Patent Publication Number: US-11662835-B1

Title: System and methods for controlling motion of a target object and providing discrete, directional tactile feedback

Description:
TECHNICAL FIELD 
     The present disclosure relates generally to control systems and more particularly to a modular hand controller that provides a user with the ability to send navigation signals using a controller that is operable with a single hand as an extension of the user&#39;s body. The present disclosure also relates to a forearm brace that can be used to attach to a controller, such as the hand controller described herein. 
     BACKGROUND 
     Conventionally, multiple discrete controllers are utilized to allow a user to control the motion of a target object having more than three degrees of freedom. For example, a set of independent controllers (e.g., joysticks, control columns, cyclic sticks, foot pedals, and/or other independent controllers) are used to control the motion of a target object (e.g., an aircraft, a submersible vehicle, a spacecraft, a robotic arm, a target object in a real or virtual environment, and/or a variety of other control target objects). The set of independent controllers is configured to control navigational parameters related to the motion of the target object. Such navigational parameters include a position of the target object in a three-dimensional (3D) space (e.g., the position may include an altitude of the target object), translations (e.g., x-, y-, and z-axis movement) in a three-dimensional (3D) space, orientations (e.g., pitch, yaw, and roll), velocity, acceleration, and/or a variety of other navigational parameters. In many cases, to control the multitude of the navigational parameters for the motion of the target object, a user may require both hands, which results in possibility of errors due to failure in hand coordination. Accordingly, there is a need for a novel control system to alleviate these errors and to further simplify controlling the motion of the target object. 
     SUMMARY 
     The present disclosure describes a hand controller configured to control a multitude of navigational parameters associated with the motion of a target object using a single hand. The present disclosure also describes a forearm brace with a quick-release mechanism that permits the forearm brace to quickly attach to or release from a forearm of a user. 
     In some embodiments, a controller for controlling a target object is provided. The controller includes a first control member movable with one or two independent degrees of freedom (DoFs) and providing in response thereto a set of first control inputs, and a second control member coupled to the first control member, the second control member movable with three independent DoFs independently of the first control member and providing in response thereto a set of three independent second control inputs, where the second control inputs are independent of the first control input. Further the controller includes a third control member coupled to the first control member and the second control member, the third control member movable with one DoF, the one DoF being one of the three DoFs in the set, and providing in response thereto a third control input, wherein the first, the second, and the third control members are configured to be operated by a user&#39;s single hand. 
     In some embodiments, a controller for controlling a target object is provided. The controller includes a first control member movable with only one independent degree of freedom (DoF) and providing in response thereto a first control input, and a second control member coupled to the first control member, the second control member movable with three independent DoFs independently of the first control member and providing in response thereto a set of three independent second control inputs, where the second control inputs are independent of the first control input. Further, the controller includes a third control member coupled to the first control member and the second control member, the third control member movable with one DoF, the one DoF being one of the three DoFs in the set, and providing in response thereto a third control input, and wherein a motion of the third control member causes a motion of a second control member. 
     In some embodiments, a controller for controlling a target object is provided. The controller includes a first control member movable with only one independent degree of freedom (DoF) and providing in response thereto a first control input, and a second control member coupled to the first control member, the second control member movable with three independent DoFs independently of the first control member and providing in response thereto a set of three independent second control inputs, where the second control inputs are independent of the first control input. Further, the controller includes a third control member coupled to the first control member and the second control member, the third control member movable with only one DoF and providing in response thereto a third control input, wherein the first control member includes at least one vibration haptic motor configured to provide haptic alerts to the user based on at least one of position data or orientation data associated with the target object, and wherein the first, the second, and the third control members are configured to be operated by a user&#39;s single hand. 
     In some embodiments, a forearm brace for attaching to a forearm of a user and a controller is provided. The forearm brace includes a platform having an arm supporting section, the arm supporting section configured to be in contact with the forearm of the user, a securing mechanism for securing the platform to the forearm, and a quick-release mechanism coupled to the securing mechanism and configured to: (a) upon a first user input, engage the securing mechanism to secure the platform to the forearm, and (b) upon a second user input, release the platform from the forearm; and a coupling mechanism for coupling the platform to the controller. 
     In some embodiments, a system for supporting a controller is provided. The system includes a platform having an arm supporting section, the arm supporting section configured to be in contact with a forearm of a user, a securing mechanism for securing the platform to the forearm, and a quick-release mechanism coupled to the securing mechanism and configured to: (a) upon a first user input, engage the securing mechanism to secure the platform to the forearm, and (b) upon a second user input, release the platform from the forearm; a first coupling mechanism for coupling to the controller; and a second coupling mechanism for coupling the platform to the first coupling mechanism. 
     In some embodiments, a forearm brace for attaching to a forearm of a user is provided. The forearm brace includes a platform having an arm supporting section, the arm supporting section configured to be in contact with the forearm of the user, a securing mechanism for securing the platform to the forearm, and a quick-release mechanism coupled to the securing mechanism and configured to: (a) upon a first user input, engage the securing mechanism to secure the platform to the forearm; and (b) upon a second user input, release the platform from the forearm. 
     The foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The skilled artisan will understand that the drawings primarily are for illustrative purposes and are not intended to limit the scope of the inventive subject matter described herein. The drawings are not necessarily to scale; in some instances, various aspects of the inventive subject matter disclosed herein may be shown exaggerated or enlarged in the drawings to facilitate an understanding of different features. In the drawings, like reference characters generally refer to like features (e.g., functionally similar and/or structurally similar elements). 
         FIG.  1    is an example controller for controlling a motion of a target object according to an embodiment. 
         FIG.  2    is an example implementation of the controller according to an embodiment. 
         FIG.  3    is a diagram that relates motion commands for a target object to movements of control members of a controller according to an embodiment. 
         FIG.  4 A  is an example controller configured to be operated by a user&#39;s single hand according to an embodiment. 
         FIGS.  4 B and  4 C  are schematics showing that an elongated member of a controller is configured to be rotated about a central axis according to an embodiment. 
         FIGS.  4 D and  4 E  show respectively a side view and a top view of a controller according to an embodiment. 
         FIG.  5    is an embodiment of a controller with a ring element according to an embodiment. 
         FIGS.  6 A- 6 F  are various views of a controller according to an embodiment. 
         FIG.  6 G  is a cross-sectional view of a controller according to an embodiment. 
         FIG.  6 H  is an isometric view of a third control member of a controller according to an embodiment. 
         FIG.  6 I  is a side view of a controller depicting further details of a third control member according to an embodiment. 
         FIG.  7 A  is an exploded view of a controller according to an embodiment. 
         FIG.  7 B  is an isometric view of a controller according to an embodiment. 
         FIGS.  8 A- 8 H  are side and cross-sectional views of a base of a controller according to an embodiment. 
         FIG.  8 I  is an exploded view of the base of the controller according to the embodiment shown in  FIGS.  8 A- 8 H . 
         FIGS.  9 A- 9 D  are side views and cross-sectional views of a controller with various movements and counter torques (counter forces) indicated, according to an embodiment. 
         FIG.  10    is a schematic of a forearm brace coupled to a controller and a forearm of a user according to an embodiment. 
         FIG.  11    is a schematic of a forearm brace according to an embodiment. 
         FIG.  12    shows a user&#39;s forearm adjacent to a forearm brace according to an embodiment. 
         FIG.  13 A  is a side view of a forearm brace coupled to a controller according to an embodiment. 
         FIG.  13 B  is an isometric of a forearm brace according to an embodiment. 
         FIG.  13 C  shows a cross-sectional view of a forearm brace according to an embodiment. 
         FIG.  13 D  is a view of mechanisms of a quick-release mechanism according to an embodiment. 
         FIG.  13 E  is a bottom view of a coupling mechanism of a forearm brace coupled to a base of a controller according to an embodiment. 
         FIG.  13 F- 13 H  are various views of a coupling mechanism coupled to a controller according to an embodiment. 
         FIG.  13 I  is a top isometric view of a base of a controller coupled to a forearm brace according to an embodiment. 
         FIG.  13 J  shows another view of a forearm of a user and a forearm brace according to an embodiment. 
         FIGS.  14 A and  14 B  show respective back and front isometric views of a forearm brace coupled to a controller according to an embodiment. 
         FIGS.  14 C- 14 F  show various side views and a cross-sectional view of a forearm brace coupled to a controller according to an embodiment. 
         FIG.  15    is an exploded view of a forearm brace coupled to a controller according to an embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     Aspects of the present disclosure are related to systems and methods for providing a user with the ability to send navigation signals using a hand controller that may be operable with a single hand, as an extension of the user&#39;s body. The hand controller includes several control members that may be operated by a user via user&#39;s motion of a wrist and/or fingers. 
     Specific embodiments are described in detail and are shown in the drawings, with the understanding that the present disclosure is to be considered an exemplification of the principles of the invention and is not intended to limit the invention to that illustrated and described herein. It is to be fully recognized that the different teachings of the embodiments discussed below may be employed separately or in any suitable combination to produce desired results. The various characteristics mentioned above, as well as other features and characteristics described in more detail below, will be readily apparent to those skilled in the art upon reading the following description of illustrative embodiments of the invention, and by referring to the drawings that accompany the specification. 
     The present disclosure describes several embodiments of a control system that allows a user to control movements of a target object using a single controller. In one embodiment, a hand controller may include a first control member for receiving a set of one or two independent first inputs from a user, a second control member that is coupled to the first control member and is configured to receive a set of one, two or three additional inputs from the user, and a third control member that can receive a third input from the user. The user inputs are generated by the user moving, rotating, or pushing first control members in up to two DoFs, the second control member in up to three DoFs, and the third control member in one DoF. In combination, the first control member, the second control member, and the third control member may control four DoFs. In some cases, the combination of the first control member, the second control member, and the third control member may control more than four DoFs (e.g., five or six DoFs). Further, when the target object includes multiple components, each of which may have associated degrees of freedom (e.g., the target object may be a robotic arm having multiple components, or an aerial vehicle having a camera attached to a gimbal system), the combination of the first control member, the second control member, and the third control member may control more than six DoFs (e.g., five DoFs for the motions of an aerial vehicle, and yaw and pitch of a camera coupled to the aerial vehicle). Also, for the camera of the aerial vehicle, a camera zoom can also be classified as a DoF (e.g., the camera zoom may be achieved by a motion of a lens within a lens system associated with the camera). 
     Further, in addition to controlling various DoFs, the first control member, the second control member, and/or the third control member may also control various operational parameters of the target object, such as a rate of change of a position, orientation, motion, and/or rotation of the target object, or any other additional operational parameters. The additional operational parameters may be associated with control parameters for various sensors and actuators of the target object. The actuators of the target object may include lights emitted by the target object (e.g., laser beams emitted by lasers associated with the target object), audio signals emitted by the audio devices associated with the target object (including, for example, ultrasound generators), devices associated with a camera of the target object (e.g., lens system, lens cleaning devices, gimbals for orienting the camera, and the like), mechanical actuators configured to manipulate objects in an environment of the target object, and the like. The sensors of the target object may include proximity sensors, audio sensors (e.g., ultrasound sensors), one or more visible, infrared, and ultraviolet cameras, one or more haptic sensors, and the like. 
     The controller is configured to map user inputs to preselected outputs (herein also referred to as motion commands or control inputs) that are used to control a target object. The control members (i.e., the first control member, the second control member, and the third control member) of the controller may be actuated (e.g., moved or rotated) by a user&#39;s single hand. 
     The controller with any one or combination of various features described herein can be used in applications such as flight simulation, computer aided design (CAD), drone flight, aircraft flight, aircraft landing and take-off, fixed wing and rotary wing flight, computer gaming, virtual and augmented reality navigation, aerial refueling, control of medical devices, control of surgical tools (e.g., surgical robotics), control of military equipment, control of yard tools, terrestrial and marine robotic control, control of industrial robots, and many others. 
       FIG.  1    is a schematic view of an example controller  100  having a first control member  101 , a second control member  102 , and a third control member  103 , herein collectively referred to as control members  105 . In an example implementation, the first control member  101  is movable with one or two independent DoFs and providing in response thereto a first control input  51  or a set of first control inputs  51 , as indicated in  FIG.  1   . Further, the second control member  102  is coupled to the first control member  101  and is movable with three independent DoFs independently of the first control member  101 . The second control member  102  provides in response to its motion, a set of three independent second control inputs S 2 A, S 2 B, and S 2 C (as shown in  FIG.  1   ), where the second control inputs are independent of the first control input(s)  51 . Additionally, the controller  100  includes a third control member  103  coupled to the first control member  101  and the second control member  102 , the third control member movable with one DoF. In response to its motion, the third control member provides a third control input S 3 , as also indicated in  FIG.  1   . In one embodiment, the third control input S 3  is the same as one of the three independent second control inputs S 2 A, S 2 B, and S 2 C. 
     The control inputs  51 , S 2 A-S 2 C, and S 3  (herein, also referred to as signals) may combined into signal data  110  which is transmitted through a suitable transmitter to a receiver of a target object  120 . The target object  120  may be any suitable object capable of motion (e.g., the target object  120  may be a drone, a robotic arm, an aircraft, a submersible vehicle, a spacecraft, a robot, an object in a virtual environment, an autonomous vehicle, such as a car, or any other suitable object capable of motion). It should be noted, that in some implementation (not shown in  FIG.  1   ), the control inputs  51 , S 2 A-S 2 C, and/or S 3  may be transmitted separately to the receiver of the target object  120 . Herein, transmitted separately may include transmission at different times, at different transmission radio frequencies, and the like. In some cases, S 1  and S 3  may be combined into combined signal data, while the signals S 2 A-S 2 C may be transmitted separately. Alternatively, the signals  51 , S 2 A-S 2 C, and S 3  may be combined in any other suitable combination. 
