Patent ID: 7429977

Claim:
A joystick controller comprising: an upper housing having a concave surface with an opening therethrough; a first yoke having a complementary outer convex surface whereby the yoke is rotatable about a first axis by sliding movement between the complementary concave and convex surfaces, the first yoke being provided with an inner part-spherical concave surface concentric with the outer surface, and a slot extending through the first yoke from the inner to the outer surfaces; an operating shaft extending through the opening in the upper housing and the slot in the first yoke and coupled to a ball portion having a part-spherical surface complementary to the part-spherical inner concave surface of the first yoke; a lower clamping arrangement provided with a part-spherical concave surface complementary to the part-spherical surface of the ball portion, whereby the part-spherical concave surfaces together provide a socket within which the ball portion is pivotable; and a first sensor for sensing movement of the first yoke and for generating a first output signal indicative of rotation of the first yoke about the first axis.