Diver propulsion assembly incorporating a handheld controller and haptics feedback

Abstract

A diver propulsion assembly includes an assembly harness for being worn by a diver. At least one thruster is carried by the assembly harness and is adapted for propelling the diver through a body of water. The thruster incorporates an electric motor, drive shaft and propeller. A battery is operatively connected to the thruster. A handheld controller is operatively connected to the electric motor of the thruster and is adapted for the controlling at least one of motor activation, propeller speed and propeller direction. The handheld controller incorporates a haptics feedback mechanism configured to generate tactile sensations in a hand of the diver to nonvisually and nonverbally communicate to the diver realtime operational data of the thruster.

Description

DIVER PROPULSION ASSEMBLY INCORPORATING A HANDHELD CONTROLLER AND HAPTICS FEEDBACKTechnical Field and Background

[0001] The present disclosure relates broadly to a diver propulsion assembly and method. Exemplary embodiments described herein have application to any movement of a user (or "diver") through a body of water, including underwater SCUBA diving, free diving, snorkeling, swimming, and the like. Embodiments of the present disclosure may be used for recreational purposes or in combination with military issue combat swimming gear. Examples of military uses include reconnaissance, search and rescue, patrols, hull inspections, and the like. Diver propulsion assemblies of the prior art are described in prior issued U.S. Patent Nos. 8,567,336 and 9,321 ,512 owned by Jetboots Holdings LLC. The complete disclosure of these patents is incorporated herein by reference.

[0002] In exemplary embodiments, the diver propulsion assembly of the present invention utilizes a handheld motor controller. This handheld controller allows the diver to readily and conveniently control the operation of one or more underwater thrusters employed by the propulsion assembly.

[0003] The basic functionality of handheld motor controllers involves sending signals to an electric motor to control thruster activation, speed, direction and other parameters. Handheld motor controllers of the prior art are commonly equipped with buttons, triggers, or other input devices through which users can interact. These inputs are used to send commands to the controller. A microcontroller or processor is incorporated inside the handheld motor controller and functions to process the user's input signals. This component interprets the user commands and generates thecorresponding control signals for the motor. The microcontroller generates control signals that determine the motor's behavior. These signals can include information about the desired speed, direction or other parameters. In many embodiments of the prior art, the handheld motor controller communicates with a motor driver circuit. The motor driver is responsible for amplifying the control signals from the controller and supplying the necessary power to the electric motor. The electric motor receives the amplified control signals and adjusts its operation accordingly. This could involve changing the speed, rotating in a specific direction, or stopping operation altogether. Some more advanced handheld motor controllers of the prior art include feedback mechanisms, such as encoders or sensors, to provide information about the motor's actual state. This feedback can be used to ensure accurate control and make real-time adjustments.

[0004] Overall, the handheld motor controller acts as an interface between the user and the electric motor, allowing for precise and dynamic control over the motor's operation. The specific features and capabilities of a handheld motor controller can vary depending on its design and intended application.Summary of Exemplary Embodiments

[0005] Various exemplary embodiments of the present invention are described below. Use of the term "exemplary" means illustrative or by way of example only, and any reference herein to "the invention" is not intended to restrict or limit the invention to exact features or steps of any one or more of the exemplary embodiments disclosed in the present specification. References to "exemplary embodiment," "one embodiment," "an embodiment," "various embodiments," and the like, may indicate that the embodiment(s) of the invention so described may include a particular feature, structure, or characteristic,but not every embodiment necessarily includes the particular feature, structure, or characteristic. Further, repeated use of the phrase "in one embodiment," or "in an exemplary embodiment," do not necessarily refer to the same embodiment, although they may.

[0006] It is also noted that terms like "preferably", "commonly", and "typically" are not utilized herein to limit the scope of the claimed invention or to imply that certain features are critical, essential, or even important to the structure or function of the claimed invention. Rather, these terms are merely intended to highlight alternative or additional features that may or may not be utilized in a particular embodiment of the present invention.

