A force feedback handle and its control method

Abstract

This invention relates to a force feedback handle and its control method, belonging to the field of human-computer interaction technology based on tactile and force sensing. The force feedback handle is not only miniaturized but also has advantages such as low moment of inertia and good response, making it applicable to gantry crane operation, robot manipulation in extreme environments, and helicopter towing. The force feedback handle of this invention exhibits independent motion in two degrees of freedom, requiring no decoupling. In use, by interactively controlling the position of the handle in both degrees of freedom with the feedback force—that is, increasing the absolute value of the position in one degree of freedom corresponds to a corresponding increase in the damping force in the other—accidental activation can be prevented.

Description

Technical Field

[0001] This invention relates to force feedback technology, belonging to the field of human-computer interaction technology of tactile and force sensing, specifically to a compact two-degree-of-freedom force feedback handle, mainly used for the operation of offshore work equipment, for remote control of robots in extreme environments, helicopter towing, etc. Background Technology

[0002] With the rapid development of industry and the expanding scope of human perception of the environment, some specialized mobile robots struggle to achieve full autonomy when operating in extreme field environments or being towed into silos by helicopters, requiring human intervention. Since remote control of the driven end by the active end is affected by the environment, operators rely heavily on a sense of presence during operation; therefore, high-performance human-machine interface devices are crucial.

[0003] Helicopters possess advantages such as vertical takeoff and landing and hovering in confined and special environments, leading to increasing demand for them in both civilian and military applications. Research on helicopters and related industries continues to advance in response to this growing demand.

[0004] When helicopters are parked on the ground or on ships, they need to be retrieved and maintained in hangars. Since helicopters operate in the air, relying on the rotation and displacement of their rotors and tail rotors, and helicopter retrieval takes place on the ground or ship, it cannot be accomplished by the helicopter's own structure. Therefore, a helicopter towing device is required to pull the helicopter into the hangar. Helicopter towing devices can be divided into European-style "Harpoon"-grid landing aids and Samach towing devices; Russian-style landing aid net devices and winch towing devices; and American-style ASIST landing aid system. Comparing these towing devices, the American-style ASIST landing aid system can adapt to the most demanding conditions.

[0005] The American-made ASIST landing assistance system is operated from a handheld control box containing two single-degree-of-freedom joysticks, used to tow helicopters into or out of hangars. During towing, the helicopter's rear wheels are swivel wheels, making the entire system underactuated and resulting in highly complex dynamics. This necessitates constant manipulation of the handheld control box to adjust the towing mechanism, leading to relatively low operational efficiency for both landing and unloading.

[0006] In recent years, force feedback devices have become a research hotspot in laboratories around the world, but research on their application to helicopter traction systems is relatively limited. The application of force feedback handles to control helicopter traction can improve the efficiency of helicopter loading and unloading, and enhance handling stability and safety.

[0007] The invention patent with publication number CN 105116961 A adopts an inner frame and central cylinder structure, designs a frame with two degrees of freedom of motion, and sets a counterweight on the other side of the Y-axis to balance the gravity interference caused by the Y-axis drive device. However, this structure has a large motor mounted in a horizontal plane, which increases the size of the handle. Furthermore, the use of two rotating frames and the addition of a counterweight to achieve static balance will result in excessive rotational inertia during dynamic movement, leading to unstable operation.

[0008] Most of the force feedback devices proposed so far have relatively complex structures, resulting in inadequate control effects. Furthermore, force feedback is only reflected in the perception of road obstacles and road feel, with insufficient consideration for the kinematics of the controlled object at the slave end. Research on the relationship between the lateral and longitudinal motion of the driven end controlled by the handle and the feedback force is lacking. Taking a two-degree-of-freedom force feedback handle as an example, when manipulating a high-speed adventure car, the handle's rotation angle for controlling speed must be relatively large. If the rotation angle for controlling steering is also large, i.e., the car's steering angular velocity is high, the controlled adventure car is prone to instability or even rollover and other dangerous situations.

