Flight control inceptor with mechanical redundancy

Abstract

An improved inceptor includes a grip configured to move a shaft and a mechanical linkage coupling the shaft to a sensor. The inceptor also includes a redundant mechanical system that includes a second shaft movable by the grip and a second mechanical linkage coupling the second shaft to the sensor. Accordingly, movement of the grip is relayed to the sensor by two discrete mechanical systems. In examples, redundant mechanical systems can be provided for any of three or more rotational directions, e.g., roll, pitch, yaw, and / or the like.

Description

Sensata Ref.: A44354 / L&H Docket No. S427-0729PCTFLIGHT CONTROL INCEPTOR WITH MECHANICAL REDUNDANCYFIELD OF THE TECHNOLOGY

[0001] The subject disclosure relates to control systems, and more particularly to inceptors for use in controlling vehicles such as flying vehicles.BACKGROUND OF TECHNOLOGY

[0002] Hand-operated controls, such as aircraft control sticks, joysticks, and / or the like, often referred to as “inceptors,” serve as a manual user interface that allow a user, such as a pilot or a driver, to control a system, such as a vehicle. Conventional inceptors used in aircraft often include a control stick that is mechanically linked to a control surface of the aircraft, such that movement of the control stick causes a corresponding movement of the control surface. More recently, fly- or steer-by wire systems have become more commonplace. For example, such systems use one or more sensors that generate an electrical output corresponding to a movement of a control stick. In these systems the electrical output is used to determine a control signal that is used to actuate something on the controlled system, e g., the aircraft.

[0003] Conventional steer-by wire systems may have a singular path that carries the input motion, e.g., an applied pressure at a grip of a control stick, to a sensor. However, when only a single path exists, any failure or malfunction can interrupt transmission of the input to the sensor(s). Even when an electrical or sensor redundancy is included, the mechanical failure can negatively impact safe operation of the vehicle. Therefore, there is a need for improved systems and techniques for controlling vehicles, such as aircraft or the like.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCTBRIEF DESCRIPTION OF THE DRAWINGS

[0004] So that those having ordinary skill in the art to which the disclosed systems and techniques pertain will more readily understand how to make and use the same, reference may be had to the following drawings.

[0005] FIGS. 1A and IB are perspective and cross-sectional views, respectively, of an inceptor with mechanical redundancy, in accordance with aspects of this disclosure.

[0006] FIG. 2 is a portion of the cross-sectional view of FIG. IB, showing aspects of the inceptor of FIG. 1, in accordance with aspects of this disclosure.

[0007] FIG. 3 A is an exploded perspective view of a portion of the inceptor of FIG. 1, in accordance with aspects of this disclosure.

[0008] FIG. 3B is a portion of the cross-sectional view of FIG. 2 corresponding to the portion of the inceptor shown in FIG. 3A, in accordance with aspects of this disclosure.

[0009] FIG. 3C is a perspective view of a portion of the inceptor of FIG. 1, including the portion of the inceptor shown in FIGS. 3A and 3B, in accordance with aspects of this disclosure.

[0010] FIG. 4A is an exploded perspective view of a portion of the inceptor of FIG. 1, in accordance with aspects of this disclosure.

[0011] FIG. 4B is a portion of the cross-sectional view of FIG. 2, corresponding to the portion of the inceptor shown in FIG. 4A, in accordance with aspects of this disclosure.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT

[0012] FIG. 4C is a perspective view of the portion of the inceptor shown in FIGS. 4A and 4B, in accordance with aspects of this disclosure.DETAILED DESCRIPTION

[0013] The subject technology overcomes prior art problems associated with control systems, including problems associated with inceptors used to detect and measure inputs by an operator of a vehicle and generate control signals based on such measurements. For example, the systems and techniques described herein may provide an inceptor with mechanical redundancies that may ensure that a single mechanical failure does not result in a catastrophic failure of the inceptor. Without limitation, the control systems described herein may accurately and reliably transfer an input, e.g., an operator input at a grip, to one or more sensors used to detect a rotational displacement corresponding to one or more of a yaw, pitch, or roll angle.

[0014] In some aspects of this disclosure, an inceptor can include a grip. For example, the grip may be a handle and the inceptor may be formed as a joystick, sidestick, or the like. The grip may be configured to receive an input from an operator, e.g., as a force applied by the operation, and move in one or more directions, such as linearly or rotationally, in response to the applied force. In some examples, the grip may be configured to provide one or more of a pitch input, a roll input, and / or a yaw input.