     Upon receiving the signal data  110 , the receiver is configured to activate actuators (e.g., various motors, or any suitable motion inducing elements, such as springs under compression or extension, elements actuated by compressed air, and the like) to cause the target object  120  to move. In the implementation, as shown in  FIG.  1   , the target object  120  can perform at least some of the six DoF motions based on the signal data  110  received from the controller  100 . In some cases, the target object  120  is capable of executing six DoFs. Such six DoF motions include three rotation about axis of a coordinate system (X axis, Y axis, and Z axis, as shown in  FIG.  1   ) associated with the target object  120  (e.g., roll, pitch, and yaw rotations) as well as three translational motions such as forward and back (FB) motions (e.g., translations along X axis), left and right (LR) motions (e.g., translations along Y axis) and up (U) and down (D) motions (e.g., translations along Z axis). Further, when the target object  120  includes a system of several coupled objects, with each one of the coupled objects capable of executing at least one DoF, the DoFs of such a system of coupled objects may be controlled. In some cases, the system of several coupled objects may have more than six degrees of freedom, and these DoFs may be controlled by the controller  100 . 
     It should be appreciated, that the controller  100  may, in some cases, control more than one target object when these target objects are moving synchronously (e.g., execute the same translational or rotational motions). For example, the controller  100  may be configured to control an array of drones performing the same functions synchronously. In such case, the control inputs  51 , S 2 A-S 2 C, and S 3  may be transmitted to all of the target objects that are being controlled by the controller  100 . Further, in some other embodiments (not shown in  FIG.  1   ), the controller  100  may have an additional switch allowing a user to select a particular target object that needs to be controlled via the controller  100 . For example, the user may control a first target object, and then switch to a second target object. In various implementation of the controller  100 , the first control member  101 , the second control member  102 , and the third control member  103  are configured to be operated by a user&#39;s single hand and one or more digits thereof. 
     In some embodiments, the second control member  102  and the third control member  103  are in a dynamic balance. In one dynamic balance configuration, the third control member  103  is coupled to the second control member  102  (e.g., through a linkage) to displace the second control member  102  when the third control member  103  is displaced inwardly by the user squeezing or pulling the third control member  103  with one or more fingers. Pushing down the second control member  102  may, if desired, also push outwardly from the controller  100  the third control member  103 , allowing user&#39;s thumb or index finger to be dynamically balanced by the user&#39;s other digits. Dynamic balance in a controller is disclosed in PCT/US2018/57862, the contents of which are incorporated herein by reference. 
       FIG.  2    shows an embodiment of a controller  200 . The controller  200  can include components that are structurally and/or functionally the same or similar to components of other controllers described herein, including, for example, the controller  100 . The controller  200  includes a first control member  201 , a second control member  202 , and the third control member  203  (herein collectively referred to as control members  205 ) that are structurally and functionally similar to respective other control members  105  as described herein. The controller  200  further includes a processor  204  coupled to each one of the control members  205 . The processor  204  may be a central processing unit, a programmable logic controller, and/or a variety of other processors as may be known by one or more of ordinary skill in the art. The processor  204  is also coupled to a transmitter  210 , a rotational module  211 , and a translational module  212 . While not illustrated or described in any further detail, other connections and coupling may exist between the control members  205 , the transmitter  210 , the rotational module  211 , and the translational module  212 , while remaining within the scope of the present disclosure. Furthermore, components of the controller may be combined or substituted with other components as may be known by one or more of ordinary skill in the art while remaining with the scope of the present disclosure. 
     In an embodiment, the controller  200  is configured to receive input from a user through the control members. For instance, the user may move (e.g., translate or rotate) the control members  205  and these movements of the control members  205  may be processed by a rotational module  211 , a translational module  212  and converted into signals for a target object  220  via a signal conversion module  213 . The converted signals then may be transmitted to the target object  220  to activate actuators of the target object  220  causing the target object  220  to move. 
     As shown in  FIG.  2   , the rotational inputs for the controller  200  (obtained by a user moving his/her wrist and/or his/her fingers) are detected and/or measured using the rotational module  211 . For example, the rotational module  211  may include detectors (e.g., sensors) for detecting the rotation of the control members  205  from an equilibrium position (herein, also referred as a null position). In some implementations, the detectors for detecting a rotation of the control members  205  may include photo-detectors for detecting light beams, rotary and/or linear potentiometers, inductively coupled coils, physical actuators, gyroscopes, switches, transducers, Hall effect sensors, optical encoders, load cells, or any other device that can measure angular movement, and/or a variety of other related detectors. In some embodiments, the rotational module  211  may include accelerometers for detecting the movements of the control member  205  from an equilibrium position. For example, the accelerometers may each measure the proper acceleration of the second control member  202  with respect to an inertial frame of reference. 
     Further, various motions of the control members  205  may be detected and/or measured using breakout switches, transducers, and/or direct switches for each of the three ranges of motion (e.g., rotation or translational movements of control members  205 ). For example, breakout switches may be used to detect when the one of the control members  205  is initially moved (e.g., rotated by a few degrees) from an equilibrium position. For each range of motion (e.g., rotation or any other motion), transducers may provide a signal that is proportional to the amount of the motion. The breakout switches and direct switches may also allow for acceleration of the control members  205  to be detected. In an embodiment, redundant detectors and/or switches may be provided as components of the controller  200  to ensure that the controller  200  is fault tolerant. 
     Translational inputs are detected and/or measured using the translational module  212 . For example, the translational module  212  may include translational detectors for detecting the displacement one of the control members  205  from a null position characterized by coordinates {x 0 ,y 0 ,z 0 }={ 0 , 0 , 0 } to another position characterized by coordinates {x,y,z}. Translational detectors may include physical actuators, translational accelerometers, and/or a variety of other translation detectors as may be known by one or more of ordinary skill in the art (e.g., many of the detectors and switches discussed above for detecting and/or measuring rotational input may be repurposed for detecting and/or measuring translation input.) 
     The processor  204  of the controller  200  is configured to generate control inputs (herein also referred to as a control signal) based on one or more rotational inputs detected and/or measured by the rotational module  211  and/or one or more translational inputs detected and/or measured by the translational module  212 . Those control signals generated by the controller processor  204  may include parameters defining movement output signals for one or more of six degrees of freedom (6-DOF) (i.e., pitch, yaw, roll, movement along an x-axis, movement along a y-axis, movement along a z-axis). In several embodiments, discrete control inputs (e.g., yaw control input, pitch control input, roll control input, x-axis movement control input, y-axis movement control input, and z-axis movement control input) are produced for discrete predefined movements of the control members  205 . A set of first control inputs defining a first set of DoFs for the target object  220  may be generated due to a movement of the first control member  201 , a set of second control inputs defining a second set of DoFs for the target object  220  may be generated due to a movement of the second control member  202 , and a set of third control inputs defining a third set of DoFs for the target object  220  may be generated due to a movement of the third control member  203 . 
     In some implementations, the set of first control inputs includes one control input, and the set of first DoFs includes one DoF. Additionally, or alternatively, the set of third control inputs includes one control input, and the set of third DoFs includes one DoF. 
     Beyond 6-DoF control, discrete features such as ON/OFF, trim, onboard camera pan and tilt, and other multi-function commands may be transmitted to the target object  220 . Conversely, data or feedback from the target object  220  may be received by the controller  200  (e.g., an indicator such as an LED may be illuminated green to indicate the controller  200  is on. Any other feedback from the target object  220  may be transmitted to the processor  204  and/or to any auxiliary devices that can be configured to analyze and/or visualize the feedback. For example, an auxiliary device may include an electronic device containing a display (e.g., a smartphone, tablet, head-mounted display or laptop) that may visualize the feedback received from the target object  220 . For example, the display of the auxiliary device may show parameters related to movements of the target object  220 . Such parameters may include coordinates of the target object  220 , velocity vector of the target object  220 , acceleration vector of the target object  220 , amount of power (e.g., amount of a fuel, remaining of a battery power, and the like) left to power the target object  220 , performance of various components of the target object  220 , temperature of various components of the target object  220 , or any other parameters for the target object  220  affecting the performance of the target object  220 . In some cases, the feedback from the target object  220  may indicate that the operations of the target object  220  need to be stopped or that the intensity at which the target object  220  operates needs to be reduced. Alternatively, in some cases, the feedback from the target object  220  may indicate that the intensity at which the target object  220  operates needs to be increased. 
     The control signals generated by the processor  204  may be processed by a signal conversion module  213 . For example, the signal conversion module  213  may include an associated processor (or use the processor  204 ) coupled to a computer-readable medium including instructions that, when executed by the processor, cause the processor to provide a control program that is configured to convert the control signals into control inputs (herein, also referred to as motion commands). In an embodiment, the processor may convert the control signal into motion commands for a virtual three-dimensional (3D) environment (e.g., a virtual representation of surgical patient, a video game, a simulator, and/or a variety of other virtual 3D environments as may be known by one or more of ordinary skill in the art). Thus, the target object  220  may exist in a virtual space, and the user may be provided a point of view or a virtual representation of the virtual environment from a point of view inside the target object  220  (e.g., the control system  200  may include a display that provides the user a point of view from the target object  220  in the virtual environment). In another example, as previously discussed, the target object  220  may be a physical device such as a robot, an end effector, a surgical tool, a lifting system, etc., and/or a variety of steerable mechanical devices, including, without limitation, vehicles such as unmanned or remotely-piloted vehicles (e.g., drones); manned, unmanned, or remotely-piloted vehicles and land-craft; manned, unmanned, or remotely-piloted aircraft; manned, unmanned, or remotely-piloted watercraft; manned, unmanned, or remotely-piloted submersibles; as well as manned, unmanned, or remotely-piloted space vehicles, rocketry, satellites, and such like. 
     Further, the signal conversion module  213  includes operating parameters when generating motion commands using the signals from the controller  200 . Operating parameters may include, but are not limited to, gains (i.e., sensitivity), rates of onset (i.e., lag), deadbands (i.e., neutral), limits (i.e., maximum angular displacement), and/or a variety of other operating parameters as may be known by one or more of ordinary skill in the art. In some implementations, the gains of control members  205  may be independently defined by a user. 
     In an embodiment, operating parameters may also define how signals sent from the controller  200  in response to the different movements of the control members  205  are translated into motion commands that are sent to the target object  220 . In an example implementation, the operating parameters may define which motion commands are sent to the target object  220  in response to movements and resulting movement output signals from the control members  205 . Thus, operating parameters, allow one to “program” the operation of the controller  200 . 
     In some cases, the operating parameters may be received from an external computing device (not shown) operated by the user. For example, the external computing device may be preconfigured with software for interfacing with the controller  200 . In other embodiments, the operating parameters may be input directly by a user using a suitable display screen (e.g., a display screen associated with an auxiliary electronic device such as a smartphone) coupled with the controller  200 . 
     In an embodiment, the motion commands generated by the signal conversion module  213  may be transmitted by the transmitter  210  to a receiver of the target object  220 . The transmitter  210  of the controller  200  is configured to transmit the control signal through a wired or wireless connection. For example, the control signal may be one or more of a radio frequency (“RF”) signal, an infrared (“IR”) signal, a visible light signal, and/or a variety of other control signals as may be known by one or more of ordinary skill in the art. In some embodiments, the transmitter  210  may be a Bluetooth transmitter configured to transmit the control signal as an RF signal according to one of the known Bluetooth protocols. 
     In some embodiments, a feedback signal from target object  220  may be received by the transmitter  210 . The received feedback signal may allow the user of the controller  200  to adjust the movement of the target object  220  to, for example, avoid a collision with a designated region (e.g., target objects in a real or virtual environment, critical regions of a real or virtual patient, etc.). The feedback signal may be presented to the user visually (e.g., lights that light up on the controller  200 ), or, when a display is available for the user, via the display. In some cases, the feedback signal may be presented as a haptic signal (e.g., vibration of the control members  205 ), or increased resistance to motion for the control members  205 . 
       FIG.  3    shows an example embodiment of a controller  300  which can include components that are structurally and/or functionally the same or similar to components of other controllers described herein, including, for example, the controller  100  or the controller  200 . For example, the controller  300  includes a first control member  301 , a second control member  302 , and a third control member  303  (herein collectively referred to as the control members  305 ), which are structurally and/or functionally the same respectively as the control members  105  or  205 . In the example embodiment as shown in  FIG.  3   , the first control member  301  is configured to control a yaw (Y) rotation of a target object, and the second control member  302  is configured to provide a set of three independent second control inputs, where the second control inputs are independent of the first control input. In some cases, the first controller  301  may have an additional DoF (e.g., besides being twisted it might move, for example forward and back). Such additional DoF may correspond to controlling a DoF of the target object (e.g., forward and back motion of the first control member  301  may control a pitch of the target object). Additionally, in some cases, the first control member  301  may have other DoFs. For example, the first control member  301  may be configured to move up and/or down along the axis of the first control member  301  and relative to the base of the first control member  301  upon forces exerted by a wrist of the user. In some cases, downward pressure from the user&#39;s wrist onto the first control member  301  (e.g., a pressure force towards a base that supports the first control member  301 ) may lead to the downward motion of the first control member  301 . Such a downward motion of the first control member  301  may result in the controller  300  transmitting a signal to the target object that causes a downward motion of the target object. Further, the first control member  301  may be configured to move upward upon a pulling force exerted by a wrist of the user. The upward motion of the first control member  301  may result in a transmitted signal to the target object that causes an upward motion of the target object. In various embodiments, a biasing member (e.g., a spring) may be used to return the first control member  301  into a neutral position after completion of the upward or downward motion of the first control member  301 . 