[0007] According to one exemplary embodiment, the present disclosure comprises a diver propulsion assembly including an assembly harness for being worn by a diver. At least one thruster is carried by the assembly harness and is adapted for propelling the diver through a body of water. The thruster comprises an electric motor, drive shaft and propeller. A battery is operatively connected to the thruster. A handheld controller is operatively connected to the electric motor of the thruster and is adapted for the controlling motor activation, propeller speed and propeller direction. The handheld controller incorporates a haptics feedback mechanism configured to generate tactile sensations in a hand of the diver to nonvisually and nonverbally communicate to the diver realtime operational data of the thruster.

[0008] According to another exemplary embodiment, the tactile sensations generated by the haptics feedback mechanism comprise one or more successive vibrations.

[0009] According to another exemplary embodiment, the realtime operational data of the thruster comprises a state of charge of the battery.

[0010] According to another exemplary embodiment, a single vibration of the handheld controller communicates a battery charge of between approximately 0-25 percent.

[0011] According to another exemplary embodiment, two successive vibrations of the handheld controller communicates a battery charge of between approximately 25-50 percent.

[0012] According to another exemplary embodiment, three successive vibrations of the handheld controller communicates a battery charge of between approximately 50- 75 percent.

[0013] According to another exemplary embodiment, four successive vibrations of the handheld controller communicates a battery charge of between approximately 75-100 percent.

[0014] According to another exemplary embodiment, the handheld controller generates a continuous vibration upon reaching a predetermined low battery charge.

[0015] According to another exemplary embodiment, the haptics feedback mechanism comprises an eccentric rotating mass (ERM) actuator.

[0016] According to another exemplary embodiment, the handheld controller is configured to selectively switch between a dark mode setting and a visual mode setting, whereby each setting functions to communicate to the diver realtime operational data of the thruster.

[0017] According to another exemplary embodiment, the handheld controllerincorporates an LED status window configured to visually display realtime operational data of the thruster.

[0018] According to another exemplary embodiment, the realtime operational data of the thruster comprises at least one of a group consisting of battery charge, thrust, propeller speed and propeller direction.

[0019] According to another exemplary embodiment, the handheld controller comprises a thumbwheel throttle.

[0020] According to another exemplary embodiment, the thumbwheel throttle comprises an electro-mechanical rotary encoder.

[0021] According to another exemplary embodiment, the handheld controller comprises an acoustic underwater wireless communication modem.

[0022] According to another exemplary embodiment, the assembly harness comprises a waist belt.

[0023] According to another exemplary embodiment, a thruster mounting assembly is attached to the waist belt and incorporates an elongated thigh-carried thruster retention frame configured to mount the thruster to a leg of the diver.

[0024] According to another exemplary embodiment, the thruster mounting assembly is hinged to the waist belt at an ergonomic hinge point for enabling ergonomic movement of the thruster relative to the waist belt during operation of the propulsion assembly by the diver.

[0025] The term "diver" refers broadly herein to an individual who moves through a body of water, either partially or entirely submerged therein.

[0026] The term "tactile sensations" includes vibrotactile (vibration), pressure,force, thermal, and other touch indicators.

[0027] The term "upper leg" is defined herein as that portion of the body extending generally between the knee and waist.

[0028] The term "waist belt" refers broadly to any belt, harness, or other torsoencircling or substantially encircling structure worn on or around the waist, and capable of carrying one or more thrusters. The exemplary thruster may comprise a 12V full waterproof brushless electric motor with 4-blade metal propeller.Brief Description of the Drawings

[0029] The description of exemplary embodiments proceeds in conjunction with the following drawings, in which:

[0030] Figure 1 is an environmental view of a thigh-mounted hands-free diver propulsion assembly according to one exemplary embodiment of the present disclosure;

[0031] Figure 2 is an outside elevational view of the exemplary diver propulsion assembly;

[0032] Figure 3 is an exploded view of the thruster and thruster mounting assembly;

[0033] Figure 4 is an inside elevational view of the diver propulsion assembly, and demonstrating ergonomic pivoting movement of the thruster and thruster mounting assembly relative to the waist belt; and

[0034] Figure 5 is a side view of a single thruster and thruster mounting assembly, and demonstrating their ergonomic pivoting movement about an axis generally perpendicular to the pivot axis shown in Figure 4.