[0009] The invention patent with publication number CN 113012516 A uses a frame for transmission and a rotary encoder to collect motor position information to control the lunar rover. It uses three torque motors to control the three degrees of freedom of the handle, with different handle positions corresponding to different feedback torques. Since one degree of freedom involves motor rotation, the moment of inertia is greater. This control method is prone to misoperation when manipulating the slave end in high-speed linear motion, and the slave end is susceptible to instability, affecting maneuverability and safety. Summary of the Invention

[0010] To overcome the above problems, this invention provides a force feedback handle and a control method. The force feedback handle has a compact and simple structure, low moment of inertia, and good dynamic response. Furthermore, the movements of the force feedback handle in the two degrees of freedom are independent and do not require decoupling, thus improving the stability of the slave end during operation. In use, this invention interactively controls the position of the handle in the two degrees of freedom with the feedback force; that is, as the absolute value of the position in one degree of freedom increases, the damping force in the other degree of freedom increases accordingly, preventing accidental activation.

[0011] To achieve the above objectives, the technical solution adopted by the present invention is as follows.

[0012] In a first aspect, the present invention proposes a force feedback handle, which includes an operating handle, a connecting module, a first shaft, and two identical second half-shafts. The connecting module includes a first connecting unit and a second connecting unit. The second connecting unit connects the two second half-shafts to form a second shaft, and the centerlines of the two half-shafts are on the same straight line, perpendicular to the centerline of the first shaft. The second connecting unit has an opening, one end of the operating handle passes through the opening, and the other end is fixed to the first shaft through the first connecting unit. The intersection of the axis of the operating handle and the centerline of the first shaft is the midpoint of the second shaft. The fixed operating handle can rotate independently of the first shaft in the plane defined by itself and the first shaft. Controlling the operating handle to rotate around the centerline of the first shaft in the opening of the second connecting unit can drive the first shaft to rotate independently of the second shaft around its centerline through the first connecting unit. Controlling the operating handle to rotate around the centerline of the second shaft in the opening of the second connecting unit can drive the second connecting unit to rotate, and then drive the second shaft to rotate independently of the first shaft around its centerline through the second connecting unit.

[0013] In the above technical solution, the intersection of the axis of the operating handle and the centerline of the first axis is the midpoint of the second axis. Therefore, the centerlines of the first axis, the second axis, and the operating handle intersect at a single point. The centerlines of the first and second axes are perpendicular, and the first axis perpendicularly bisects the second axis, ensuring that the rotational centerlines of the operating handle in both directions intersect at a single point. This guarantees that the movement space of the operating handle is a partial sphere, and its spatial position can be easily decomposed into the first and second axes, with a uniquely determined mapping and no singularities. Controlling the operating handle to rotate around the centerline of the first axis within the opening of the second connecting unit allows the first axis to rotate independently of the second axis around its centerline via the first connecting unit. Similarly, controlling the operating handle to rotate around the centerline of the second axis within the opening of the second connecting unit allows the operating handle to drive the second connecting unit to rotate, which in turn drives the second axis to rotate independently of the first axis around its centerline. Therefore, the movements of the operating handle in each direction are independent and do not require decoupling. This allows for interactive control of the position and feedback torque of the operating handle in two degrees of freedom. That is, as the absolute value of the position in one degree of freedom increases, the damping force in the other degree of freedom increases accordingly. In this interactive control method, accidental touches can be prevented to ensure the stability of operation.

[0014] As an improvement to the above technical solution, a transmission module and a drive module are added to the force feedback handle to assist in realizing that as the absolute value of the handle's position in one degree of freedom increases, the damping force in the other degree of freedom also increases accordingly. The transmission module includes a first gear assembly and a second gear assembly, with the first gear assembly located at one end of a first shaft and the second gear assembly located at one end of a second shaft. The drive module includes a first drive and a second drive; controlling the first drive enables the first gear assembly to rotate, thereby rotating the first shaft around its axis; controlling the second drive enables the second gear assembly to rotate, thereby rotating the second shaft around its axis.

[0015] In the above technical solution, the first connecting unit includes a control fork and a mounting pin; the mounting pin fixes the control fork to the first shaft, and the control fork is used to connect one end of the operating handle. When the operating handle rotates around the first shaft, the operating handle causes the first shaft to rotate around its axis via the mounting pin.

[0016] In the above technical solution, one embodiment of the second connecting unit is as follows: it is connected to two half shafts by a nut, the connecting block spans the first shaft and has an opening in the middle, so that the operating handle located in the opening can move freely in the opening in a direction parallel to the second shaft, and can also move in the opening in a direction perpendicular to the second shaft; when the operating handle moves in the direction perpendicular to the second shaft, it can drive the connecting block to rotate and cause the second shaft to rotate around the axis of the second shaft.

