US3744335A - Joystick type control device with displacement feel - Google Patents

Joystick type control device with displacement feel Download PDF

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Publication number
US3744335A
US3744335A US00256012A US3744335DA US3744335A US 3744335 A US3744335 A US 3744335A US 00256012 A US00256012 A US 00256012A US 3744335D A US3744335D A US 3744335DA US 3744335 A US3744335 A US 3744335A
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US
United States
Prior art keywords
lever
carrier
axes
normal position
base
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US00256012A
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English (en)
Inventor
A Karlsson
B Svenning
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Saab AB
Original Assignee
Saab Scania AB
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Filing date
Publication date
Priority claimed from SE628471A external-priority patent/SE349410B/xx
Application filed by Saab Scania AB filed Critical Saab Scania AB
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Publication of US3744335A publication Critical patent/US3744335A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/06—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source
    • B62D11/10—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears
    • B62D11/14—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears differential power outputs being effected by additional power supply to one side, e.g. power originating from secondary power source
    • B62D11/18—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of a single main power source using gearings with differential power outputs on opposite sides, e.g. twin-differential or epicyclic gears differential power outputs being effected by additional power supply to one side, e.g. power originating from secondary power source the additional power supply being supplied hydraulically
    • B62D11/183—Control systems therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B66C13/54—Operator's stands or cabins
    • B66C13/56—Arrangements of handles or pedals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04714—Mounting of controlling member with orthogonal axes
    • G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04748—Position sensor for rotary movement, e.g. potentiometer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Definitions