[0035] Figures 6, 7 and 8 are views of an exemplary handheld motor controllerutilized in the present diver propulsion assembly;

[0036] Figure 9 is a diagrammatic view of the exemplary handheld motor controller;

[0037] Figure 10 is a flow diagram demonstration one or more operational features of the exemplary handheld motor controller;

[0038] Figure 11 is a table listing exemplary haptic feedback indicators;

[0039] Figure 12 represents the exemplary LED status window; and

[0040] Figure 13 is table listing exemplary visual feedback indicators.Description of Exemplary Embodiments and Best Mode

[0041] The present invention is described more fully hereinafter with reference to the accompanying drawings, in which one or more exemplary embodiments of the invention are shown. Like numbers used herein refer to like elements throughout. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be operative, enabling, and complete. Accordingly, the particular arrangements disclosed are meant to be illustrative only and not limiting as to the scope of the invention, which is to be given the full breadth of the appended claims and any and all equivalents thereof. Moreover, many embodiments, such as adaptations, variations, modifications, and equivalent arrangements, will be implicitly disclosed by the embodiments described herein and fall within the scope of the present invention.

[0042] Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation. Unless otherwise expressly defined herein, such terms are intended to be given their broad ordinary andcustomary meaning not inconsistent with that applicable in the relevant industry and without restriction to any specific embodiment hereinafter described. As used herein, the article "a" is intended to include one or more items. Where only one item is intended, the term "one", "single", or similar language is used. When used herein to join a list of items, the term "or" denotes at least one of the items, but does not exclude a plurality of items of the list.

[0043] For exemplary methods or processes of the invention, the sequence and / or arrangement of steps described herein are illustrative and not restrictive. Accordingly, it should be understood that, although steps of various processes or methods may be shown and described as being in a sequence or temporal arrangement, the steps of any such processes or methods are not limited to being carried out in any particular sequence or arrangement, absent an indication otherwise. Indeed, the steps in such processes or methods generally may be carried out in various different sequences and arrangements while still falling within the scope of the present invention.

[0044] Additionally, any references to advantages, benefits, unexpected results, or operability of the present invention are not intended as an affirmation that the invention has been previously reduced to practice or that any testing has been performed. Likewise, unless stated otherwise, use of verbs in the past tense (present perfect or preterit) is not intended to indicate or imply that the invention has been previously reduced to practice or that any testing has been performed.

[0045] Referring now specifically to the drawings, a hands-free diver propulsion assembly according to one exemplary embodiment of the present invention is illustrated in Figures 1 and 2, and shown generally at reference numeral 10. The exemplaryassembly 10 includes a flexible waist belt 11 worn by the diver "D", first and second spaced apart thigh-mounted thrusters 12A, 12B (referenced singularly, 12) for propelling the diver "D" through water, and first and second thruster mounting assemblies 14A, 14B. See Figure 2. The thruster mounting assemblies 14A, 14B cooperate with the waist belt 11 to mount and secure respective thrusters 12A, 12B to upper legs of the diver "D", as shown in Figure 1 .

[0046] As best shown in Figure 2, the exemplary waist belt 11 has opposing elongated nylon ends 16 and 17, and a levered quick connect / disconnect buckle 18. The belt buckle 18 may allow ready and convenient length adjustment to custom fit the waist belt 11 to the diver. The waist belt 11 further comprises intermediate nylon hinge straps 21 and 22 extending slightly from a longitudinal edge 23 of the belt 11 , and designed to carry respective thrusters 12A, 12B and thruster mounting assemblies 14A, 14B (described further below). The thruster mounting assemblies 14A, 14B are spaced apart approximately 18-24 inches along a length of the waist belt 11 , and locate at their respective far ends approximately 12-18 inches from the longitudinal belt edge 23. By this arrangement, the thrusters 12A, 12B mount substantially adjacent respective outer thighs of the diver when the propulsion assembly 10 is properly positioned and secured. The exemplary thrusters 12A, 12B are electrically connected to a battery pack 25 and motor controller 26, and operate in a conventional manner to propel the diver through water as described in prior U.S. Patent No. 6,823,813 to Mazin — the complete disclosure of this prior patent being incorporated herein by reference. The battery pack 25 and controller 26 may be releasably attached to the waist belt 11 by cooperating straps, mating fasteners, clips, pockets, or other suitable means. Alternatively, thesecomponents may be attached at any other location on the body of the diver, or on other equipment or devices carried by the diver.