     Further, controller  300  may include one or more sensors for detecting one or more forces that are exerted by a user on the first control member  301 . For example, a user may exert a downward pressure, a leftward side pressure, a rightward side pressure, a forward side pressure, a backward side pressure, an upward pull force, or combination thereof on the first control member  301  and a suitable sensor (e.g., a pressure sensor such as a piezoelectric sensor, or any other pressure sensor) may be configured to detect the forces exerted by a user&#39;s wrist. In response to an amplitude and a direction of the exerted force, the controller  300  may be configured to control the motion of the target object. For example, the downward pressure force onto the first control member  301  (e.g., pressure onto the first control member  301  towards the base supporting the first control member  301 ) may result in a transmitted signal to the target object that causes the target object to move downwards, while the upward pull force onto the first control member  301  may result in a transmitted signal to the target object that causes the target object to move upward. Similarly, other pressure forces (e.g., leftward, rightward, forward, and backward side pressure forces) may result in a transmitted signal to the target object that causes the target object to move respectively leftward, rightward, forward, or backward. In some cases, the amplitude of the exerted force in a particular direction (e.g., the downward pressure exerted onto the first control member  301 ) may determine a speed and/or acceleration with which the target object is moving in that direction (e.g., the speed and/or acceleration with which the target object is moving downwards). In some cases, the amplitude of the exerted force in a particular direction determines a speed of the target object, and a change in the amplitude of the exerted force in a particular direction determines an acceleration of the target object in that particular direction. For instance, when a user reduces the amplitude of the downward pressure exerted onto the first control member  301 , the target object decreases its speed when moving downwards. 
     In an example implementation, the set of three independent control inputs provided by the second control member corresponds to three translational movements. For example, various movements of the second control member  302  may correspond to translational motion along X axis of the coordinate system associated with the target object (e.g., FB motion), translational motion along Y axis of the coordinate system associated with the target object (e.g., LR motion), and translational motion along Z axis of the coordinate system associated with the target object (e.g., D motion of the target object), as further described below in relation to  FIGS.  4 A- 4 E . Further, the third control member  303  may also be configured to control translational motion along Z axis of the coordinate system associated with the target object (e.g., U motion of the target object). It should be appreciated that the embodiment shown in  FIG.  3    is only one possible way of implementing a controller such as the controller  100  or the controller  200 . In another implementation, the second control member, for example, may be configured to control FB, LR, U, and D movements of the target object, in combination with the third control member controlling U motion of the target object. Further, other implementations are possible as well (e.g., the second control member may control roll of the target object, and/or the first controller may control FB motion of the target object). 
       FIGS.  4 A- 4 E  show an example embodiment of a controller  400  which can include components that are structurally and/or functionally the same or similar to components of other controllers described herein, including, for example, the controllers  100 - 300 . The controller  400  includes a first control member  401  in a form of an elongated member having a central axis  432 . The elongated member may be similar to a joystick. The first control member  401  is coupled to a base  404  and is configured to be gripped by a user&#39;s single hand  450 . In the example embodiment shown in  FIG.  4 B , the first control member  401  is configured to rotate about the central axis  432  according to an arrow  431  (e.g., the first control member  401  is configured to rotate in a clockwise and counterclockwise direction about the central axis  432 ). The rotation of the first control member  401  of the controller  400  is further shown in  FIG.  4 C  via arrows  431  about the central axis  432 . Such rotations are translated into a motion command (e.g., a command to execute a yaw motion) for a target object. 
     It should be appreciated that the controller  400  may be programmable. For example, the rotation of the first control member  401  about the central axis  432  may be programmed to correspond to a yaw rotation of the target object. In one example implementation, programming the controller  400  may include uploading firmware via a wireless (e.g., WiFi, Bluetooth, and the like), or wired connection from an auxiliary electronic device (e.g., a smartphone, a laptop, a desktop, a USB drive, a smartcard, and the like), or connecting the controller to an auxiliary electronic device and configuring the controller through a suitable interface (e.g., an application for the controller) residing on that auxiliary electronic device. 
     In some instances, the controller  400  may be updated without resorting to the use of auxiliary electronic device. For example, the controller  400  may include buttons, screen, and/or a touch screen and the like, that can be used to update parameters of the controller  400 . For instance, the screen of the controller  400  may include options that can be selected using suitable one or more buttons of the controller  400 . In some cases, when the controller  400  includes the touch screen, parameters on the touch screen may be selected. Further, a combination of buttons may be used to update certain features of the controller  400 . Additionally, or alternatively, buttons may be configured to be pressed for a specific period of time to cause certain updates of the controller  400 . In various cases, various button actions (e.g., actions of pressing buttons) may be combined to cause updates of the controller  400 . 
     As shown in  FIG.  4 A , the second control member  402  may have a shape of a portion of a sphere and be located at a top of the first control member  401 . The second control member  402  is configured to be manipulated by a thumb  451  of the user&#39;s hand  450 . In one implementation, shown in  FIGS.  4 A- 4 E , the movement of the second control member  402  allows the user to provide translational inputs to the target object. As shown in  FIG.  4 D , inputs from the user&#39;s thumb  451  include rotations about x axis of a coordinate system associated with the second control member  402 , and y axis of the coordinate system associated with the second control member  402 . Such rotations can be mapped into motion commands of the target object. For example, rotations about x axis may be mapped into FB translational motions of the target object while rotations about y axis may be mapped into LR translational motions of the target object, as indicated by a top view of the second control member  402 , as shown in  FIG.  4 E . Further, as shown in  FIG.  4 D , a downward motion (e.g., a push of the thumb  451  onto the second control member  402 ) along z axis of the coordinate system associated with the second control member  402  may be mapped into a D translational motion for the target object. 
     It should be appreciated that a second control member (similar to the second control member  402 ) may be implemented not only as a spherical/hemispherical object but in any other suitable way that can be actuated by a thumb of the user. For example, in some embodiments, the second control member may be implemented also as a small, elongated member capable of tilting front and back, tilting side-to-side, and moving up and down. For example, the second control member may be a small joystick operatable by a thumb of the user. In such implementation, tilting the second control member forward and backward may provide the FB translational motion for a target object, tilting the second control member side to side may provide the LR translational motion for the target object, and moving the second control member down may provide the D translational motion for the target object. 
     Further, similar to the first control member (e.g., the control member  401 ), the second control member (e.g., the control member  402 ) may be programmed in any suitable way. For example, instead of mapping rotations about x axis of the second control member  402  to FB translational motions of the target object, such rotations may be mapped into pitch rotations of the target object. Similarly, rotations about y axis of the second control member  402  may be mapped into roll rotations for the target object (instead of being mapped into LR translational motion of the target object). Any other mapping may be used, and the controller  400  may be updated via an auxiliary electronic device, as described above. 
     In various embodiments discussed herein, a second control member (e.g., the second control member  402 ) is configured to be moved solely by a thumb of the user (e.g., thumb  451 , as shown in  FIG.  4 A ) while the user is gripping the first control member (e.g., the first control member  401 ) with a hand (e.g., the hand  450 ). 
     As discussed above, a suitable module is configured to detect and/or measure signals from a second control member (e.g., the second control member  402 ). For example, a rotational module such as the rotational module  311  is configured to detect rotation of the second control member  402  about x and y axis. Further, a translational module such as translational module  312  is configured to measure translational movements of the second control member  402  about the z axis. For example, the rotational or the translational module includes detectors for detecting the rotations or displacement of the second control member  402  from a null position due to actuations by a thumb of the user. As discussed above, translation and rotation detectors may include physical actuators, accelerometers, and/or a variety of other detectors as may be known by one or more of ordinary skill in the art (e.g., many of the detectors and switches discussed above for detecting and/or measuring rotational or translational input. 
     Further, the third control member  403  can be reached and manipulated by a user&#39;s finger (e.g., by an index finger  452 , as shown in  FIG.  4 A ). Other user&#39;s fingers  453  may wrap around the first control member  401 . In the example implementation, as shown in  FIG.  4 A , the third control member  403  may be implemented as a trigger element configured to move in and out of a socket  405  within the first control element  401 . In some other implementations, the third control member  403  may be implemented as a button, as a spherical/hemispherical element, and the like. 
     In an example implementation, a motion command corresponding to the movement of the third control member  403  may be for a DoF motion of the target object that is also the degree of freedom for the target object controlled by the second control member  402 . For example, the second control member  402  may control the D motion of the target object and the third control member  403  may control the U motion of the target object, where the D and U motions correspond to a single degree of freedom (e.g., translation along Z axis, as shown in  FIG.  1   ). In some implementations, when the second control member  402  is pressed downwards (e.g., toward a base  404  of the controller  400 ) by thumb  451  of the user, as shown in  FIG.  451   , the third control member  403  is configured to be pushed out of the socket  405  of the first control member  401 . Alternatively, when the third control member  403  is pushed into the socket  405 , the second control member  402  may be configured to be pushed upwards (e.g., away from the base  404  of the controller  400 ). 
       FIG.  5    shows another embodiment of a controller  500 . Controller  500  may be similar in form and in function to controllers  100 - 400 , as described herein, and include a first control member  501 , a second control member  502  and a third control member  503 . In the example embodiment, as shown in  FIG.  5   , controller  500  is different from controller  400  in that the second control member includes a ring element  502 B coupled to a gimbal  502 A. In the example embodiment, the user can insert a thumb  451  into an opening of the ring element  502 B. Having the thumb  451  in the opening of the ring element  502 B allows the user to move thumb  451  in an upward direction, thereby pulling the gimbal  502 A upwards. Further, the user&#39;s thumb  451  may be moved downwards, thereby pushing the gimbal  502 A downwards. Motion of the gimbal  502 A in an upward or downward direction is translated by a signal conversion module into motion commands for a target object to move respectively in an up or down direction. Further, similar to the embodiment associated with  FIGS.  4 A- 4 E , when the second control member  502  is pressed downwards (e.g., toward a base  504  of the controller  500 ) by a thumb  551  of a user, as shown in  FIG.  5   , the third control member  503  is configured to be pushed out of the socket  505  of the first control member  501 . Alternatively, when the third control member  503  is pushed into the socket  505 , the second control member  502  may be configured to be pushed upwards (e.g., away from the base  504  of the controller  500 ). Further, when the second control member  502  is pulled up by the thumb  551  of the user, the third control member  503  may be configured to be pulled into the socket  505 . 
       FIGS.  6 A- 6 G  shows various views of a controller  600  which can include components that are structurally and/or functionally the same or similar to components of other controllers described herein, including, for example, the controllers  100 - 500 .  FIG.  6 A  shows a first view of the controller  600  including a first control member  601 , a second control member  602  coupled to the first control member  601  at a top portion of the first control member  601 , and a third control member  603  coupled to a side part of the first control member  601 .  FIG.  6 B  shows a second view of the controller  600  (the second view is a view from a perspective different from the first view). Note that in the embodiment shown in  FIGS.  6 A- 6 B , the second control member  602  includes a thumb engaging element  602 C coupled to a gimbal (e.g., the gimbal may be similar to the gimbal  502 A of  FIG.  5   ) of the second control member  602  and configured to receive and at least partially surround a thumb of the user. As shown in  FIGS.  6 A- 6 B , the thumb engaging element  602 C includes sides sd 1  and sd 2  that prevent a user&#39;s thumb from slipping from the second control member  602 , when the user moves the thumb to actuate (e.g., to move) the second control member  602 . Further, the gimbal of the second control member  602  is partially surrounded by the first control member  601 . 
     Further, as shown in  FIGS.  6 A and  6 B , the first control member  601  has a coupling element  606  that is configured to couple to a base of the controller  600  (as further shown in subsequent figures).  FIG.  6 C  shows a side view of the controller  600 ,  FIG.  6 D  shows the view of the controller  600  from a back side,  FIG.  6 E  shows a top side view of the controller  600 , having the first control member  601  and the second control member  602 , and  FIG.  6 F  shows the bottom side view of the controller  600  having the first control member  601  and the coupling element  606 . 
       FIG.  6 G  shows a cross-sectional area of the controller  600  along a plane section A-A, as shown in  FIG.  6 E . The controller  600  includes the first control member  601 , the second control member  602 , and the third control member  603 . The second control member is supported by spring elements  602   s . These spring elements allow for the second control member  602  to move up and down along to axial direction  602   a . Further, the third control member  603  is configured to move in a direction indicated by arrow  603   m , which is achieved by rotating an extension arm  603   e  of the third control member  603  about axis  603   a  as indicated by arrow  603   r . The rotational motion may be actuated by an index finger of a user pressing onto the third control member  603 . Further, the rotation may be counterbalanced by a spring  603   s , as shown in  FIG.  6 G , such that the third control member  603  returns into a null position when there is no pressure from the index finger. As shown in  FIG.  6 G , the third control member  603  includes a vibration haptic motor  603   v  that is configured to provide a vibrational alert to an index finger of a user. The vibrational alert may be issued when a target object controlled by the controller  600  is on a collision course with another object in an environment of the target object. For example, the vibrational alert of the vibration haptic motor  603   v  may be issued when by moving the target object upwards (e.g., when pressing the third control member  603  with the index finger) the target object is likely to collide with another object. The collision of the target object with other objects in the environment of the target object may be determined by various systems associated with the target object. For instance, the target object may include a radiolocation system configured to determine distances from the target object to other objects in the environment of the target object. Further, the target object may include a transceiver configured to transmit data about proximity of objects to the target object to a processor associated with the controller  600  via a transmitter/receiver of the controller  600  (the processor associated with the controller  600  may be similar in form or in function to the processor  204  of the controller  200 , and the transmitter/receiver of the controller  600  may be similar in form or in function to the transmitter  210  of the controller  200 , as shown in  FIG.  2   ). 