[0017] In the above technical solution, both the first gear assembly and the second gear assembly are bevel gear assemblies. Each bevel gear assembly includes a first bevel gear and a second bevel gear, with the second bevel gear perpendicularly connected to the first bevel gear. The first bevel gear is fixed to one end of the first shaft or one end of the second shaft, and the second bevel gear is fixed to a transmission shaft corresponding to the first or second shaft. When the transmission shaft rotates, the second bevel gear rotates accordingly, driving the corresponding first bevel gear to rotate, thereby causing the shaft containing the first bevel gear to rotate. By using bevel gear transmission for direction changing, the operating handle occupies a smaller volume.

[0018] In the above technical solution, both the first drive and the second drive include a motor and a reducer. When the motor drives the transmission shaft to rotate, the torque is increased by adjusting the reducer.

[0019] As a further improvement to the above technical solution, the motor detects changes in the position of the operating handle via a photoelectric encoder, and then adjusts the torque by controlling the motor to achieve a corresponding increase in the damping force of the other degree of freedom when the absolute value of the position of one degree of freedom increases. In this technical solution, when the motor drives the transmission shaft to rotate, the second bevel gear located on the transmission shaft rotates, which in turn drives the first bevel gear to rotate, thereby causing the shaft containing the first bevel gear to rotate at an angle, which is measured by the photoelectric encoder.

[0020] As a further improvement to the above technical solution, bearings are installed at both ends of the first and second shafts, and the axial positioning of the shafts is achieved by bearing end caps. Through shaft transmission, the rotational inertia of the operating handle is reduced.

[0021] As a further improvement to the above technical solution, the force feedback handle also includes a housing with bearing mounting holes on all four sides of the housing opening for placing the two ends of the first and second shafts to help fix and support the first and second shafts.

[0022] Secondly, the present invention proposes a control method for any of the force feedback handles described above. The method achieves interactive control by ensuring that the positions of the force feedback handle on its first and second axes, along with the feedback torque, satisfy the following relationship:

[0023]

[0024] Where: M1 is the feedback torque of the first axis, θ2 is the rotation angle of the second axis, M2 is the feedback torque of the second axis, θ1 is the rotation angle of the first axis, and k1 and k2 are the interactive control coefficients of position and feedback torque. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 , one A schematic diagram of the force feedback handle structure in one implementation method;

[0027] Figure 2 , one A schematic diagram of the mounting bracket in one embodiment;

[0028] Figure 3 ,Will Figure 1 Force feedback handle placed Figure 2 A schematic diagram of the mounting bracket;

[0029] In the diagram: 1. Operating handle, 2. Cover, 3. Bearing end cover, 4. Housing, 5. Control fork, 6. Mounting pin, 7. Key, 8. Second half-shaft, 9. First bevel gear, 10. Second bevel gear, 11. Drive shaft, 12. Reducer, 13. Motor, 14. Connecting block, 15. Nut, 16. Second half-shaft, 17. Bearing, 18. First shaft, 19. First bevel gear, 20. Second bevel gear, 21. Drive shaft, 22. Reducer, 23. Motor, 24. Support frame. Detailed Implementation

[0030] The following description will be taken in conjunction with the accompanying drawings of the embodiments of this application. Although various aspects of the invention are shown in the drawings, they are not necessarily drawn to scale unless otherwise specified.

[0031] In the description of this application, it should be understood that the terms indicating orientation or positional relationship used in conjunction with the drawings are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0032] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation" and "connection" should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0034] In one implementation, a force feedback handle is used to remotely control helicopter traction. A schematic diagram of the force feedback handle is shown below. Figure 1-3 As shown. In implementation, the force feedback handle uses the following components:

[0035] Operating handle (1), cover (2), bearing end cover (3), housing (4), operating fork (5), mounting pin (6), key (7), second half shaft (8, 16), first bevel gear (9, 19), second bevel gear (10, 20), drive shaft (11, 21), reducer (12, 22), motor (13, 23), connecting block (14), nut (15), bearing (17), first shaft main shaft (18), support frame (24).

[0036] The first main shaft (18) and the second half shaft (8, 16) achieve dynamic cooperation through bearings (17), and achieve axial positioning of their respective shafts through bearing end caps (3).

[0037] The control fork (5) and the mounting pin (6) constitute the first connecting unit. The control fork is used to connect one end of the operating handle, and the control fork is fixed to the first shaft (18) by the mounting pin. The mounting pin is wear-resistant on both sides, and the assembly method is interference fit in the middle and clearance fit on both sides. The fixed operating handle can rotate independently of the first shaft in the plane defined by the control fork and the first shaft.