[0047] As shown in Figure 3, each thruster 12A, 12B (only 12A shown) comprises an electric motor 31 and drive shaft 32 substantially contained within a sealed cylindrical housing 33, and operatively connected (e.g., via speed-reducing gearbox) to a standard high-speed propeller 34. The electric thruster motor 31 may comprise a brushless 12V- 16V DC motor. The exemplary propeller 34 may turn at variable speeds of up to 4500 rpm or more, and is surrounded by a protective ring 35 and mesh covering. In one exemplary embodiment, the thruster speed and its ON / OFF states may be controlled by the diver via a rotatable actuator knob 36 (See Figures 1 , 2, and 4) on the motor controller 26. The actuator knob 36 is operatively connected to a potentiometer located inside the controller housing, and can include the ON / OFF switch function at one end of its range of operation.

[0048] Components of a single thruster 12A and thruster mounting assembly 14A are detailed in Figure 3. Thruster 12B and thruster mounting assembly 14B incorporate components identical to those shown in Figure 3, and mount to the diver and function in an identical manner. Referring to Figure 3, the thruster mounting assembly 14A is joined to the waist belt 11 by flexible hinge strap 21 , as previously described, and includes a pivot joint 40, a generally I-shaped rigid (e.g., metal) thruster retention frame 41 , and an adjustable nylon leg strap 42. The pivot joint 40 comprises a first metal connector 45 attached to the hinge strap 21 , and a cooperating second metal connector 46 attached to an upper end 41 A of the thruster retention frame 41. The connector 46 and retention frame 41 are releasably attached together by hardware, such as complementary boltsand nuts 47, 48, while the thruster 12A may be permanently (e.g., integrally) or releasably affixed to the retention frame 41. For example, the thruster 12A may be permanently welded at housing 33 to a raised center portion of the retention frame 41 . The first and second connectors 45, 46 are pivotably attached together by metal rivet 49, and cooperate as demonstrated in Figure 4 to enable a wide range of ergonomic pivoting movement of the thruster 12A and thruster mounting assembly 14A relative to the waist belt 11. Additionally, as demonstrated in Figure 5, the hinge strap 21 may enable simultaneous ergonomic pivoting of the thruster 12A and thruster mounting assembly 14A about an axis generally perpendicular to the axis of the ergonomic pivot joint 40. The flexible nylon leg strap 42 of each assembly 14A, 14B is attached to a lower end 41 B of the thruster retention frame 41 using complementary bolts and nuts 51 , 52, and has mating quick connect / disconnect buckle fasteners 53, 54 at respective opposite ends.

[0049] When properly worn and used by the diver, the exemplary propulsion assembly 10 may offer increased mobility and maneuverability, and enable more natural ergonomic movement of the diver's legs both in and out of the water. The thruster mounts and connections may be hinged and / or pivoted, as described above, or rigid and fixed.Handheld Motor Controller 100

[0050] In addition to controller 26 described above, or alternatively, the present diver propulsion assembly 10 utilizes a handheld motor controller 100 with a thumbwheel throttle 101 best shown in Figures 1 and 6-8. The exemplary thumbwheel throttle 101 comprises an electro-mechanical rotary encoder. The handheld motor controller 100 includes a slender ergonomic housing 102 having a textured exterior grip 104 and built-in LED status window 105. The status window 105 is located at top distal end of the housing 102 such that it can be readily viewed by the diver while simultaneously manipulating the thumbwheel throttle 101. Exemplary dimensions of the handheld motor controller 100 shown in Figures 6-8 are indicated in inches.