     The third control member  603  is illustrated in further detail in  FIGS.  6 H and  6 I . In the example implementation, an axial member  603   x  is configured to pass through openings in sides  603   b  and  603   c  of the extension arm  603   e  of the third control member  603 , such that the third control member  603  is configured to rotate about  603   a  passing through a center of the axial member  603   x . Further, as shown in  FIGS.  6 H and  6 I , the third control member  603  includes a detent  603   d   1  designed to provide a tactile response to the user when the third control member  603  leaves or returns to a null position. The detent includes a groove  603   d   1  that is configured to couple to a cylindrical element  603   d   2  (e.g., the cylindrical element  603   d   2  partially enters the groove  603   d   1 ), when the third control member  603  is in the null position. When the user applies pressure onto the third control member  603 , the cylindrical element  603   d   2  exits the groove  603   d   1  and is configured to move within an opening  603   d   3  towards an inside end  603   d   4 . Further, when the user applies pressure onto the second control member  602 , the second control member  602  is configured to move downwards, thereby pushing the cylindrical element  603   d   2  out of the groove  603   d   1  and towards an outside end  603   d   5  of the opening  603   d   3 . Note that detent  603   d  allows the user to sense whether the third control member  603  is moved away from the null position. Further, the second control member  602  and the third control member  603  are said to be in a dynamic balance, as the pressure from the index finger onto the third control member  603  causes the third control member  603  to move inwards (i.e., into a socket located in the first control member  601 ), and further causes the second control member  602  to move upwards (away from the base of the controller). Further, the pressure from the thumb of the user onto the second control member  602  causes the second control member  602  to move downwards (towards the base of the controller), thereby causing the third control member  603  to move outwards (i.e., out of the socket located in the first control member  601 ), and further causes the third control member  603  to apply pressure onto the index finger of the user. 
     It should be noted that the first control member  601  and the second control member  602  may include similar detent structures (e.g., depressions) configured to provide a tactile feedback to the user that the first control member  601  is in a null position and/or the second control member  602  is in a null position. In one embodiment, the first control member  601  may include a spring-loaded ball within a bottom side of the first control member  601  and a hemispherical socket within a base of the controller  600 , such that the spring-loaded ball is configured to partially couple (e.g., enter) the hemispherical socket of the base when the first control member  601  is in the null position. The spring-loaded ball is configured to leave the hemispherical socket when the first control member  601  is twisted away from the null position, thereby provide a tactile sensation to the user&#39;s hand. Further, the second control member  602  may be configured to provide shear forces onto a thumb of a user, when the second control member  602  is away from the null position (e.g., the shear forces may be caused by forces due to springs attached to the second control member  602  and configured to restore the second control member  602  into the null position. Additionally, or alternatively, suitable devices associated with the second control member  602  may be also used to provide the tactile feedback to the user&#39;s thumb when the second control member  602  is in the null position (e.g., such device may include one or more spring-loaded elements coupled to suitable sockets when the second control member  602  is in the null position, and these spring-loaded elements may be configured to exit the associated sockets when the second control member  602  is away from the null position). 
       FIG.  7 A  shows an exploded view of a controller  700 . The controller  700  includes components that are structurally and/or functionally the same or similar to components of other controllers described herein, including, for example, the controllers  100 - 600 . In the example embodiment, as shown in  FIG.  7 A , the controller  700  includes a first control member  701 , a second control member  702 , a third control member  703 , a plurality of elongated elements  702   p , a plurality of supporting springs  702   s  (each one of elongated elements  702   p  is placed inside coils formed by respective each one of springs  702   s ). Further, the controller  700  includes a sensor  702   d  (or a set of sensors  702   d ) for detecting motions of the second control member  702 . The sensor  702   d  may be any suitable sensor or a combination thereof. For example, the sensor  702   d  may include a motion sensor (e.g., an optical sensor), a rotational sensor (e.g., an inductive sensor), a pressure sensor (e.g., a piezoelectric sensor), a potentiometer, a Hall effect sensor and the like for detecting a degree of rotation or translation of the second control member. In some cases, the sensor  702   d  is configured to measure accelerations due to a motion of a user&#39;s thumb. 
     The second control member  702  includes a platform element  702   c  that is coupled to the first control member  701  via suitable bolts  702   b , as shown in  FIG.  7 B . As shown in  FIG.  7 A , the first control element  701  may have a first side  701   c  and a second side  701   d  which may be bolted together via bolts  701   b.    
       FIG.  7 B  further shows that the first control member  701  includes vibration haptic motors  701   v  allowing for vibration cues to be sent to a user in relation to collision threats. The vibration haptic motors  701   v  may be triggered by an independent sensing system, indicating a potential collision threat. They are placed to give regional cues to the hand, suggesting a potential threat from a left (L) side, right (R) side, front (F) side, or back (B) side relative to the point of reference (e.g., a center) of a target object. As shown in  FIG.  7 B , the first control member  701  may have four vibration haptic motors  701   v  each one for each L, R, F, or B side. Each vibration haptic motor  701   v   1 - 701   v   4 , as shown in  FIG.  7 B , is configured to deliver vibrationally isolated haptic feedback to different parts of the hand of the user. For instance, the vibration haptic motor  701   v   1  corresponding to the F side may induce haptic feedback to the fingers of the user (e.g., fingers  453 , as shown in  FIG.  4 A ), a vibration haptic motor  701   v   3  corresponding to the B side may induce haptic feedback to the lower palm region (e.g., the palm region in the proximity of a wrist), and a vibration haptic motor  701   v   2  or a vibration haptic motor  701   v   4  corresponding respectively to the L or R side may induce haptic feedback to the middle palm region (e.g., the region located between the lower palm and the fingers of the hand). The vibrational haptic motors  701   v   1 - 701   v   4  may be positioned at any suitable locations around the first control member  701 . In one implementation, the vibrational haptic motor  701   v   1  is positioned at a front side of the first control member  701 , the vibrational haptic motor  701   v   2  is positioned at a left side of the first control member  701 , the vibrational haptic motor  701   v   3  is positioned at a back side of the first control member  701 , and the vibrational haptic motor  701   v   4  is positioned at a right side of the first control member  701 . Further, in an example implementation, the vibrational haptic motors  701   v   1 - 701   v   4  are positioned in about the same plane as shown in  FIG.  7 B . 
     It should be noted that the second control member  702  and/or the third control member  703  may also include vibration haptic motors. For instance, one or more vibration haptic motors within the second control member  702  may indicate a potential threat from a downward (D) side or an upward (U) side from the target object. These vibration haptic motors may provide a haptic feedback to a thumb of the user. Further, one or more vibration haptic motors within the third control member  703  may indicate a potential thread from a U or D side from the target object. These vibration haptic motors may provide a haptic feedback to an index finger of the user. Various vibration haptic motors are configured to provide haptic alerts to the user based on position data and/or orientation data associated with the target object. In one implementation, the position data and/or orientation data for the target object is received by a transmitter/receiver of the controller  700 . For example, a transmitter associated with the target object may be configured to transmit the position data and/or the orientation data to the transmitter/receiver of the controller  700 . In an example embodiment, the transmitter/receiver may be similar in form or in function to the transmitter  210  (e.g., the transmitter/receiver of controller  700  is configured to receive a feedback signal from the target object). The position data and/or orientation data may indicate the proximity of the target object with other objects in an environment of the target object. In some cases, the position data and/or the orientation data includes a velocity of the target object, an acceleration of the target object, an angular velocity of the target object, an angular acceleration of the target object, or combination thereof, and various vibration haptic motors are configured to provide haptic alerts when the position data and/or the orientation data indicates a possibility of collision of the target object with other objects in an environment of the target object. 
     Further, the vibration haptic motors include a first vibration haptic motor configured to provide a vibrational alert when a possible collision is indicated by moving the target object forward, a second vibration haptic motor configured to provide a vibrational alert when a possible collision is indicated by moving the target object backward, a third vibration haptic motor configured to provide a vibrational alert when a possible collision is indicated by moving the target object right, and a fourth vibration haptic motor configured to provide a vibrational alert when a possible collision is indicated by moving the target object left. The first, the second, the third, and the fourth vibration haptic motors may be included in the first control member. In an example implementation, the first vibration haptic motor may be the vibration haptic motor  701   v   1 , the second vibration haptic motor may be the vibration haptic motor  702   v   2 , the third vibration haptic motor may be the vibration haptic motor  701   v   3 , and the fourth vibration haptic motor may be the vibration haptic motor  701   v   4 . The first vibration haptic motor provides the vibrational alert to at least some of fingers of the user adjacent to a front side of the first control member, the second vibration haptic motor provides the vibrational alert to a portion of a palm of the user adjacent to a back side of the first control member, the third vibration haptic motor provides the vibrational alert to a portion of a palm of the user adjacent to a right side of the first control member, and the fourth vibration haptic motor provides the vibrational alert to at least some of fingers of the user adjacent to a left side of the first control member. Additionally, the vibration haptic motors further include a fifth vibration haptic motor configured to provide a vibrational alert when a possible collision is indicated by moving the target object downwards, and a sixth vibration haptic motor configured to provide a vibrational alert when a possible collision is indicated by moving the target object upwards. The fifth vibration haptic motor is included within the second control member and the sixth vibration haptic motor is included within the third control member. Further, the fifth vibration haptic motor provides the vibrational alert to a thumb of the user adjacent to the second control member and the sixth vibration haptic motor provides the vibrational alert to an index finger of the user adjacent to the second control member. 
     In various embodiments, each one of vibration haptic motors described herein may deliver vibrations to surfaces that are in vibrational isolation from vibrations of any other vibration haptic motors. The vibrational isolation may be achieved by each vibration haptic motor being compartmentalized within a control member such that each compartment containing the vibration haptic motor is vibrationally isolated from other components/surfaces of the control member. For example, the control member may be configured to transmit vibrations from a vibration haptic motor to a subset of surfaces located in proximity of the vibration haptic motor, while preventing transmission of the vibrations to other surfaces of the control member. In an example embodiment, the vibrational isolation for the vibration haptic motor may be achieved by separating a compartment containing the vibration haptic motor from other parts of the control member using a material suitable for vibration damping or absorption (e.g., a soft material, elastomer, polymer, rubber, plastic, foam, such as acoustic foam, and/or the like). The vibrational isolation allows for localization of vibrations, such that, for example, the vibrations from the vibration haptic motor  701   v   1  are sensed by user fingers are not sensed by a palm of the user, and the vibrations from the vibration haptic motor  701   v   3  are sensed by user&#39;s palm are not sensed by the fingers of the user. In one example, a first set of surfaces of the first control member (e.g., surfaces at a front side of the first control member) may be vibrated due to vibration of the vibration haptic motor  701   v   1  (i.e., the vibration haptic motor located in proximity of these surfaces but may not be vibrated due to vibrations of other vibration haptic motors (e.g., vibration haptic motors  701   v   2 - 701   v   4 ). Similarly, a second set of surfaces (e.g., surfaces at a back side of the first control member), a third set of surfaces (e.g., surfaces at a left side of the first control member), and a fourth set of surfaces (e.g., surfaces at a right side of the first control member) are configured to vibrate when the corresponding vibration haptic motor  701   v   2 - 701   v   4  is vibrating. These surfaces may not be configured to vibrate when the corresponding vibration haptic motor  701   v   2 - 701   v   4  is not vibrating. It should be noted that other vibration haptic motors besides  701   v   1 - 701   v   4  may be present (e.g., as described above, a fifth vibration haptic motor may provide vibrations to a thumb of the user and another sixth vibration haptic motor may provide vibrations to an index finger of the user). The vibration from these motors may also be isolated from vibrations of vibration haptic motors besides  701   v   1 - 701   v   4 . For instance, the surfaces of a second control member adjacent to the fifth vibration haptic motor may vibrate when the fifth vibration haptic motor is vibrating, but may not vibrate otherwise (e.g., when other vibration haptic motors are vibrating). Similarly, the surfaces of a third control member adjacent to the sixth vibration haptic motor may vibrate when the sixth vibration haptic motor is vibrating, but may not vibrate otherwise (e.g., when other vibration haptic motors are vibrating). In this manner, in use, a vibration can be localized to represent and alert to the user a specific area or region associated with a collision threat, thereby providing a quick and immediately apparent clue for the user as to a potential threat. 