[0038] The connecting block (14) and the nut (15) constitute the second connecting unit. The two ends of the connecting block are connected to the two second half-shafts respectively by the nut. The connecting block is U-shaped and spans the first shaft vertically. There is a square opening in the middle of the span, and the end of the operating handle that is not fixed protrudes from the opening. In the opening, the operating handle can drive the connecting block to rotate while keeping the first shaft unchanged, thereby driving the second shaft to rotate around its own axis. It can also drive the first shaft to rotate around its own axis by means of the operating fork without driving the connecting block to rotate. That is, the movement of the operating handle in the first axis direction and the second axis direction are independent of each other and do not need to be decoupled. When the first axis perpendicularly bisects the second axis and the operating fork is fixed at the midpoint of the first axis, the rotation of the operating handle in the two degrees of freedom directions is symmetrical. Since the operating space is a partial sphere, the spatial position can be easily decomposed into the first axis and the second axis. The mapping is uniquely determined and there are no singularities, which facilitates the implementation of the control algorithm.

[0039] A first bevel gear (9, 19), a second bevel gear (10, 20), and a drive shaft (11, 21) constitute a transmission module, while a reducer (12, 22) and a motor (13, 23) constitute a drive module. In the above embodiment, two sets of transmission modules and two sets of drive modules are used. One set of transmission modules is located at one end of the first shaft, and the other set of transmission modules is located at one end of the second shaft. One set of drive modules is used to drive the transmission module of the first shaft, and the other set of drive modules is used to drive the transmission module of the second shaft. The drive modules enable the transmission modules to rotate, thereby causing the shafts they belong to to rotate around the axis of the shaft. Taking one set as an example: the first bevel gear (9) is located at one end of the second shaft and is connected and installed with a key (7). The second bevel gear is located at one end of the transmission shaft and is connected and installed with a key. The two bevel gears are connected and driven perpendicularly to each other. The other end of the transmission shaft is located at the output end of the motor. By controlling the motor to provide driving force to rotate, the second bevel gear on it rotates, which drives the first bevel gear to rotate and thus drives the second shaft to rotate around its own axis. A reducer is installed on the motor to increase torque and extend the service life of the motor. Each motor group has an internal photoelectric encoder to measure the rotation angle of the corresponding shaft. By utilizing the shaft system and bevel gear transmission for direction changing, the overall size is kept small, thus achieving a simple and compact force feedback handle.

[0040] To protect the structure of the force feedback handle, the force feedback handle also includes a mounting bracket, such as... Figure 2 As shown. The mounting bracket includes a support frame, a housing, and a cover. The housing is fixed to the support frame, with side enclosures. Each side has bearing mounting holes at the top for accommodating the ends of the first and second shafts. The bottom surface has an opening for mounting the force feedback handle within the housing, allowing the drive module's motor to extend from the bottom surface. The cover has an opening for extending when the operating handle is positioned within the housing and support frame. The housing and cover are secured by locating pins and connected by screws.

[0041] When the operator operates the handle, the movement of the handle can be decomposed into two parts: rotation around a first axis and rotation around a second axis. When rotating around the first axis, the handle, via a mounting pin, causes the first axis to rotate around its centerline. This rotation is transmitted via a key connection to the corresponding bevel gear set, and then to the corresponding motor drive shaft. After passing through a reducer connected to this drive shaft, the motion is transmitted to the corresponding motor shaft, driving the photoelectric encoder mounted on the motor shaft to rotate and acquire the angle of rotation of the handle around the first axis. When rotating around the second axis, the connecting block between the handle and the second axis allows the rotating part of the second axis to rotate around it through line-surface contact and sliding. This motion is then transmitted via a key connection to the corresponding bevel gear set. The second bevel gear, via a key connection, transmits the motion through the corresponding reducer to the corresponding motor shaft. The photoelectric encoder mounted on the motor shaft acquires the corresponding number of pulses and calculates the angle of rotation of the handle around the second axis. Force feedback is implemented in the opposite way to collecting human hand operation signals. Power is transmitted from the first or second motor to the operating handle, thereby realizing the interactive control of the operating handle's position and feedback torque in two degrees of freedom. That is, the two degrees of freedom of the operating handle each satisfy the following relationship:

[0042]

[0043] Where: M1 is the feedback torque of the first axis, θ2 is the rotation angle of the second axis, M2 is the feedback torque of the second axis, θ1 is the rotation angle of the first axis, and k1 and k2 are the interactive control coefficients of position and feedback torque, which are determined by the ratio of the maximum damping force required for each degree of freedom to the cube of the maximum rotation angle of the motor.