[0051] In an exemplary embodiment, the handheld motor controller 100 is operatively connected to controller 26 described above via cable 106; or alternatively, may be wirelessly connected using SONAR or other short-range sound wave-based technologies. The exemplary thumbwheel throttle 101 is located at the distal end of the controller housing 102 adjacent status window 105 — strategically arranged for ready and convenient diver access and manipulation. By manually actuating the thumbwheel throttle 101 , the exemplary handheld motor controller 100 cooperates with controller 26 to command each thruster 12, controlling stop / start of thruster motor 31 , running direction of the thruster propeller 34 — as forward (CW) or reverse (CCW), and speed (RPM) of the propeller 34.

[0052] Referring to the diagram of Figure 9, the exemplary circuit "C" of handheld motor controller 100 is operatively connected to battery pack 25 and comprises a microcontroller board (PCB) 110, a motor driver module 111 , a rotary encoder module 112, and a wireless communications module 114. The PCB 110 includes a microprocessor 115 — e.g., 8-bit single-chip microcontroller; flash memory 116 — e.g., PCB surface-mounted chip; clock 117 — e.g., RTC chip; and other components (not represented) including analog pins, digital PWM pins, SRAM and EEPROM. The exemplary PCB 110 may support communication protocols including SPI, I2C, and USART, and wireless communications via SONAR or other sound wave-basedtechniques. The wireless communications module 114 may comprise an acoustic underwater wireless communication modem. The circuit’s complete working and operation is based on software downloaded into flash memory 116 of microprocessor 115. The motor driver module 111 is electrically connected to each thruster motor 31 , and the PCB 110 and motor driver module 111 are both powered by the battery pack 25. The motor driver module 111 supplies the required voltage and current to each thruster motor 31 . Using the thumbwheel throttle 101 , the rotary encoder module 112 operates in a conventional manner to command each thruster 12 activating the motor 31 and setting the desired speed and direction of propeller 34. In alternative embodiments, the handheld motor controller 100 uses a potentiometer to vary the speed of motor 31 .

[0053] The present handheld motor controller 100 provides on-demand and automatic data communication to the diver providing realtime operational details of each thruster 12. Depending upon environment and circumstances, operational data can be communicated to the diver in one of two modes; dark (stealth) mode and visual mode. In the exemplary embodiment, the handheld motor controller 100 incorporates a haptics feedback mechanism 120 configured to generate tactile sensations in a hand of the diver "D".

[0054] Referring to Figures 1 and 9-11 , the diver initiates a realtime check of operational status of the thrusters 12 by pressing the thumbwheel throttle 101 of handheld motor controller 100. An electronic signal queries the PCB 110, modules 111 , 112,114 and battery pack 25. If the microprocessor 115 is set to communicate in dark mode, the LED status window 105 of handheld motor controller 100 is deactivated (or cloaked) such that no portion of the diver propulsion assembly 10 or controller 100 is illuminated. Asignal is sent to the haptics feedback mechanism 120 to generate certain tactile sensations depending upon the information to be communicated to the diver "D". In one example, the haptics feedback mechanism 120 uses vibrations generated by an eccentric rotating mass (ERM) actuator to nonvisually and nonverbally communicate a current state of charge of the thruster battery pack 25. In alternative embodiments, the haptics feedback mechanism 120 comprises a piezoelectric actuator or other such means to produce vibrations or other tactile sensations including pressure, force and thermal.

[0055] When the battery status is queried by pressing the thumbwheel throttle 101 , a realtime battery charge of between approximately 0-25 percent will cause the haptics mechanism 120 of handheld motor controller 100 to generate a single vibration in the hand of the diver. A realtime battery charge of between approximately 25-50 percent will cause the haptics mechanism 120 of handheld motor controller 100 to generate a two successive vibrations (or pulses) in the hand of the diver. A realtime battery charge of between approximately 50-75 percent will cause the haptics mechanism 120 of handheld motor controller 100 to generate three successive vibrations in the hand of the diver. A battery charge of between approximately 75-100 percent will cause the haptics mechanism 120 of handheld motor controller 100 to generate four successive vibrations in the hand of the diver. When the battery charge reaches a predetermined low threshold (e.g., <5% charge), the haptics mechanism 120 may cause the handheld motor controller 100 to vibrate continuously in the hand of the diver.

