rack  118 . 
     A second flange  140  is rotatably connected to flange extension  130  of the first flange  120  by way of a second axle  142 . As clearly seen in  FIG. 11 , in some embodiments, flange  140  includes a first end portion  144  having a portal therethrough for axle  142 , a mid-region  146  disposed at a 45 degree angle to the first end portion  144 , and a second end portion  148  including a portal for an additional linkage. The second end portion  148  is disposed at a 45 degree angle to the mid-region  146  and at a 90 degree angle to the first end portion  144 . Thus, an “end” of flange  140  is a portion which connects to another item and is defined by a furthest end of the flange until a bend in the flange, the bend occurring after a portal or a linkage passing there-through, such that the linkage is between the furthest end and bend. 
     A joystick  150  is rotatably connected to second end  148  of the second flange  140  via an axle  151 . The joystick can have a wider base  152 , a wider top region  154 , and a linking section  158 . The linking section  158  has, in some embodiments, a portal through which axle  151  passes to connect the joystick  150  and base  152  to the second end  148  of the second flange  140 . The joystick can rotate about the axle  151 . The elongated length of the joystick  150  (the most elongated length or length desired to be perpendicular to a forearm of a person holding the joystick/passes through a clasped hand there-around) is angled at an acute angle, relative to base  152 . 
     In the neutral, or resting position, shown in  FIGS. 10A and 10B , the first flange  120  is centered with respect to rack  118 , and rack  118  is centered between pinions  114   a  and  114   b,  such that a center point of the rack  118  is equidistant from each of the pinions. The first end  144  of the second flange  140  forms an acute angle with flange extension  130 , such that a side wall of the second flange is generally parallel to front surface  124  of first flange  120 . The linking section  158  of the joystick  150  and the second end  148  of second flange  140  form a right angle relative to one another. 
     The axles  113 ,  142 , and  151 , rotatably connect two elements together such that many rotations back and forth can take place while the rotatable connection between the two elements linked, remain rotatably connected. The linkages can be any sort of elongated fastening mechanism such as a dowel, screw, or motor axle. 
     Note that the axles  113 ,  142 , and  151  are, in at least one configuration, perpendicular to one another. In the resting position, the joystick  150  is in a position to be moved around any of three axes, causing the corresponding flange to rotate with respect to the element to which it is rotatably connected. This will be shown/discussed with reference to  FIGS. 12-18  below. 
     The first flange  120  is also referred to herein as a “R link”, the second flange  140  as a “P link,” and the linking section  158 , as a “Y link.” Each link can rotate with respect to the link to which it is connected, or with respect to the mounting base  112 . In embodiments, each link can only rotate with respect to a link to which it is connected. Thus, the R link  120  can rotate with respect to the mounting base  112  in a manner which constitutes “roll”. The P link  140  can rotate with respect to the R link in a manner which constitutes “pitch,” and the Y link  158  can rotate with respect to the P link in a manner which constitutes “yaw”. Any combinations of changes of roll, pitch, and yaw are possible, though typically limited by the rotation of the forearm and/or wrist of the user of the controller. 
     In the embodiment of  FIGS. 10A to 11 , there is a plurality of motors  160  which introduce torque when the first axles  113 , second axle  142 , or third axle  151  are rotated with respect to another element. In some embodiments, the greater the offset from the angle of the resting position, the greater the torque. This prevents excess movement and can simulate torque one would feel when, for example, moving steering wheels left and right. In some embodiment, the motors  160  connected to axles  113  generate force on the pinions  114  and rotate the first pinions  114  and first flange  120  relative to the rack  118  and mounting base  112 . 
     In some embodiments, position encoders or other position measuring elements are disposed at linkages  113 ,  142 , and/or  151 , and may be used to measure turning angle of the elongated member associated therewith, and thus, the angle of turn of two elements with respect to one another. 
       FIG. 12  shows the controller  100  of  FIGS. 10A and 10B  with rotation around the roll axis. This is accomplished by movement of first flange  120  relative to the mounting base  112  and rack  118  using the rack and pinion mechanism formed by rack  118  and pinions  114   a  and  114   b.  As seen in  FIG. 12 , first flange  120  and pinions  114  have rotated such that a center of rack  118  is disposed above pinion  114   b,  whereas the first flange  120  has moved along the rack  118  in the opposing direction, toward pinion  114   a.  At the same time, the relationship between the flange extension  130  of first flange  120  and the second flange  140  remains unchanged. The rotation of the R-link with respect to mounting base  112  causes a change in roll which can be recorded by a suitable sensor, such as elements  160  associated with linkages  113  and measuring rotation thereat. 