  • the plate is gimbal mounted on a fixed base and has four reaction receiving elements equidistant from the stick axis, arranged two along each gimbal axis, at opposite sides of the stick.
  • Four springs react, all in the same direction, between the fixed base and the plate, one against each reaction receiving element. When the stick is in a normal position the springs exert equal forces.
  • This invention relates to joystick type controls for cranes and similar machines, and is more specifically concerned with a swingable lever control device by which two variable inputs to a machine to be controlled can be simultaneously but independently regulated, and wherein the swingable lever is biased to a normal position in such a manner that a person manipulating it can readily detect, by feel, the amount and direction of its displacement about each of a pair of axes around which it can swing.
  • the joystick type of control is perhaps best known in its application to airplanes, in which it had its earliest extensive use for effecting simultaneous but independent control of elevators and ailerons; but because of the natural and self-explanatory action that it has, it is coming into increasing use for control of other machines.
  • a joystick or swinging lever control may be provided for the operator of a crane, so that he can regulate lifting and lowering by moving the stick foreand-aft and can control lateral swinging of the crane boom by moving the stick from side to side.
  • a joystick In an airplane a joystick gives the pilot definite information about its position and effect solely by feel, inasmuch as air loads on the ailerons and elevators feed back forces that yieldingly resist motion of the stick out of a neutral position, and the magnitude of the force component in each direction corresponds, generally speaking, to the amount of displacement of the stick inthat direction.
  • variable input producing means such as a rheostat or a hydraulic control valve
  • the present invention has for its general object the provision of a joysticktype of control device that provides a definite feel from which a person manipulating the lever of the device can know, without looking at it, the exact amount and direction of displacement of the lever from its normal position about each of its axes of swinging motion, and by which those axes are effectively defined for him.
  • control input device comprising a single manually manipulatable control member by which two variable inputs to a machine to be controlled can be simultaneously but independently governed, which device operates in a natural and self-explanatory manner and has a feel such that an untrained person can quickly acquire a high degree of skill in using it to control the machine on which it is installed.
  • FIG. 1 is a perspective view of a control device embodying the principles of this invention
  • FIG. 2 is a sectional view taken on the plane of the line IIII in FIG. 1;
  • FIG. 3 is a more or less diagrammatic view showing the control lever or stick of the device of this invention displaced from its normal position about only one of its two axes of swinging motion and illustrating the force that is required to effect such displacement of it;
  • FIG. 4 is a view similar to FIG. 3, but illustrating the control lever displaced about both of its axes from its normal position;
  • FIG. 5 is a diagram illustrating the relationship between the force which is required to displace the control lever and the direction in which the lever is swung.
  • the numeral 1 designates a joystick type control device embodying the principles of this invention, having a lever or stick 2 which is adapted to maintain a normal position, in which it is illustrated in FIG. 1, and which can be manually swung away from that normal position in any direction in accordance with requirements for governing a machine that the device controls.
  • the lever 2 is rigidly secured to the center of a plate-like carrier 3 which has its top and bottom surfaces normal to the axis of the lever.
  • the carrier 3, as hereinafter explained, is swingablyshaped frame 8 are secured to and project up from opposite marginal portions of the bottom plate 23, and the web portion 14 of the frame is parallel to and spaced above the bottom plate.
  • the carrier 3 is disposed between the upright legs of the frame 8, and between the bottom plate 23 and the web portion 14 of the frame.
  • the carrier has a gimbal connection with the base, comprising a ring 4 which surrounds the carrier with some clearance, a coaxial pair of pivotal connections 9 and 10 by which the ring is swingably supported on the base, and another coaxial pair of pivotal connections 5 and 6 by which the carrier is swingably supported on the ring.
  • Both the carrier 3 and the ring 4 are here shown as square, but they could as well be circular, or of any other suitable shape.
  • the pivotal connections 9 and 10 between the ring and the base extend through the legs 12 and 13 of the inverted U-shaped frame member 8, substantially at the centers of those legs, and the pivot axis 11 that they define extends parallel to the bottom plate 23.
  • the pivot connections 5 and 6, between the carrier 3 and the ring 4, define an axis 7 that is normal to and intersects the pivot axis 11. Both axes 7 and 11 intersect the axis of the lever 2 and are normal to it.
  • the lever 2 projects up from the carrier 3 through a hole in the web portion 14 of the U-shaped frame 8.
  • the diameter of the hole 15 is of course substantially larger than that of the lever, and that hole defines the limits of swinging motion of the lever and thus of the carrier about the two coordinate axes 7 and 11 of the gimbal connection.
  • the lever In its normal position, illustrated in FIGS. 1 and 2, the lever is vertical and is centered in the hole 15.
  • a bellows-like cover 16 is secured to the stick and to the upper surface of the web 14 all around the hole.
  • the pivot connection 10 comprises a pin 17 which is fixed to the ring 4 for rotation therewith and which extends through the leg 12 of the U-shaped frame. Secured to the outer end of that pin is the movable element 18 of an input control device 19 that has its fixed portion 20 secured to the base of the device. While the control device 19 could be a valve or the like, it is here illustrated as a potentiometer having a slider as its movable element 18 and having its stationary element connected by means of conductors 21, 22 to an associated control device (not shown), which can comprise, for example, an electro-hydraulic transformer.