[0056] Referring to Figures 1 , 9, 12 and 13, if the microprocessor 115 is programmed to communicate in visual mode, the LED status window 105 of handheld motor controller 100 illuminates certain indicator lights 131 when the thumbwheel throttle101 is pressed. An electronic signal queries the PCB 110, modules 111 , 112, 114 and battery pack 25. For example, a single press of the thumbwheel throttle 101 communicates a realtime state of charge of the thruster battery pack 25. A realtime battery charge of between approximately 0-25 percent will illuminate a single LED light 131 in the status window 105 of handheld motor controller 100. A realtime battery charge of between approximately 25-50 percent will illuminate two LED lights 131 in the status window 105 of handheld motor controller 100. A realtime battery charge of between approximately 50- 75 percent will illuminate three LED lights 131 in the status window 105 of handheld motor controller 100. A realtime battery charge of between approximately 75-100 percent will illuminate four LED lights 131 in the status window 105 of handheld motor controller 100. When the battery charge reaches a predetermined low threshold (e.g., <5% charge), all four LED lights 131 may rapid-flash in the status window 105.

[0057] Still in the visual mode, two successive presses of the thumbwheel throttle 101 of handheld motor controller 100 may communicate to the diver "D" other operational data of the thrusters 12. For example, referring to Figures 12 and 13 , when operating at a realtime propeller thrust level of between approximately 0-25 percent a single LED light 132 may illuminate in the status window 105 of handheld motor controller 100. When operating at a realtime thrust level of between approximately 25-50 percent two LED lights 132 may illuminate in the status window 105 of handheld motor controller 100. When operating at a realtime thrust level of between approximately 50-75 percent three LED lights 132 may illuminate in the status window 105 of handheld motor controller 100. When operating at a realtime thrust level of between approximately 75-100 percent four LED lights 132 may illuminate in the status window 105 of handheld motor controller 100.

[0058] In further alternative embodiments, the handheld motor controller 100 of diver propulsion assembly 10 may wirelessly communicate underwater with one or more remote computing devices via acoustic waves. The exemplary diver propulsion assembly 10 may also utilize a communications gateway, such as Communicating Using Underwater Ultrasonic Wireless (CUUUWi), to enable voice and text-based data communication between above water mobile phone and SATCOM users and underwater users or platforms. In other exemplary embodiments, the present handheld motor controller may be utilized with other underwater propulsion assemblies, above-water watercraft and above-ground and in-the-air personal transportation vehicles and systems.

[0059] For the purposes of describing and defining the present invention it is noted that the use of relative terms, such as "substantially", "generally", "approximately", and the like, are utilized herein to represent an inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation. These terms are also utilized herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue.

[0060] Exemplary embodiments of the present invention are described above. No element, act, or instruction used in this description should be construed as important, necessary, critical, or essential to the invention unless explicitly described as such. Although only a few of the exemplary embodiments have been described in detail herein, those skilled in the art will readily appreciate that many modifications are possible in these exemplary embodiments without materially departing from the novel teachings and advantages of this invention. Accordingly, all such modifications are intended to beincluded within the scope of this invention as defined in the appended claims.

[0061] In the claims, any means-plus-function clauses are intended to cover the structures described herein as performing the recited function and not only structural equivalents, but also equivalent structures. Thus, although a nail and a screw may not be structural equivalents in that a nail employs a cylindrical surface to secure wooden parts together, whereas a screw employs a helical surface, in the environment of fastening wooden parts, a nail and a screw may be equivalent structures. Unless the exact language "means for" (performing a particular function or step) is recited in the claims, a construction under §112, 6th paragraph is not intended. Additionally, it is not intended that the scope of patent protection afforded the present invention be defined by reading into any claim a limitation found herein that does not explicitly appear in the claim itself.

Claims

What is Claimed:1 . A diver propulsion assembly, comprising: an assembly harness for being worn by a diver; at least one thruster carried by said assembly harness and adapted for propelling the diver through a body of water, said thruster comprising an electric motor, drive shaft and propeller; a battery operatively connected to said thruster; and a handheld controller operatively connected to the electric motor of said thruster, and adapted for controlling at least one of motor activation, propeller speed and propeller direction; and wherein said handheld controller incorporates a haptics feedback mechanism configured to generate tactile sensations in a hand of the diver to nonvisually and nonverbally communicate to the diver realtime operational data of said thruster.