       FIGS.  8 A- 8 H  shows various views and cross-sectional views of a base  804  of a controller that may be structurally and/or functionally the same or similar to controllers  100 - 700 . In the example implementation, as shown in  FIG.  8 A , the base  804  includes a connection element  804   c  for connecting a first control member (not shown) to the base. In various implementations the connection element  804   c  allows for the first control member to execute rotations about the central axis (as shown for example in  FIG.  4 C ). Any suitable mechanism may be used for executing such rotations. For example, ball bearings may be used, and the like. In some cases, the rotation of the first control member about the central axis may be limited to a range of degrees clockwise and counterclockwise rotation (e.g., a few degrees such as about 5 degrees, about 10 degrees, about 15 degrees, about 20 degrees, about 25 degrees, about 30 degrees, about 35 degrees, about 40 degrees, about 45 degrees, about 50 degrees, about 55 degrees, about 60 degrees, about 65 degrees, about 70 degrees, about 75 degrees, and the like), the range of rotation may be as much as ±180 degrees or even more. Further, the range of rotation may be between 5-180 degrees with all the values and ranges in between. 
     In various embodiments, the first control member is moveably coupled to the base  804  and is operable to produce a first control input in response to movement of the first control member relative to the base  804 . For example, the first control member is configured to rotate about a central axis and produce the first control input corresponding to a yaw command for the target object. 
     Further, the base  804  includes clamps  804   a  and  804   b  configured to clamp the base  804  to a forearm brace (the forearm brace is further described below). In an example implementation, the forearm brace includes a forearm brace connection bracket  804   e  placed between the base  804  and the clamps  804   a  and  804   b , which can be quickly secured to the base by moving levers of the clamps  804   a  and  804   b  into a closed position. Further, by moving levers of clamps  804   a  and  804   b  into an open position, the forearm brace connection bracket  804   e  may be quickly released. The clamps  804   a  and  804   b  allow for adjusting the forearm brace angle relative to the base  804 . For example, tor a typical user, a natural “null” position for grasping the first control member is biased inwards, thus, the clamps  804   a  and  804   b  may be positioned relative to the base  804  such that a wrist of the user forms a suitable angle with a forearm of the user, such that the controller associated with the base  804  may be comfortably used. In some cases, the clamps  804   a  and  804   b  may be positioned relative to the base  804 , so that the controller may be used ambidextrously (i.e., operated by either a left or a right hand of a user). 
     Additionally, the base includes a pan/tilt control  804   d  for an onboard camera, which can be operated by a hand (e.g., the second hand that does not operate the first control member, the second control member, and the third control member) of the user. The pan/tilt control  804   d  is a 2-DoF controller mounted on the front of the base  804 . 
       FIGS.  8 A and  8 G  show the isometric views of the base  804 , and  FIGS.  8 D- 8 F  and  FIG.  8 H  show various side views of the base  804 . For example,  FIG.  8 D  shows a front view of the base  804 ,  FIG.  8 E  shows a top view of the base  804 ,  FIG.  8 F  shows the back view of the base  804 , and  FIG.  8 H  shows a side view of the base  804 . Also,  FIG.  8 C  shows a cross-sectional view of the base  804  along a plane section E-E (as shown in  FIG.  8 E ), and  FIG.  8 B  shows a cross-sectional view of the base  804  along a plane section D-D (as shown in  FIG.  8 E ). 
       FIG.  8 I  shows an exploded view of the base  804  including a top cover  804   t , a bottom cover  804   f , a spring restoring element  804   s  configured to return the first control member into a null position (as further described below), clamps  804   a  and  804   b , a connection element  804   c , a port  804   d , as described above, an electronic sensor  804   h  for determining the amount of rotation of a first control member about a central axis of the first control member, as well as forearm brace connection bracket  804   e . In an example implementation, the forearm brace connection bracket  804  is secured to the bottom cover  804   f  via clamps  804   a  and  804   b  which have threaded bolts  804   k  that can be inserted into openings  8041  and secured via suitable nuts (not shown) within the bottom cover  804   f.    
     In various embodiments, a controller includes a first control member that further includes a first control biasing member coupled to the body of the elongated member, the first control biasing member being configured to generate a counter torque for the first control member (counter torque τ C1 ) being a counterclockwise or clockwise torque in response to the elongated member rotating respectively in a clockwise or counterclockwise direction about the central axis, and wherein the counter torque τ C1  is generated until the elongated member returns to a default orientation. 
       FIG.  9 A  shows an example controller  900  that may be structurally and/or functionally the same or similar to controllers  100 - 800 . The controller  900  includes a first control member  901  and a first control biasing member  904   s  configured to generate the counter torque τ C1  that is a counterclockwise or clockwise torque in response to the elongated member of the first control member  901  rotating respectively in a clockwise or counterclockwise direction as indicated by arrow M 1 Y about a central axis  932 . In the embodiment, rotation in a clockwise or counterclockwise direction of the first control member  901  (e.g., motion characterized by M 1 Y) produces a signal to a target object to perform a Yaw movement, as described above. Further, as described above, M 1 Y rotation may be limited to a range of degrees in either clockwise or counterclockwise rotation. 
     In response to motion M 1 Y, the counter (e.g., restoring) torque τ C1 , represented by an arrow R 1 Y, is configured to rotate the first control member  901  back into an equilibrium (i.e., default or null) position once the user releases the first control member  901 . This is also called a recentering mechanism. 
     The first control biasing member  904   s  may be implemented in any suitable way (e.g., a spring, a pressurized chamber, an electrical motor, a configuration of one or more magnets, or any other suitable elements of devices for causing the counter torque τ C1 . In some implementations, the magnitude of the counter torque τ C1  depends on the amount of rotation of the first control member  901  about the axis  932 . For example, in one implementation, first control biasing member  904   s  of the controller  900  is configured such that magnitude of the counter torque τ C1  is proportional to a rotational angle of the elongated member corresponding to the first control member  901  as measured from the default (i.e., null) position. Alternatively, any other dependencies of the counter torque τ C1  on the rotational angle may be used (e.g., the counter torque τ C1  may be constant, may depend on a square of the rotational angle, may be any suitable nonlinear function of the rotational angle, and the like). In some cases, the magnitude of the counter torque τ C1  as a function of the rotational angle may be programmable. For example, a function of the counter torque τ C1  as a function of the rotational angle γ may be determined by a function τ C1 (γ) that can be input by the user. 
       FIGS.  9 B- 9 C  show views of a second control member  902  configured to be manipulated by a thumb of a user. The second control member  902  includes a gimbal configured to rotate about a first axis of rotation (X axis) and a second axis (Y axis) of rotation that is perpendicular to the first axis of rotation, as shown in  FIG.  9 C . The rotation about the X axis correspond to user moving a thumb as indicated by arrows M 2 F and M 2 B, as shown in  FIG.  9 B . In an example implementation, motion M 2 F corresponds to a target object moving forward and motion M 2 B corresponds to the target object moving backward. Further, the rotation about the Y axis corresponds to the user moving a thumb as indicated by arrows M 3 L and M 3 R. The motion of the thumb of the user&#39;s single hand may be substantially lateral. In an example implementation, motion M 3 L corresponds to a target object moving left and motion M 3 R corresponds to the target object moving right.  FIG.  9 C  shows that the gimbal of the second control member  902  is further configured to move along a third axis (Z axis) perpendicular to the first and the second axes. The motion along the Z axis is configured to be controlled by a vertical movement of a thumb of the user&#39;s single hand. 
     In the example embodiment of  FIGS.  9 A- 9 C , the second control member  902  includes a second control biasing member (not shown in  FIGS.  9 A- 9 C ) coupled to a gimbal  902   a  (or a set of second control biasing members), the second control biasing member being configured to generate a counter torque τ C2  for the second control member in response to the gimbal  902   a  rotating about the first or the second axis of rotation, and wherein the counter torque τ C2  is generated until the gimbal  902   a  returns to a default (null) position.  FIG.  9 B  shows that for each motion M 2 F, M 2 B, M 3 L, and M 3 R (M 2 F-M 3 R), there are corresponding counter torques R 2 F, R 2 B, R 3 L, and R 3 R (R 2 F-R 3 R) for returning the gimbal  902   a  to the null position. 
     Similar to the counter torque τ C1  for the first control member, the counter torque τ C2  for the second control member may depend on the amount of rotation corresponding to motions M 2 F-M 3 R (e.g., be proportional to the rotations corresponding to motions M 2 F-M 3 R). Alternatively, any other dependencies of the counter torque τ C2  on the rotational angle may be used (e.g., the counter torque τ C2  may be constant, may depend on a square of the rotational angle, may be any suitable nonlinear function of the rotational angle, and the like). In some cases, the magnitude of the counter torque τ C2  as a function of the rotational angle may be programmable. For example, a function of the counter torque τ C2  as a function of the rotational angle ϕ or ψ the rotational angles ϕ or ψ are shown in  FIG.  9 C  and correspond respectively to motions M 2 F-M 2 B, and M 3 L-M 3 R) may be determined by a function τ C2  (ϕ,ψ) that can be input by the user. 
       FIG.  9 D  shows the third control member  903  disposed on a front side of the first control member  901  away from the user. The third control member  903  is configured to move in and out of a socket  903   b  of the first control member  901 . Further, the third control member  903  may include a third control biasing member (e.g., a spring  903   s , which may be structurally or functionally similar or the same as spring  603   s , as shown in  FIG.  6 G ), being configured to generate a counter force f C3  for the third control member  903  in response to the third control member  903  moving into the socket  903   b , as shown in  FIG.  9 D , of the first control member  901 . 
       FIG.  9 C  shows that in response to a downward force M 4 D due to pressure from a user&#39;s thumb, a counter force R 4 D is generated. In some implementations the counter force R 4 D may at least partially be related to the amount of pressure from the user&#39;s thumb. For example, the second control member  902  may be supported by spring elements (e.g., the spring elements may be similar to the spring elements  602   s , as shown in  FIG.  6 G ) which result in at least partial counter force R 4 D. 
     Additionally, in some implementations consistent with the implementation shown in  FIG.  9 D , the pressure from the user&#39;s thumb is configured to apply a force onto the third control member  903  which results in the third control member being pushed out of the socket  903   b  of the first control element  901  with a total force R 4 U, as shown in  FIG.  9 D . The force R 4 U is related to the force f t  from the user&#39;s thumb. In an example implementation, force R 4 U=f t +f c3 . Such a force R 4 U results in a force applied to an index finger (when the user&#39;s index finger is adjacent to the third control member  903 ), thereby establishing a balance of forces between the force exerted by the thumb of the user (f t ), the counter force f C3 , and a force exerted by the user&#39;s index finger M 4 U. Accordingly, the user&#39;s thumb and index finger can work cooperatively to control the vertical movement (i.e., along the Z-axis) of the control target. 
     In the example implementation of  FIGS.  9 A- 9 D , by pushing the third control member  903  into the socket  903   b  of the elongated member of the first control member  901 , the gimbal  902   a  of the second control member  902  is configured to move up along the third axis (Z axis); and by pushing the second control member  902  down along the third axis, the third control member  903  is configured to move out of the socket  903   b  of the first control member  901 . 
     As described above, the controllers discussed herein (e.g., the controllers  100 - 900 ) include a processor and a transmitter configured to transmit the first control input from a first control member, a set of second control inputs from the second control member, and a third control input from the third control member to the target object in a form of motion commands for the target object. The target object may reside in a real or virtual environment. 
     In various embodiments, to operate the controllers discussed herein (e.g., the controllers  100 - 900 ), a user may need to secure a controller in place. For example, the controller may be attached to a flat surface (a table), a tripod, a vehicle, an aircraft, a wall, and the like. In some cases, the controller may be hard-mounted on a console or mounted on a base configured to be placed on a surface, such as, for example, a flat surface (e.g., on a table). Alternatively, a user may hold the base of the controller with one hand while controlling the controller with another hand. To allow the user to operate the controller with a single hand, in some instances, a forearm brace may be utilized. The forearm brace can be configured to be attached to a user&#39;s forearm at a first end and to the controller at a second end (e.g., at an end of the forearm brace distal to the first side). 
       FIG.  10    shows an example diagram of a forearm brace  1010  that is configured to couple to a controller  1000  and to a forearm  1060  of a user. In an example embodiment, the forearm brace  1010  is an elongated mechanical device having a first end for coupling to the controller, a second end for coupling to the forearm  1060 , and a section extending along the length of the forearm brace  1010  from the first end to the second end. In the example implementation, when coupled to the forearm  1060 , a wrist and fingers of the user are configured to reach the controller  1000  for manipulating various control members (e.g., the first, the second, and the third control members) of the controller  1000 . 
       FIG.  11    shows an example diagram of different components of the forearm brace  1110  for attaching to a forearm of a user and a controller. The forearm brace  1110  includes a platform  1111  having an arm supporting section  1111   a , the arm supporting section  1111   a  configured to be in contact with the forearm of the user, a securing mechanism  1115  for securing the platform  1111  to the forearm, and a quick-release mechanism  1113  coupled to the securing mechanism  1115 . Additionally, the forearm brace  1110  includes a coupling mechanism  1117  for coupling the platform  1111  to a controller. 
     The quick-release mechanism  1113  is configured to receive a user&#39;s input (e.g., a first or second user input). Upon receiving the first user input, the quick-release mechanism  1113  is configured to engage the platform  1111  with the forearm of the user by moving the securing mechanism  1115 , thereby engaging the securing mechanism  1115  with the forearm of the user. Further, upon receiving the second user input, the quick-release mechanism  1113  is configured to release the platform  111  from the forearm of the user by moving the securing mechanism  1115  away from the forearm of the user. 