[0044] Applying the aforementioned force feedback handle to a helicopter aims to provide damping force during high-speed longitudinal or lateral movement. This ensures that only one direction (lateral or longitudinal) has a high velocity, preventing accidental operation, improving stability and safety, and increasing the success rate of helicopter retraction and deployment. Specifically, the lateral direction corresponds to the first axis, and the longitudinal direction corresponds to the second axis.

[0045] The operator controls the control handle, and the first and second photoelectric encoders detect changes in the position of the control handle, thus controlling the helicopter's traction operation. The relationship is expressed as:

[0046] V1 = k v1 θ1, V2 = k v2 θ2

[0047] In the formula: V1 is the helicopter's velocity component on the first axis, θ1 is the helicopter's rotation angle on the first axis, V2 is the helicopter's velocity component on the second axis, θ2 is the helicopter's rotation angle on the second axis, and k v1 kv2 The rotation angle range of each degree of freedom is determined by the ratio of the maximum damping force required for each degree of freedom to the maximum threshold value of the motor's maximum rotation angle. The corresponding speed value ratio is -1 to 1. The threshold value for each degree of freedom rotation angle range can be changed according to actual conditions.

[0048] As the operator manipulates the handle, the controller sends torque output commands to the first and second motors, and the motors transmit force ranges from -20 to 20 N to the handle.

[0049] Cross-correspondence is achieved by controlling the feedback torque and position relationship of two degrees of freedom to improve maneuver stability. If the first axis feedback torque is M1 and the second axis position is θ2, then the cross-correspondence relationship between the feedback torque and position relationship of the two degrees of freedom is as follows:

[0050]

[0051] The motor corresponding to the first axis transmits the output torque of the first axis to the operating handle through its corresponding motor drive shaft and bevel gear set. When the angle θ2 of the second axis, i.e. the longitudinal linear velocity V2, increases, the lateral linear velocity V1 should decrease in order to ensure the stability of helicopter towing. Increasing the damping force of the first axis can provide a tactile reminder to the operator. The increased lateral damping force makes it less likely to operate the handle laterally, thus preventing accidental operation.

[0052] Similarly, the relationship between the feedback force M2 on the second axis and the position θ1 on the first axis is as follows:

[0053]

[0054] The second axis motor outputs torque to the operating handle via its corresponding motor drive shaft and bevel gear set. When the first axis angle θ1, i.e., the lateral linear velocity V1, increases, the longitudinal linear velocity V2 should decrease to ensure the stability of helicopter towing. Increasing the damping force of the second axis can provide tactile feedback to the operator and prevent accidental activation.

[0055] When the operator stops operating the handle and releases it for more than 5 seconds, the two sets of photoelectric encoders detect that the corresponding shaft position change is within a very small range. The controller's timer counts down to 5 seconds, initiating the handle reset mode. The two photoelectric encoders calculate the difference between the actual position they acquire and the origin position, and input this difference into the PID controller. The PID controller then controls the two motors to drive the handle to reset.

[0056] Because of the force feedback function of the force feedback handle during recovery, it can be combined with further obstacle avoidance and path planning to provide position guidance at the control handle end, helping the operator recover the helicopter and improving the helicopter recovery efficiency.

[0057] In summary, when the force feedback handle of this invention is applied to a helicopter, the control method is simple and avoids extensive calculations. During real-time control of the force feedback handle, it is fully considered that the lateral linear velocity (first axis control) and longitudinal linear velocity (second axis control) of the helicopter traction cannot be excessive simultaneously. When the value of the operating handle (main end) is too large in one degree of freedom, a large damping force is applied to the motor of the other degree of freedom to prevent misoperation and improve operational stability and safety. Different application scenarios will have different speeds. The force feedback handle of this invention moves independently in two degrees of freedom, allowing for convenient parameter setting and control according to different application scenarios. Furthermore, compared to traditional hand-operated recovery systems that rely entirely on the operator's vision and experience to judge operational details, this invention adds torque feedback functionality.

[0058] The force feedback handle of this invention can be used not only for helicopters, but also for remote operation of offshore work equipment, robots in extreme environments, etc. The connector in this invention can be replaced with other connectors with the same function.