2. The diver propulsion assembly according to Claim 1 , wherein the tactile sensations generated by said haptics feedback mechanism comprise one or more successive vibrations.

3. The diver propulsion assembly according to Claim 2, wherein said realtime operational data of said thruster comprises a state of charge of said battery.

4. The diver propulsion assembly according to Claim 3, wherein a single vibration of said handheld controller communicates a battery charge of between approximately 0-25 percent.

5. The diver propulsion assembly according to Claim 4, wherein two successive vibrations of said handheld controller communicates a battery charge of between approximately 25-50 percent.

6. The diver propulsion assembly according to Claim 5, wherein three successive vibrations of said handheld controller communicates a battery charge of between approximately 50-75 percent.

7. The diver propulsion assembly according to Claim 6, wherein four successive vibrations of said handheld controller communicates a battery charge of between approximately 75-100 percent.

8. The diver propulsion assembly according to Claim 1 , wherein said handheldcontroller generates a continuous vibration upon reaching a predetermined low battery charge.

9. The diver propulsion assembly according to Claim 1 , wherein said haptics feedback mechanism comprises an eccentric rotating mass actuator.

10. The diver propulsion assembly according to Claim 1 , wherein said handheld controller is configured to selectively switch between a dark mode setting and a visual mode setting, whereby each setting functions to communicate to the diver realtime operational data of said thruster.

11. The diver propulsion assembly according to Claim 1 , wherein said handheld controller incorporates an LED status window configured to visually display realtime operational data of said thruster.

12. The diver propulsion assembly according to Claim 1 , wherein said realtime operational data of said thruster comprises one of a group consisting of battery charge, thrust, propeller speed and propeller direction.

13. The diver propulsion assembly according to Claim 1 , wherein said handheld controller comprises a thumbwheel throttle.

14. The diver propulsion assembly according to Claim 13, wherein said thumbwheel throttle comprises an electro-mechanical rotary encoder.

15. The diver propulsion assembly according to Claim 1 , wherein said handheld controller comprises an acoustic underwater wireless communication modem.

16. The diver propulsion assembly according to Claim 1 , wherein said assembly harness comprises a waist belt.

17. The diver propulsion assembly according to Claim 16, and comprising a thruster mounting assembly attached to said waist belt, and incorporating an elongated thigh- carried thruster retention frame configured to mount said thruster to a leg of the diver.

18. The diver propulsion assembly according to Claim 17, wherein said thruster mounting assembly is hinged to said waist belt at an ergonomic hinge point for enabling ergonomic movement of said thruster relative to said waist belt during operation of said propulsion assembly by the diver.

19. A diver propulsion assembly, comprising: an assembly harness for being worn by a diver; at least one thruster carried by said assembly harness and adapted for propelling the diver through a body of water, said thruster comprising an electric motor, drive shaft and propeller; a battery operatively connected to said thruster; and a handheld controller operatively connected to the electric motor of said thruster, and adapted for being grasped and manipulated by the diver to control operation of said thruster; and wherein said handheld controller incorporates a haptics feedback mechanism configured to generate tactile vibrations in a hand of the diver to nonvisually andnonverbally communicate to the diver a realtime state of charge of said battery.

20. A diver propulsion assembly, comprising: an assembly harness for being worn by a diver; at least one thruster carried by said assembly harness and adapted for propelling the diver through a body of water, said thruster comprising an electric motor, drive shaft and propeller; a battery operatively connected to said thruster; and a handheld controller operatively connected to the electric motor of said thruster, and adapted for being grasped and manipulated by the diver to control operation of said thruster, and wherein said handheld controller has a thumbwheel throttle comprising an electro-mechanical rotary encoder; and wherein said handheld controller further incorporates a haptics feedback mechanism configured to generate tactile vibrations in a hand of the diver to nonvisually and nonverbally communicate to the diver a realtime state of charge of said battery, and an LED status window configured to selectively display realtime operational data of said thruster.

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