     The arm supporting section  1111   a  is configured to receive a forearm of the user, such that a wrist of the user is in a position for reaching a controller coupled to the forearm brace  1110  via the coupling mechanism  1117 . The arm supporting section  1111   a  may form a shape configured to partially adhere to a portion of the forearm of the user. Upon placing the forearm onto the arm supporting section  1111   a , some the user fingers are configured to wrap around the controller, as shown in  FIG.  12   . Further embodiments of a platform of a forearm brace  1110  are illustrated in  FIGS.  13 A- 13 J,  14 A- 14 F, and  15   . 
     The securing mechanism  1115  includes suitable elements of the securing mechanism  1115  configured to move adjacent to a forearm of a user to secure the platform  1111  relative to the forearm of the user. In an example embodiment, the securing mechanism  1115  includes an arm clamping element (or several arm clamping elements) configured to engage with the forearm by moving towards the forearm and disengage with the forearm by moving away from the forearm. Further details of arm clamping elements are discussed in connection with  FIG.  13 A . 
     The quick-release mechanism  1113  may be any suitable mechanical or electrical mechanism for releasing the securing mechanism  1115  from the forearm. The quick-release mechanism  1113  may include an interface (e.g., a button, a set of buttons, a touch panel controller, and the like) that may be located at any suitable location of the forearm brace  1110 . As discussed above, the quick-release mechanism  1113  may be activated via a user&#39;s input (herein referred to as the first or second user input). 
     In one embodiment, the first user input may be the same as the second user input and may correspond to pressing a button of the quick-release mechanism  1113 . Thus, for example, by pressing the button when the securing mechanism  1115  is engaged with the forearm (e.g., connected from the forearm), the securing mechanism  1115  is configured to disengage from the forearm of the user. Similarly, in some implementations, when the securing mechanism  1115  is disengaged from the forearm of the user, by pressing the button of the quick-release mechanism  1113 , the securing mechanism  1115  may be configured to engage with the forearm of the user. Further embodiments of the quick-release mechanism  1113  are discussed below in connection with  FIGS.  13 A- 13 F . 
     In some configurations, a first interface of the quick-release mechanism  1113  (e.g., a button, a movable arm supporting section, and the like) may be used for engaging the securing mechanism  1115  with the forearm, and another second interface of the quick-release mechanism  1113  (e.g., a button) may be used to disengage the securing mechanism  1115  from the forearm. For example, the suitable first interface may be a button, such that when pressed, the securing mechanism  1115  is configured to engage with the forearm. In some cases, the first interface of the quick-release mechanism  1113  may also work also as the second interface of the quick-release mechanism  1113 . For instance, when a user presses a button of the quick-release mechanism  1113  once, the quick-release mechanism  1113  engages the securing mechanism  1115  with the forearm, and when the user presses the button the second time, the quick-release mechanism  1113  disengages with the forearm. 
     Alternatively, the first interface may be any other suitable device (a button, a touch panel controller, an optical sensor, and the like). In some cases, the first interface may be embedded in one of the components of the forearm brace  1110 . For example, the first interface may be part of the platform  1111 . For instance, when the forearm is pressed into a top surface of the platform  1111 , the pressure from the forearm activates the quick-release mechanism  1113  causing the securing mechanism  1115  to move and engage the forearm. 
     In some configurations, a suitable sensor (e.g., an optical sensor, a pressure sensor, and the like) may be configured to detect that the forearm is adjacent to a surface of the platform  111 , and, when the sensor detects the presence of the forearm, the securing mechanism  1115  is configured to engage with the forearm. 
     The coupling mechanism  1117  is configured to couple the forearm brace  1110  to a controller. The coupling mechanism  1117  can include a connection member and a forearm brace bracket (further shown in  FIG.  13 E , for example) for connecting the forearm brace  1110  to the controller. In some embodiments, the coupling mechanism  1117  is length adjustable so that the forearm brace can fit different users in spite of different forearm lengths. In various embodiments, the forearm brace  1110  is configured to be connected to a base (e.g., the base may be similar to the base  804  shown in  FIGS.  8 A- 8 H ). In some cases, the forearm brace bracket is designed to fit a particular size and/or shape of the base of the controller, and in other cases, the forearm brace bracket is configured to be adjustable to fit various controllers having different size and shape bases. Further, in some implementations, the coupling mechanism  1117  may be attached to the base of the controller by means other than the forearm brace bracket. For example, the coupling mechanism  1117  may include an extension element configured to be inserted and secured in a socket of the base of the controller. Alternatively, the coupling mechanism  1117  may include a socket capable of receiving an extension element of the controller. Further, the coupling mechanism  1117  may include a securing element (e.g., a clamp, a threaded portion, and the like) for securing the extension element within the socket. Further implementations of the coupling mechanism  1117  are discussed below in connection with  FIG.  13 E . 
       FIG.  12    shows an example embodiment of a forearm brace  1210  having a platform  1211  attached to a forearm  1260  of a user via a securing mechanism  1215 . A wrist  1250  of the user is configured to manipulate a controller  1200 . Similar to discussion above (e.g., in reference to  FIG.  4 A ), the controller  1200  is configured such that a thumb  1251  of the user engages with a second control member  1202 , an index finger  1252  engages with a third control member  1203 , and fingers  1253  are gripping the first control member  1201 . Further, the forearm brace  1210  is attached to a base  1204  of the controller  1200  via a coupling mechanism  1217 . 
       FIG.  13 A  shows an example embodiment of the forearm brace  1310  coupled to the controller  1300 . The controller  1300  can include components that are structurally and/or functionally the same as or similar to components of other controllers described herein, including, for example, the controller  100 - 900 . Further, the forearm brace  1310  includes components that are structurally and/or functionally the same as or similar to components of other forearm braces described herein, including, for example, the forearm braces  1100 - 1200 . In particular, the forearm brace  1310  includes a platform  1311  having an arm supporting section  1311   a  with an arm supporting top surface  1311   t  for receiving a forearm of a user. Further, the forearm brace  1310  includes a securing mechanism  1315  having a first arm clamping element  1315   a  and a second arm clamping element  1315   b.    
       FIG.  13 B  shows that the first arm clamping elements  1315   a  includes a right front clamping member  1   a , a left front clamping member  2   a , a right back clamping member  1   b  and a left back clamping member  2   b . Each clamping member includes several parts which are similar for all four clamping members. For example, the right front clamping member  1   a  includes clamping member plate  1   a   1 , while left front clamping member  2   a  includes clamping member plate  2   a   1 . Similarly, clamping member  1   b  includes clamping member plate  1   b   1 , and clamping member  2   b  includes clamping member plate  2   b   1 . The clamping member plates (i.e., clamping member plates  1   a   1 ,  2   a   1 ,  1   b   1 , and  2   b   1 ) may be made from any suitable material (e.g., plastic, metal, ceramics, and the like). In some cases, the clamping member plates  1   a   1 - 2   b   1  may be formed from a mesh to reduce the weight of these members. Further, the clamping member plates  1   a   1 - 2   b   1  may include rubber, plastic, or fabric layers. For example, such layers may be used as cushioning layers between surfaces of the clamping member plates  1   a   1 - 2   b   1  and a surface of the forearm of the user. Thus, to summarize, in the example implementation of  FIG.  13 A , each one of clamping elements  1315   a  and  1315   b  has a left arm clamping member and a right arm clamping member. The left arm clamping member is configured to engage with a left side of the forearm, and the right arm clamping member is configured to engage with a right side of the forearm. 
     The clamping member plates  1   a   1 - 2   b   1  may be configured to have a shape that generally conforms to a portion of a forearm of a user. For example, the clamping member plates  1   a   1  and  2   a   1  may have a shape that generally conforms to a left side of the forearm, and the clamping member plates  1   b   1  and  2   b   1  may have a shape that generally conforms to a right side of the forearm. 
     In some cases, the shapes of clamping member plates  1   a   1 - 2   b   1  are configured based on left handedness or right handedness of the user. For example, one set of clamping member plates  1   a   1 - 2   b   1  may be designed for a left-handed person, thereby resulting in a left-handed forearm brace, while another set of clamping member plates  1   a   1 - 2   b   1  may be designed for a right-handed person, thereby resulting in a right-handed forearm brace. 
     Further, in some implementations, the securing mechanisms of a forearm brace are configured to be adjustable based on the user&#39;s preferences. For example, in one implementation, the clamping element  1315   a  and/or  1315   b  is configured to be movable along a length of the platform. For example, the clamping element  1315   a  (or  1315   b ) may be movable towards (or away) to the clamping element  1315   b  (or  1315   a ). 
     Further, the distance between the clamping member plates of the same clamping element (herein, referred to as coupled clamping member plates, such as arm clamping member plates  1   a   1  and  2   a   1 ) may be adjustable to account for narrow and wide forearms. For example, for users with narrow forearms, the distance between the coupled clamping member plates may be reduced when the coupled clamping member plates are configured to engage the forearm of the user. Alternatively, for users with wide forearms, the distance between the coupled clamping member plates may be increased when the coupled clamping member plates are configured to engage the forearm of the user. 
     In some cases, the specific parameters such as dimensions and weight of a forearm brace may be adjusted or selected based on a height, age, gender, and the like of the user. For example, an extra small sized forearm brace may be selected for a child and an extra large sized forearm brace may be selected for a seven-foot-tall basketball player. 
     It should be noted that the securing mechanism  1315  as shown in  FIG.  13 A  is only one possible embodiment, and various other securing mechanisms may be used for securing the forearm brace  1311  to a forearm of a user. For example, alternative securing mechanism may include only a single arm clamping element, which may be similar to the arm clamping element  1315   a . In some cases, the single arm clamping element may extend over a larger length of the forearm of the user than the arm clamping element  1315   a  (e.g., the single arm clamping element may extend over a quarter of the length of the forearm, over one third of the length of the forearm, over one half of the length of the forearm, over two thirds of the length of the forearm, over three quarters of the length of the forearm, substantially over the length of the forearm, and the like). Additionally, a single arm clamping element and/or an arm supporting section of a forearm brace may be built to match a forearm of a user (e.g., the forearm of the user may be volumetrically scanned, and the single arm clamping element and/or the arm supporting section may be molded based on scan data to match the three-dimensional shape of the user&#39;s forearm). 
     Additionally, or alternatively, a forearm brace may include multiple arm clamping elements controlled by associated mechanical systems, such that a particular (e.g., more equal) distribution of pressure exerted by the arm clamping elements over a forearm of a user may be achieved. 
     Further, in one implementation, a forearm brace may include an opening mechanism configured to be activated when an arm clamping element (or multiple arm clamping elements) is (are) closed and configured to open the arm clamping element (or multiple arm clamping elements) when a user interacts with a suitable interface of the forearm brace. For instance, the opening mechanism may include a spring maintained under compression, which is configured to open the arm clamping element once the user interacts with the interface (e.g., presses a button that releases the spring of the opening mechanism). The arm clamping element may then be closed via a suitable lever arm that may be included in the base of the forearm brace, thereby activating the opening mechanism. In some instances, the opening mechanism may be configured to open the arm clamping element sufficiently slowly to ensure that the arm clamping element does not injure the user while it is being opened. 
     Alternatively, an arm clamping element may have a fixed (unmovable) first clamping member and a movable second clamping member. In such an embodiment, a forearm of a user may be placed next to the fixed first clamping member, and the second clamping member is moved to exert pressure on the forearm of the user and to clamp the forearm of the user between the first and the second clamping member. 
     Further, instead of (or in addition to) using arm clamping elements, a securing mechanism of a forearm brace may include flexible elements (e.g., belts, ribbons, and the like) configured to wrap over a forearm of a user (or partially cover the forearm of the user) and secure the forearm of the user to a platform of the forearm brace. Further, in some implementations, the securing mechanism includes one or more arcs configured to be placed over the forearm of the user, such that the forearm of the user passes through an opening formed by the one or more arcs and a top surface of a platform of the forearm brace. It should be appreciated, that various other securing mechanisms for attaching the forearm brace to the forearm may be employed (e.g., the forearm brace may include a flexible sleeve configured to receive the forearm of the user, such that the forearm passes through the opening formed by the flexible sleeve). 
     In various embodiments, the arm clamping member plates  1   a   1 ,  2   a   1 ,  1   b   1 , and  2   b   1  engage the forearm based on a first user input and disengage the forearm based on the second input. As described before, the first user input and the second user input may be communicated to an interface of the quick-release mechanism, such as the quick-release mechanism  1213 , as shown in  FIG.  12   . 
     As further shown in  FIGS.  13 A- 13 B , the arm clamping element  1315   a  includes clamping support members  1   a   4  and  2   a   4  for supporting respective arm clamping member plates  1   a   1  and  2   a   1 . Further, the arm clamping element  1315   b  includes clamping support members  1   b   4  and  2   b   4  for supporting respective arm clamping member plates  1   b   1  and  2   b   1 .  FIG.  13 B  also shows that the arm clamping member plate  1   a   1  includes an extension element  1   a   2  coupled to the clamping support member  1   a   4  via a coupling element  1   a   3  which may be a bolt, a rivet, a clamp, and the like. The coupling element  1   a   3  may be configured to be loosened or tightened. For instance, when the coupling element  1   a   3  is a bolt, it may be placed through an opening channel formed by holes of the extension element  1   a   2  and the support member  1   a   4  and secured by a nut. In some cases, when one or more holes of the extension element  1   a   2  and/or the support member  1   a   4  are threaded, the bolt may be coupled to these threaded holes. The loosening of the coupling element  1   a   3  allows for a motion and positional adjustment of the extension element  1   a   2 , and by extension, the clamping member plate  1   b   1 . Similarly, other clamping member plates  2   a   1 ,  1   b   1 , and  2   b   1 , include respective extension elements  2   a   2 ,  1   b   2 , and  2   b   2  coupled to the respective clamping support members  2   a   4 ,  1   b   4 , and  2   b   4 , via respective coupling elements  2   a   3 ,  1   b   3 , and  2   b   3 . The coupling elements  2   a   3 ,  1   b   3 , and  2   b   3  can also be configured to be loosened (or tightened), thereby allowing for a positional adjustment of the clamping member plates  2   a   1 ,  1   b   1 , and  2   b   1 . In various embodiments, the support members  1   a   4 - 2   b   4  are configured to move within respective sockets  1   a   5 - 2   b   5 , as shown in  FIG.  13 B , to engage and disengage the forearm of the user. Note, that socket  1   a   5  is obscured in  FIG.  13 B , and its location is indicated by an arrow  1   a   5 . 