  • pivotal connection 6 between the ring 4 and the carrier 3 is generally similar to that just described and that it provides for actuation of another similar control input device that has its movable element constrained to motion with the carrier 3 and has its stationary element fixed to the ring 4.
  • rocking of the lever 2 about the axis 11 effects variation of one input to a machine to be controlled
  • rocking of that lever about the axis 7 effects variation of another such input, and the two inputs can be controlled simultaneously but independently.
  • Reacting between the carrier 3 and the base of the device is a group of four biasing members, each comprising a compression spring 36 and a rod 29. These cooperate to urge the lever 2 towards its normal position in such a manner that a person manipulating the lever is informed by feel of the amount by which he has displaced it about each axis from its normal position.
  • the compression springs 36 are accommodated in a hous' ing 24 which is secured to the underside of the bottom plate 23 and in which there is a block having four upright bores 25, one for each spring.
  • the axes of the bores 25 are all parallel to and equidistant from the axis of the lever, and each of said bore axes intersects one of the swinging axes 7 or 11.
  • the bores 25 can be regarded as arranged in pairs, with each pair of bores disposed along one of the axes 7 or 11 and with the bores of each pair spaced to opposite sides of the lever axis.
  • Each of the compression springs 36 is confined in one of the bores 25, and the bore thus defines the location of the spring and the direction in which its biasing force is exerted.
  • the carrier 3 has four generally conical wells or sockets 31, in each of which the upper end portion of one of the rods 29 is engageable. These wells or sockets thus comprise reaction receiving elements on the carrier. With the lever 2 in its normal position, these wells or sockets are centered on the axes of the bores 25, and their bottoms are concavely rounded to fit the generally hemispherical upper end portions of the rods 29.
  • Each of the rods 29 extends a substantial distance down into its bore 25, and its lower end portion is threaded to accommodate a correspondingly threaded stop nut 33 and jam nut 34.
  • the body portion of the stop nut 33 has a diameter to be guidingly received within the upper coils of its spring 36, and it has a cir-' cumferential flange 32 around its top that seats on the top coil of its spring.
  • the jam nut 34 is of course tightened against the underside of the stop nut 33 to prevent undesired rotation of the latter.
  • each of the rods 29 has a screw driver cross-slot across its bottom end, accessible through a hole 37 in the bottom wall 35 of the housing 24, and each stop nut has a radially opening hole 320 in its flange portion, accessible through a hole 38 in the side wall of the housing.
  • this invention provides a joystick type control device by which an operator can simultaneously but independently regulate two variable inputs to a machine to be controlled and which enables him to readily determine solely by feel the amount of each input that he is commanding by his manipulation of the lever or stick of the control device.
  • a control device comprising a lever that is manually swingable from a defined normal position about either or both of two fixed axes that are perpendicular to one another and the lever, and by manipulation of which [ever an operator can simultaneously but independently regulate two variable inputs to a machine to be controlled, said control device further comprising means for regulating one of said inputs in correspondence with displacement of the lever from its nonnal position about one of said axes and means for regulating the other of said inputs in correspondence with displacement of the lever from its normal position about the other of said axes,
  • biasing members one for each of said reaction receiving surfaces on the carrier means, each reacting between the fixed base and its surfaces, said biasing members all having like biasing characteristics and exerting equal biasing forces upon the carrier means when the lever is in its normal position, and all exerting their biasing forces in one direction normal to said plane.
  • control device of claim 1 further characterized by:
  • each of said reaction receiving surfaces on the carrier means defining a concave socket that opens toward the base;
  • said base having four wells therein, each opening toward the carrier means and located to have its axis concentric with one of said sockets when the lever is in its normal position; and
  • each of said biasing members comprising 1. a compression spring confined in one of said wells in the base, and
  • a rigid thrust transmitting member having one end engaged in one of said sockets and having its other end engaging the end of its spring that is proximal to the carrier means so as to transmit biasing forces between the spring and the carrier means.
  • a control device comprising a lever that is manually swingable to and from a defined normal position about either or both of two fixed axes that are perpendicular to one another and the lever, and by manipulation of which lever an operator can simultaneously but independently regulate two variable inputs to a machine to be controlled, said control device comprising:
  • A. means providing a fixed base
  • pivot means connected between the base and the gimbal ring to mount the gimbal ring for swiveling motion relative to the base about one of said axes;
  • first variable output means connected between the base and the gimbal ring for producing a first output that depends upon the angular position of the gimbal ring relative to the base;
  • G second variable output means connected between the carrier and the gimbal ring for producing a second output that depends upon the angular position of the carrier relative to the gimbal ring;
  • said surface portions on the carrier comprising two pairs of reaction receiving surfaces, one pair for each axis, the pair of surfaces for each axis being centered therealong at opposite sides of the lever and equidistant therefrom and both being on the same surface portion of the carrier;