       FIG. 13  shows the controller  100  of  FIGS. 10A and 10B  with rotation around the pitch axis. This is accomplished by rotation of the second flange  140  relative to the first flange  120 , while the relationship between the first flange  120  and the mounting base  112 , and the relationship between the second flange  140  and the linking section  158  of joystick  150 , remain unchanged. In the illustrated orientation, the P link is rotated outward, such that an angle between the first end  144  of the second flange  140  and the flange extension  130  increases relative to the resting position shown in  FIG. 10A , and such that a side surface of second flange  140  is no longer parallel with surface  124  of flange  120  but rather at an acute angle thereto. The rotation of the P-link with respect to first flange  120  causes a change in pitch which can be recorded by a suitable sensor, such as element  160  disposed adjacent to linkage  142  and measuring rotation thereat. 
       FIG. 14  shows the controller  100  of  FIGS. 10A and 10B  with rotation around the yaw axis. This is accomplished by rotating joystick  150  relative to the second flange  140 , while the relationship between the first flange  120  and the mounting base  112 , and the relationship between the first flange  120  and the second flange  140 , remain unchanged. In the illustrated orientation, the Y link is rotated clockwise, when looking at the controller from above. Measurement of this angle of change (yaw) can be made within, or at, the linkage  151 . 
     Reference is now made to  FIG. 15 , which shows the controller  100  of  FIGS. 10A and 10B  with rotations around the roll and pitch axes. As seen in  FIG. 15 , in addition to the rotation described with reference to  FIG. 12  around the roll axis, rotation of the second flange  140  (P-link) with respect to first flange  120  (R-link) takes place around the second linkage  142 , as described hereinabove with reference to  FIG. 13 . 
       FIG. 16  shows the controller  100  of  FIGS. 10A and 10B  with rotations around the pitch and yaw axes. Here, the combination of rotating the joystick  150  with respect to the second flange  140 , and rotating the second flange  140  with respect the first flange  120  (rotation of the Y link and P link), causes a change in yaw and pitch simultaneously. 
       FIGS. 17A, 17B, and 17C  show the controller  100  of  FIGS. 10A and 10B  rotated around the yaw, pitch, and roll axes, in three different extent and direction combinations. Here, each element which can be rotated with respect to another, in an embodiment of the disclosed technology, is so rotated. 
     Rotation of the R link (flange  120  with respect to the mounting base  112 ) can be used to steer a vehicle left or right. Rotation of the P link (second flange  140  with respect to first flange  120 ) can be used for acceleration and deceleration of a vehicle. Rotation of the Y link (joystick  150  with respect to second flange  140 ) can be used for fine control of steering, such that, per degree of rotation, steering has less magnitude for rotation of the Y link compared to rotation of the R link. In some embodiments, the assignment of the Y-link and the R-link may be reversed, such that rotation of the Y-link is used to steer the vehicle left or right and rotation of the R-link is used for fine control of steering. 
       FIG. 18  shows the controller  100  of  FIGS. 10A and 10B  with rotations around the yaw and roll axes. Here, the pitch remains constant, compared to  FIGS. 10A and 10B  (a side surface of second flange  140  remains parallel to front surface  124  of first flange  120 ). However, the yaw is changed (the angle between linking portion  158  of joystick  150  and the second flange  140  is acute, and has changes relative to right angle shown in FIG.  10 A) as well as the roll, which has changed similarly to the change shown in  FIG. 12 . 
     In some embodiments, the rotation of the R link is used at lower speeds for coarse steering maneuvers, such as turning and parking, rotation of the Y link is used for fine steering adjustment for higher speed maneuvers, such as highway lane keeping or lane changes, or rotation of both may occur simultaneously. 
     Controller  100  illustrated in  FIGS. 10A to 18  is a controller suited for right handed use. An equivalent controller suited for left handed use would be a mirror image of the illustrated controller, and is considered within the scope of the present invention. 
     Although the embodiments disclosed herein show the links ordered such that the middle link is the P-link, any ordering of the links is considered to be within the scope of this application, provided that all three (R, P, and Y) are included. As such, the present invention relates also to controllers in which the link order is RYP, PRY, PYR, and YRP. 
     While the disclosed technology has been taught with specific reference to the above embodiments, a person having ordinary skill in the art will recognize that changes can be made in form and detail without departing from the spirit and the scope of the disclosed technology. The described embodiments are to be considered in all respects only as illustrative and not restrictive. All changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope. Combinations of any of the methods, systems, and devices described herein-above are also contemplated and within the scope of the disclosed technology.