       FIG.  13 C  shows a cross-sectional cut in a plane D (the plane D is indicated in  FIG.  13 B  and passes through sockets  1   b   5  and  2   b   5 ). The clamping support members  1   b   4  and  2   b   4  pass through respective sockets  1   b   5  and  2   b   5  and are connected to respective axial members x 1  and x 2 . In the example embodiment shown in  FIG.  13 C , the clamping support members  1   b   4  and  2   b   4  are configured to move by rotating about the respective axial members x 1  and x 2  as indicated by respective arrows  1   b   7  and  2   b   7 . Similarly, other support members  1   a   4  and  2   a   4  pass through respective sockets  1   a   5  and  2   a   5  and are connected to the same respective axial members x 1  and x 2 . The clamping support members  1   a   4  and  2   a   4  are configured to move in a similar way as clamping support members  1   b   4  and  2   b   4 , i.e., by rotating about the respective axial members x 1  and x 2 , as indicated by arrows in  FIG.  13 C . When engaging a forearm of the user, the clamping support members  1   a   4  and  1   b   4  are configured to rotate about respective axial member x 1  clockwise, while the clamping support members  2   a   4  and  2   b   4  are configured to rotate about respective axial member x 2  counterclockwise. The rotations are reversed for these clamping support members when disengaging the forearm of the user. 
     The motion of the clamping support members  1   a   4 - 2   b   4  may be activated via a variety of approaches. For instance, one of the approaches involves a surface  1311   t  of the arm supporting section  1311   a  (as shown in  FIGS.  13 A- 13 C ) that can be pressed onto by the forearm of the user, thereby activating mechanisms (further discussed in connection with  FIG.  13 D ) to activate the motion of the clamping support members  1   a   4 - 2   b   4 . 
     In the example embodiment, as shown in  FIGS.  13 A- 13 C , the platform  1311  includes a first side having the arm supporting section  1311  and a second side opposite to the first side, the second side having a frame member  1311   b , as shown in  FIG.  13 A , supporting a coupling mechanism  1317  that is coupled to the frame member  1311   b . In the example implementation, the frame member  1311   b  extends past the arm supporting section  1311   a  towards the controller  1300 . Further, the frame member  1311   b  includes a bottom portion having a bottom surface that is also the bottom surface of the platform  1311  In some implementations, the bottom surface of the base  1304  of the controller  1300  and the bottom surface of the platform are aligned horizontally. 
     In the example embodiment, the arm supporting section  1311   a  is configured to be movable relative to platform  1311  in a direction normal to the arm supporting surface  1311   t  (e.g., towards the frame member  1311   b ) of the arm supporting section  1311   a , while the arm supporting surface  1311   t  remains in contact with the forearm. The user may apply a pressure onto a portion (e.g., an element) of the arm supporting surface  1311   t , thereby transmitting a first user input to a mechanism for activating the motion of the clamping support members  1   a   4 - 2   b   4 . As a result, the securing mechanism  1315  is engaged, as the arm supporting section  1311   a  is moving towards an opposite side of the platform  1311  (e.g., in a direction indicated by arrow M in  FIG.  13 A ). In one particular example, the user may press the forearm into the portion of the arm supporting surface  1311   t , thereby providing the first user input and engaging the securing mechanism  1315 . Additionally, or alternatively the first user input may be a tactile input (e.g., tactile input includes pressing buttons and/or touching particular portions of the forearm brace  1310 ). 
     In some implementations, a height H, as shown in  FIG.  13 A , of the arm supporting section  1311   a  may be adjustable to allow a wrist of the user to grab a first control member of the controller  1300  at a right location. In some cases, the height H may be adjustable to prevent substantial bending of the user&#39;s wrist. In an example embodiment, the arm supporting section  1311   a  may be raised or lowered relative to the frame member  1311   b  of the platform  1311  via any suitable height adjusting mechanisms (e.g., bolts, system of vertical rails along which the arm supporting section  1311   a  may be moved and secured, and the like). 
     In various implementations, upon the motion of the arm supporting section  1311   a  towards the frame member  1311   b , the motion of the arm supporting section  1311   a  activates one or more gears (not shown in  FIGS.  13 A- 13 C ) configured to couple the motion of the arm supporting section  1311   a  to the motion of the clamping support members  1   a   4 - 2   b   4  for engaging the clamping support members  1   a   4 - 2   b   4  to the forearm. Further, the pressure of the forearm onto the arm supporting section  1311   a  is partially balanced by a set of springs, configured to compress during this motion. 
       FIG.  13 D  shows an example embodiment in which a right side of the platform  1311  is shown (the view is from the side of the forearm brace  1310  that is away from the controller, thus, the right side of the forearm brace  1310  appears on a left side of  FIG.  13 D ), with understanding that the left side may be a mirror image of the right side and include all the components (e.g., gears, gear paws, and the like) that are used as the components for the right side. The right side of the platform  1311  includes at least one gear g 1  coupled to the right supporting members  1   a   4  and  1   b   4  (the right arm supporting member  1   a   4  is not shown for clarity as not to obscure elements associated with gear g 1 ). The gear g 1  is connected to the axial member x 1 , and the movement of the arm supporting section  1311   a  introduces a rotation to gear g 1  via a crank associated with the axial member x 1  (not shown). The direction of the rotation of the gear g is locked by a gear paw p 1  configured to secure the gear g 1  in place and ensure that the gear g 1  is only configured to rotate in one direction (clockwise) while the gear paw p 1  is engaged. Further, the rotation of gear g 1  results in motion of the supporting members  1   a   4  and  1   b   4  for engaging cooperatively with the forearm and securing the platform  1311  to the forearm. 
     To disengage the platform from the forearm of the user, via the quick-release mechanism  1313 , a suitable interface (e.g., a button) of the quick-release mechanism may be used. The action of pressing the button results in a motion of the pair of gear pawls (e.g., the right gear pawl p 1 , and a corresponding left gear pawl). For example, upon pressing the button associated with the quick-release mechanism  1313 , the button is configured to disengage the pair of gear pawls from the pair of the associated gears, thereby allowing a rotation of each gear to move the right and the left arm clamping members away from the forearm. 
     Further, the forearm brace  1310  includes a spring sp 1  for connecting a shaft of the gear g 1  (from the pair of gears) and the gear pawl p 1  (from the pair of gear pawls). The spring sp 1  is configured to push the gear pawl p 1  towards the gear g 1  to secure the gear g 1  in place (e.g., to prevent the gear g 1  to rotate counterclockwise, thereby releasing right clamping members  1   b  and  1   a ). The pressing of the button of the quick-release mechanism may be configured to temporarily extend the spring sp 1 , thereby disengaging the gear pawl p 1  from the gear g 1 . 
       FIG.  13 D  further shows that the arm supporting section  1311   a  is coupled to a spring sr 1  that is configured to compress when the arm supporting section  1311   a  moves in a direction as indicated by arrow M (e.g., towards the frame member  1311   b ). Upon activation of the quick-release mechanism  1313 , the spring sr 1  is configured to expand and move the arm supporting section  1311   a  in a position corresponding to the securing mechanism  1315  being disengaged from the user. 
     It should be noted that the engaging mechanisms and quick-release mechanisms discussed above are only some of the possible approaches of activating the motion of the clamping elements  1315   a  and  1315   b . Alternatively, in some embodiments, other approaches may be used. For example, clamping elements of a forearm brace may be activated via suitable motors (e.g., electrical motors such as servo motors) that are activated based on data from suitable sensors. The motors may use electrical power (e.g., a battery, which may part of the forearm brace) associated with a forearm brace. The sensors may sense the presence of the forearm. For instance, the sensors may determine that the forearm is adjacent to a surface of the arm supporting section, or that a user is requesting for the forearm brace to engage with his/her forearm (the user&#39;s request may include the user pressing a button, touching a touch panel controller, or using any other suitable interface for interacting with a controller of a platform of the forearm brace) and send a signal to a suitable controller configured to activate a motion of the clamping elements, which may include engaging or disengaging the clamping elements from the forearm of the user. 
     Returning to  FIG.  13 A , the forearm brace  1310  includes a coupling mechanism  1317  for coupling the forearm brace  1310  to the controller  1300 . In the example embodiment, the coupling mechanism includes a coupling extension member  1317   a  configured to couple at a first end to the frame member  1311   b  of the platform  1311 , a coupling bracket  1317   b  configured to couple to the controller  1300  and secured to the controller  1300  by use of clamps  1317   c  (further shown in  FIG.  13 E ). Further, the frame member  1311   b  includes a socket in which an end of the coupling extension member  1317   a  is inserted and secured via a clamp  1311   b   3  (the clamp  1311   b   3  is attached to the frame member  1311   b ). 
     Further details of the coupling mechanism  1317  are shown in  FIG.  13 E , including coupling extension member  1317   a  coupled to the frame member  1311   b , and secured to the frame member  1311   b  via the clamp  1311   b   3 .  FIG.  13 E  shows that the coupling bracket  1317   b  is attached to the base  1304  of the controller  1300 . In particular, in the example implementation, the coupling bracket  1317   b  is placed on an inside side of the wall  1304   w  and the clamps  1317   c  secure the coupling bracket  1317   b  to the wall  1304   w.    
     In some other implementations (not shown in  FIG.  13 E ), a coupling mechanism (e.g., a coupling extension member) may include a socket configured to couple to an extension element of the controller. The extension element of the controller is configured to be inserted into the socket and secured in the socket via suitable securing mechanisms (e.g., via a clamp, a bolt, and the like). In some cases, securing includes securing the extension element by a first clamp located on a first side of the coupling mechanism and a second clamp located on a second side of the coupling mechanism. 
     Alternatively, the extension element of the controller may be capable of rotation and includes a first threaded portion configured to be secured within the socket of the coupling mechanism having a second threaded portion. 
       FIGS.  13 F- 13 H  show that the base  1304  may change orientation relative to the coupling mechanism  1317  to better fit a right-handed or a left-handed user. For example,  FIG.  13 F  shows that an axis AX 2  of the base  1304  is aligned with an axis AX 1  of the coupling mechanism  1317  (as indicated by an angle θ 1  being substantially the same as 180 degrees).  FIG.  13 G  shows that the axis AX 2  and axis AX 1  form an angle θ 2  which may be a suitable positive angle (e.g., angle θ 2  may be about 100 to 175 degrees).  FIG.  13 H  shows that axis AX 2  and axis AX 1  form an angle θ 3  which may be a suitable negative angle (e.g., angle θ 3  may be about −100 to −175 degrees). To allow for the base  1304  to move relative to the coupling mechanism  1317 , clamps  1317   c  may be released, the base  1304  position may be adjusted as shown in  FIGS.  13 F- 13 G , and the clamps  1317   c  are then moved to secure the coupling bracket  1317   b  to the base  1304 .  FIG.  13 I  shows a top isometric view of the base  1304  of the controller  1300  coupled to the forearm brace  1310  while  FIG.  13 J  shows a view of the forearm brace  1310  coupled to the controller  1300 , as well as a forearm of the user and a hand of the user manipulating the controller  1300 . Note that the forearm brace  1310  is configured to couple to the forearm of the user, such that an elbow  1320  is located beyond the forearm brace  1310 , as shown in  FIG.  13 J . 
       FIGS.  14 A and  14 B  show an embodiment of a forearm brace  1410  coupled to a controller  1400 . The forearm brace  1410  may be structurally and functionally similar to the forearm brace  1311  as shown in  FIG.  13 A . The clamping support members  14 _ 1   a   4  and  14 _ 2   a   4  are configured to be coupled to a front side  1411   f  (as shown in  FIG.  14 B ) of the arm support section  1411   a , while the clamping support members  14 _ 1   b   4  and  14 _ 2   b   4  are configured to be coupled to a back (rear) side  1411   r  (as shown in  FIG.  14 A ) of the arm support section  1411   b . Noted that the clamping support members  14 _ 1   a   4  and  14 _ 2   a   4  are similar to corresponding clamping support members  1   a   4  and  2   a   4 , as shown in  FIG.  13 B , for example, with label  14  indicating that these clamp support members are related to the embodiment in  FIGS.  14 A- 14 F . Similar notation is used for other component of the forearm brace  1410  (e.g., axial members  14 _x 1  and  14 _x 2  are similar to the respective axial members x 1  and x 2  of  FIG.  13 C ). 