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Control Devices (AREA)
US00256012A 1971-05-14 1972-05-23 Joystick type control device with displacement feel Expired - Lifetime US3744335A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE628471A SE349410B (de) 1971-05-14 1971-05-14
US25601272A 1972-05-23 1972-05-23

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US3744335A true US3744335A (en) 1973-07-10

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CH (1) CH531749A (de)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3893346A (en) * 1974-01-04 1975-07-08 Massey Ferguson Inc Articulately mounted fluid controls
FR2303697A1 (fr) * 1975-03-14 1976-10-08 Linde Ag Installation de commande de direction pour vehicule dirige par difference de vitesse
US4404991A (en) * 1982-09-29 1983-09-20 Donahue Enterprises, Inc. Valve control assembly
US4716399A (en) * 1985-01-14 1987-12-29 The Boeing Company Optomechanical control apparatus
US4784008A (en) * 1986-05-22 1988-11-15 La Telemecanique Electrique Analogue manipulator with preferential orientations
US5349881A (en) * 1993-05-03 1994-09-27 Olorenshaw George M Multi-axial centering spring mechanism
US6237435B1 (en) * 1997-06-27 2001-05-29 Kongsberg Automotive Ab Control device
EP1394423A1 (de) * 2002-08-30 2004-03-03 Integrated Electronic Systems !SYS Consulting GmbH Kunststoffgelenk und Verfahren zu seiner Herstellung
US20130074631A1 (en) * 2011-09-22 2013-03-28 Honeywell International Inc. Active feedback user interface system and gimbal assembly therefor
CN112497233A (zh) * 2020-11-20 2021-03-16 北京坤泽荣科技有限公司 一种双轮差动式机器人运动控制设备
US20230236620A1 (en) * 2022-01-26 2023-07-27 Woodward, Inc. Soft stop force gradient for control stick

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4375631A (en) * 1981-04-09 1983-03-01 Ampex Corporation Joystick control
JPH044273Y2 (de) * 1988-12-20 1992-02-07
DE9312521U1 (de) * 1993-08-20 1993-11-18 Roessler Mark Gerät zur Betätigung von Tasten einer Tastengruppe in einer Computertastatur

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2539217A (en) * 1948-07-07 1951-01-23 Gen Electric Control mechanism
US3308675A (en) * 1963-12-20 1967-03-14 Bofors Ab Control device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2539217A (en) * 1948-07-07 1951-01-23 Gen Electric Control mechanism
US3308675A (en) * 1963-12-20 1967-03-14 Bofors Ab Control device

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3893346A (en) * 1974-01-04 1975-07-08 Massey Ferguson Inc Articulately mounted fluid controls
FR2303697A1 (fr) * 1975-03-14 1976-10-08 Linde Ag Installation de commande de direction pour vehicule dirige par difference de vitesse
US4076090A (en) * 1975-03-14 1978-02-28 Linde Aktiengesellschaft Drive and steering arrangement for a vehicle with differential-speed steering
US4404991A (en) * 1982-09-29 1983-09-20 Donahue Enterprises, Inc. Valve control assembly
US4716399A (en) * 1985-01-14 1987-12-29 The Boeing Company Optomechanical control apparatus
US4784008A (en) * 1986-05-22 1988-11-15 La Telemecanique Electrique Analogue manipulator with preferential orientations
US5349881A (en) * 1993-05-03 1994-09-27 Olorenshaw George M Multi-axial centering spring mechanism
US6237435B1 (en) * 1997-06-27 2001-05-29 Kongsberg Automotive Ab Control device
EP1394423A1 (de) * 2002-08-30 2004-03-03 Integrated Electronic Systems !SYS Consulting GmbH Kunststoffgelenk und Verfahren zu seiner Herstellung
US20050249548A1 (en) * 2002-08-30 2005-11-10 Wolfgang Bredow Plastic joint and method for producing said joint
US20130074631A1 (en) * 2011-09-22 2013-03-28 Honeywell International Inc. Active feedback user interface system and gimbal assembly therefor
CN103034282A (zh) * 2011-09-22 2013-04-10 霍尼韦尔国际公司 主动反馈用户界面系统及用于其的常平架组件
US8742711B2 (en) * 2011-09-22 2014-06-03 Honeywell International Inc. Active feedback user interface system and gimbal assembly therefor
CN103034282B (zh) * 2011-09-22 2016-01-13 霍尼韦尔国际公司 主动反馈用户界面系统及用于其的常平架组件
CN112497233A (zh) * 2020-11-20 2021-03-16 北京坤泽荣科技有限公司 一种双轮差动式机器人运动控制设备
US20230236620A1 (en) * 2022-01-26 2023-07-27 Woodward, Inc. Soft stop force gradient for control stick
US11921536B2 (en) * 2022-01-26 2024-03-05 Woodward, Inc. Soft stop force gradient for control stick

Also Published As

Publication number Publication date
CH531749A (de) 1972-12-15

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