[0059] Although embodiments of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the specific embodiments and application fields described above. The specific embodiments described above are merely illustrative and instructive, and not restrictive. Those skilled in the art can make many other forms based on the guidance of this specification and without departing from the scope of protection of the claims of the present invention, and all of these are within the scope of protection of the present invention.

Claims

1. A force feedback handle, characterized in that: The force feedback handle includes an operating handle, a connecting module, a first axis, and two identical second half-axis; The connection module includes a first connection unit and a second connection unit. The second connection unit connects two second half-shafts to form a second shaft, and makes the center lines of the two half-shafts lie on the same straight line, perpendicular to the center line of the first shaft. There is an opening in the second connection unit, one end of the operating handle passes through the opening, and the other end is fixed to the first shaft through the first connection unit. The intersection of the axis of the operating handle and the center line of the first shaft is the midpoint of the second shaft. The fixed operating handle can rotate independently of the first shaft in the plane defined by it and the first shaft. The control handle rotates around the axis of the first shaft in the opening of the second connecting unit, and can drive the first shaft to rotate independently of the second shaft around the axis of the first shaft through the first connecting unit; The control handle rotates around the axis of the second shaft in the opening of the second connecting unit. The control handle can drive the second connecting unit to rotate, and the second connecting unit can then drive the second shaft to rotate independently of the first shaft around the axis of the second shaft. Interactive control is achieved by ensuring that the positions of the force feedback handle on its first and second axes, along with the feedback torque, satisfy the following relationship: ， in: The feedback torque of the first axis, The rotation angle of the second axis. This is the feedback torque for the second axis. Let be the rotation angle of the first axis. , This is the interaction control coefficient between position and feedback torque.

2. The force feedback handle according to claim 1, characterized in that, The force feedback handle also includes a transmission module and a drive module; The transmission module includes a first gear assembly and a second gear assembly, with the first gear assembly located at one end of the first shaft and the second gear assembly located at one end of the second shaft. The driving module includes a first driver and a second driver; Controlling the first drive enables the first gear assembly to rotate, thereby causing the first shaft to rotate around its axis. Controlling the second drive enables the second gear assembly to rotate, thereby causing the second shaft to rotate around its axis.

3. The force feedback handle according to claim 1, characterized in that: The first connecting unit consists of an operating fork and a mounting pin. The operating fork is fixed on the first shaft by the mounting pin. The operating fork is used to connect one end of the operating handle.

4. The force feedback handle according to claim 1, characterized in that: The second connecting unit is a connecting block, which is connected to the two half shafts by a nut. The connecting block spans the first shaft and has an opening in the middle, allowing the operating handle located in the opening to move freely in the direction parallel to the second shaft, and also in the direction perpendicular to the second shaft. When the operating handle moves in the direction perpendicular to the second shaft, it can drive the connecting block to rotate, causing the second shaft to rotate around the axis of the second shaft.

5. The force feedback handle according to claim 2, characterized in that: Both the first gear assembly and the second gear assembly are bevel gear assemblies. Each bevel gear assembly includes a first bevel gear and a second bevel gear, with the second bevel gear being perpendicularly connected to the first bevel gear in a transmission connection. The first bevel gear is fixed at one end of the first shaft or one end of the second shaft, and the second bevel gear is fixed on the transmission shaft corresponding to the first shaft or the second shaft, and is perpendicularly connected to the first bevel gear for transmission. When the drive shaft rotates, the second bevel gear rotates along with it, which in turn drives the corresponding first bevel gear to rotate, thereby causing the shaft containing the first bevel gear to rotate.

6. The force feedback handle according to claim 5, characterized in that: Both the first drive and the second drive include a motor and a reducer. When the motor drives the transmission shaft to rotate, the torque is increased by adjusting the reducer.

7. The force feedback handle according to claim 6, characterized in that: The motor has an internal photoelectric encoder. When the motor drives the transmission shaft to rotate, the second bevel gear on the transmission shaft rotates, which in turn drives the first bevel gear to rotate, thereby causing the shaft where the first bevel gear is located to rotate at an angle. This angle is measured by a photoelectric encoder.

8. The force feedback handle according to claim 1, characterized in that: The first and second shafts are equipped with bearings at both ends, and the axial positioning of the shafts is achieved by bearing end caps.

9. The force feedback handle according to claim 1, characterized in that: The force feedback handle also includes a housing with bearing mounting holes on all four sides of the housing opening for placing the two ends of the first and second shafts.

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