     Similar to the embodiment shown in  FIG.  13 C , the clamping support members  14 _ 1   a   4  and  14 _ 2   a   4  are configured to execute a rotational motion about respective axial members  14 _x 1  and  14 _x 2 , while clamping support members  14 _ 1   b   4  and  14 _ 2   b   4  are configured to rotate about the same respective axial members  14 _x 1  and  14 _x 2 . In some cases (not shown in  FIG.  14 A- 14 B ), a first set of axial members may be used for the clamping support members  14 _ 1   a   4  and  14 _ 2   a   4  and a second set of axial members may be used for clamping support members  14 _ 1   b   4  and  14 _ 2   b   4  (e.g., the axial members from the first set may not be connected to the axial members from the second set). 
       FIGS.  14 C- 14 F  show various side views and cross-sectional views of the controller  1400  coupled to the forearm brace  1410 . For example,  FIG.  14 D  shows a top view of the controller coupled to the forearm brace,  FIG.  14 E  shows a side view of the controller coupled to the forearm brace, and  FIG.  14 F  shows a back view of the forearm brace coupled to the controller. Further,  FIG.  14 C  shows a cross-sectional view of the controller coupled to the forearm brace taken in the cross-sectional plane B, as shown in  FIG.  14 D . 
       FIG.  15    shows an exploded view of the forearm brace  1500 , which can be structurally and functionally the same as the embodiment of the forearm brace, as shown in  FIGS.  14 A- 14 F . The forearm brace  1500  includes securing mechanism  1515  that include a first clamping element  1515   a  and a second clamping element  1515   b . The first clamping element  1515   a  includes a first (right) clamping side element  15 _ 1   a  and a second (left) clamping side element  15 _ 2   a . The first clamping side element  15 _ 1   a  includes a clamping member plate  15 _ 1   a   1 , an extension member  15 _ 1   a   2 , a coupling member  15 _ 1   a   3 , and a support member  15 _ 1   a   4 . Similarly, the second clamping side element  15 _ 2   a  includes a clamping member plate  15 _ 2   a   1 , an extension member  15 _ 2   a   2 , a coupling member  15 _ 2   a   3  and a support member  15 _ 2   a   4 . Further, the second clamping element  1515   b  includes a first (right) clamping side element  15 _ 1   b  and a second (left) clamping side element  15 _ 2   b . The first clamping side element  15 _ 1   b  includes a clamping member plate  15 _ 1   b   1 , an extension member  15 _ 1   b   2 , a coupling member  15 _ 1   b   3  and a support member  15 _ 1   b   4 . Similarly, the second clamping side element  15 _ 2   b  includes a clamping member plate  15 _ 2   b   1 , an extension member  15 _ 2   b   2 , a coupling member  15 _ 2   b   3  and a support member  15 _ 2   b   4 . Various members of the first clamping element  1515   a  and second clamping element  1515   b  may be structurally and/or functionally the same as similar clamping member plates of first clamping element  1315   a  and second clamping element  1315   b , as shown in  FIGS.  13 A- 13 C . 
     Further, the forearm brace  1510  includes a platform  1511  having a frame member  1511   b  and an arm supporting section  1511   a  configured to move towards and away from the frame member  1511   b . In the example implementation the arm supporting section  1511   a  is supported by springs  1511   s  which may be structurally and functionally the same as spring sr 1 , as shown in  FIG.  13 D . The arm supporting section  1511   a  includes a top surface  1511   t  configured to be adjacent to a user&#39;s forearm. Further, the arm supporting section  1511   a  includes a front side  1511   f  and a rear side  1511   r . The front side  1511   f  includes associated sockets  15 _ sa  for allowing the arm supporting section  1511   b  to move relative to axial members  15 _x 1  and  15 _x 2 , when the arm supporting section  1511   b  moves toward to or away from the frame member  1511   b  (axial members  15 _x 1  and  15 _x 2  are fixed in place and do not move). Similarly, the rear side  1511   r  includes sockets  15 _ sb  that serve the same function as sockets  15 _ sa.    
     The frame member  1511   b  may include several parts  1511   b   1 ,  1511   b   2 , and  1511   b   3 . A first part  1511   b   1  of the frame member  1511   b  is configured to house the axial members  15 _x 1  and  15 _x 2  for coupling with associated support members. For example, the axial member  15 _x 1  is configured to couple with support members  15 _ 1   a   4 , and  15 _ 1   b   4 , while axial member  15 _x 2  is configured to couple with support members  15 _ 2   a   4  and  15 _ 2   b   4 , thereby allowing these support members to rotate about the respective axial member. Further, the first part  1511   b   1  of the frame member  1511   b  houses gear pawls  15 _p 1  and  15 _p 2  and gears  15 _g 1  and  15 _g 2  (the gear pawls  15 _p 1  and  15 _p 2  and gears  15 _g 1  and  15 _g 2  may be structurally and/or functionally the same as respective gear pawl p 1  and gear g 1 , as shown in  FIG.  13 D ). 
     A second part  1511   b   2  of the frame member  1511   b   2  is an extension member configured to extend towards a controller  1500  and receive a coupling extension member  1517   a . Similar to the previously described (in relation to  FIG.  13 A- 13 E ) coupling extension member  1317   a , coupling extension member  1517   a  of the coupling mechanism  1517  is configured to be coupled (e.g., inserted) from a front side of the second part  1511   b   2  (the front side of the second part  1511   b   2  includes one or more opening  1511   b   2   o  in which the coupling extension member  1517   a  may be slid in) of the second part  1511   b   2  and secured via a clamp  1511   b   3  (the clamp  1511   b   3  is being a third part of the frame member  1511   b ). 
     In various embodiments discussed herein, a forearm brace may include multiple connected components and form a system. For example, the forearm brace may include a platform having an arm supporting section, the arm supporting section configured to be in contact with a forearm of a user, a securing mechanism for securing the platform to the forearm, and a quick-release mechanism coupled to the securing mechanism and configured to: (a) upon a first user input, engage the securing mechanism to secure the platform to the forearm; and (b) upon a second user input, release the platform from the forearm. 
     Further, the forearm brace may include a first coupling mechanism (the first coupling mechanism may be for example similar to a pair of clamps  1317   c , as shown in  FIGS.  13 E and  13 I ) for coupling to the controller, and a second coupling mechanism (the second coupling mechanism may be for example similar to clamp  1311   b   3 , as shown in  FIG.  13 A ) for coupling to the platform. For example, the first coupling mechanism may be one or more clamps, bolts, and the like, and the second coupling mechanism may be also one or more clamps, bolts, and the like. In an example implementation the first coupling mechanism includes a clamping enclosure configured to receive a base of the controller and one or more clamps configured to engage the clamping enclosure with the base of the controller. Further, in some implementations, the first coupling mechanism includes an extension element. 
     In some embodiments, the second coupling mechanism, includes a socket configured to couple to the extension element; and the extension element is configured to be inserted into the socket and secured in the socket. The securing includes securing the extension element by any suitable securing mechanism such as a clamp or a bolt. Further, the securing may include securing the extension element by one or more clamps. In some cases, a first clamp located on a first side of the second coupling mechanism and a second clamp located on a second side of the second coupling mechanism are used for securing the extension element in the socket. 
     In various embodiments described herein, the controller and the forearm brace described herein can be used by a user in a variety of ways. The controller may be manipulated by a single hand of the user. For example, the controller may be mounted to a stationary object (e.g., the controller may be secured to a surface of a table, to a stationary tripod, or to any other suitable stationary object), and then can be manipulated by the user&#39;s single hand. For instance, when the controller is mounted on a surface, it might be used in an aircraft cockpit, with a laptop simulator, or at a ground control station. The controller may be mounted to the surface via any suitable mounting connections (e.g., bolts, clamps, fittings, such as dovetail fittings, and the like). Alternatively, as described herein, the controller may be coupled to the forearm brace, and may be manipulated by the user&#39;s single hand when the user wears the forearm brace. Furthermore, in some cases, the controller may be held by one of the user&#39;s hands, while the user is manipulating the controller with another hand. 
     While the forearm brace is described in relation to the controller, it should be noted that the forearm brace can be coupled to other devices so that a user can use the device singlehandedly. For example, the forearm brace may be used for any task that could be manually operated by a user&#39;s hand having the forearm brace as an extension of the user&#39;s body. For example, the forearm brace can be coupled to yard tools, surgical robotics, metal detectors, various agricultural devices and tools, various industrial and military systems, and the like. 
     The above-described embodiments can be implemented in any of numerous ways. For example, embodiments of the present technology may be implemented using hardware, firmware, software or a combination thereof. When implemented in firmware and/or software, the firmware and/or software code can be executed on any suitable processor or collection of logic components, whether provided in a single device or distributed among multiple devices. 
     In this respect, various inventive concepts may be embodied as a computer readable storage medium (or multiple computer readable storage media) (e.g., a computer memory, one or more floppy discs, compact discs, optical discs, magnetic tapes, flash memories, circuit configurations in Field Programmable Gate Arrays or other semiconductor devices, or other non-transitory medium or tangible computer storage medium) encoded with one or more programs that, when executed on one or more computers or other processors, perform methods that implement the various embodiments of the invention discussed above. The computer readable medium or media can be transportable, such that the program or programs stored thereon can be loaded onto one or more different computers or other processors to implement various aspects of the present invention as discussed above. 
     The terms “program” or “software” are used herein in a generic sense to refer to any type of computer code or set of computer-executable instructions that can be employed to program a computer or other processor to implement various aspects of embodiments as discussed above. Additionally, it should be appreciated that according to one aspect, one or more computer programs that when executed perform methods of the present invention need not reside on a single computer or processor, but may be distributed in a modular fashion amongst a number of different computers or processors to implement various aspects of the present invention. 
     Computer-executable instructions may be in many forms, such as program modules, executed by one or more computers or other devices. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Typically, the functionality of the program modules may be combined or distributed as desired in various embodiments. 
     Also, data structures may be stored in computer-readable media in any suitable form. For simplicity of illustration, data structures may be shown to have fields that are related through location in the data structure. Such relationships may likewise be achieved by assigning storage for the fields with locations in a computer-readable medium that convey relationship between the fields. However, any suitable mechanism may be used to establish a relationship between information in fields of a data structure, including through the use of pointers, tags or other mechanisms that establish relationship between data elements. 
     Also, various inventive concepts may be embodied as one or more methods, of which an example has been provided. The acts performed as part of the method may be ordered in any suitable way. Accordingly, embodiments may be constructed in which acts are performed in an order different than illustrated, which may include performing some acts simultaneously, even though shown as sequential acts in illustrative embodiments. 
     All definitions, as defined and used herein, should be understood to control over dictionary definitions, definitions in documents incorporated by reference, and/or ordinary meanings of the defined terms. 
     The indefinite articles “a” and “an,” as used herein in the specification and in the claims, unless clearly indicated to the contrary, should be understood to mean “at least one.” 
     The phrase “and/or,” as used herein in the specification and in the claims, should be understood to mean “either or both” of the elements so conjoined, i.e., elements that are conjunctively present in some cases and disjunctively present in other cases. Multiple elements listed with “and/or” should be construed in the same fashion, i.e., “one or more” of the elements so conjoined. Other elements may optionally be present other than the elements specifically identified by the “and/or” clause, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, a reference to “A and/or B”, when used in conjunction with open-ended language such as “comprising” can refer, in one embodiment, to A only (optionally including elements other than B); in another embodiment, to B only (optionally including elements other than A); in yet another embodiment, to both A and B (optionally including other elements); etc. 
     As used herein in the specification and in the claims, “or” should be understood to have the same meaning as “and/or” as defined above. For example, when separating items in a list, “or” or “and/or” shall be interpreted as being inclusive, i.e., the inclusion of at least one, but also including more than one, of a number or list of elements, and, optionally, additional unlisted items. Only terms clearly indicated to the contrary, such as “only one of” or “exactly one of,” or, when used in the claims, “consisting of,” will refer to the inclusion of exactly one element of a number or list of elements. In general, the term “or” as used herein shall only be interpreted as indicating exclusive alternatives (i.e., “one or the other but not both”) when preceded by terms of exclusivity, such as “either,” “one of,” “only one of,” or “exactly one of.” “Consisting essentially of,” when used in the claims, shall have its ordinary meaning as used in the field of patent law. 
     As used herein in the specification and in the claims, the phrase “at least one,” in reference to a list of one or more elements, should be understood to mean at least one element selected from any one or more of the elements in the list of elements, but not necessarily including at least one of each and every element specifically listed within the list of elements and not excluding any combinations of elements in the list of elements. This definition also allows that elements may optionally be present other than the elements specifically identified within the list of elements to which the phrase “at least one” refers, whether related or unrelated to those elements specifically identified. Thus, as a non-limiting example, “at least one of A and B” (or, equivalently, “at least one of A or B,” or, equivalently “at least one of A and/or B”) can refer, in one embodiment, to at least one, optionally including more than one, A, with no B present (and optionally including elements other than B); in another embodiment, to at least one, optionally including more than one, B, with no A present (and optionally including elements other than A); in yet another embodiment, to at least one, optionally including more than one, A, and at least one, optionally including more than one, B (and optionally including other elements); etc. 
     The terms “substantially,” “approximately,” and “about” used throughout this Specification and the claims generally mean plus or minus 10% of the value stated, e.g., about 100 would include 90 to 110. 
     In the claims, as well as in the specification above, all transitional phrases such as “comprising,” “including,” “carrying,” “having,” “containing,” “involving,” “holding,” “composed of,” and the like are to be understood to be open-ended, i.e., to mean including but not limited to. Only the transitional phrases “consisting of” and “consisting essentially of” shall be closed or semi-closed transitional phrases, respectively, as set forth in the United States Patent Office Manual of Patent Examining Procedures, Section 2111.03.