[0015] The inceptor can also include a first shaft coupled to the grip and configured to move in response to a force applied at the grip and a second shaft coupled to the grip and configured to move in response to the force applied at the grip. In examples, the first shaft and the second shaft may be control shafts that are configured to rotate and / or pivot in response to the operator input at the grip. In some examples, the first shaft and the second shaft may beSensata Ref.: A44354 / L&H Docket No. S427-0729PCT nested, e.g., with the first shaft defining a hollow cavity in which the second shaft is disposed. The first shaft and the second shaft may be disposed to move relative to and / or independently of, each other. Thus, for example, should one of the first shaft or the second shaft fail, the other of the shafts may still move under the applied force at the grip.

[0016] In some aspects of this disclosure, the inceptor can also include one or more sensors. For example, a sensor may be disposed to measure rotational displacement about one or more axis of rotation. Without limitation, a first sensor may be disposed to detect rotation associated with a pitch input, a second sensor may be disposed to detect rotation associated with a roll input, and / or a third sensor may be disposed to detect rotation associated with a yaw input. In examples, the sensors may comprise one or more rotary variable differential transformers (RVDTs), although other sensors may be used.

[0017] In aspects of this disclosure, the inceptor may also include a first mechanical linkage coupling the first shaft to the sensor and a second mechanical linkage coupling the second shaft to the sensor. In some examples, the first and second mechanical linkages may comprise first and second intermediate shafts. The first and second intermediate shafts may be nested in some examples. In examples of this disclosure, the first mechanical linkage may be separate from the first mechanical linkage, e.g., such that a failure of one of the linkages will not prohibit transferring of the input to the sensor.

[0018] According to some aspects of this disclosure, the detected rotational displacements determined by the one or more sensors may be passed to a vehicle control system, e.g., to control aspects of the vehicle. While well-suited for use in flight systems, including but not limited to aircraft such as vertical take-off and landing aircraft, short take-off and landingSensata Ref.: A44354 / L&H Docket No. S427-0729PCT aircraft, conventional take-off and landing aircraft, and / or drones, the systems and techniques described herein are not limited to use in flight systems. Other control applications will be appreciated by those having ordinary skill in the art, with the benefit of this disclosure.

[0019] Aspects of this disclosure may provide robust control systems with mechanical redundancies that provide high accuracy and reliability. These advantages, and other features of the systems and methods disclosed herein, will become more readily apparent to those having ordinary skill in the art from the following detailed description of certain preferred embodiments taken in conjunction with the drawings which set forth representative examples of the present disclosure. Like reference numerals are used herein to denote like parts.

[0020] FIG. 1A is a perspective view of an inceptor 100, in accordance with aspects of this disclosure. FIG. IB is a cross-sectional view of the inceptor 100 taken along the section line IB — IB in FIG. 1A. The same reference numerals are used in FIGS. 1A and IB to denote the same components.

[0021] As illustrated, the inceptor 100 generally includes a grip 102 extending form a housing 104. The inceptor 100 also includes a baffle 106, disposed as a shroud or skirt that extends between the housing 104 and the grip 102. As detailed further herein, the grip 102, the housing 104, and / or the baffle 106 may form an exterior of the inceptor 100 that cover and / or protect certain internal components of the inceptor 100 (illustrated in FIG. IB and described further herein.

[0022] As also illustrated in FIG. 1A, the housing 104 generally includes a base 108 and a cover 110 disposed on the base 108. For example, the base 108 and the cover 110 may be selectively secured, e.g., via fasteners including but not limited to screws, bolts, and / or the like.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCTEdges of the cover 110 are illustrated as extending beyond a lateral extent of the base 108 to provide flanged surfaces 112. In examples, the flanged surfaces 112 may facilitate mounting of the housing 104 (and thus the inceptor 100). FIG. 1A also shows a plurality of mounting holes 114 formed in the flanged surfaces 112. In examples, the mounting holes 114 may be configured to receive fasteners, such as threaded fasteners, used to couple the inceptor 100 to a mounting surface in a cockpit of an aircraft, or the like.

[0023] The configuration of the housing 104 is for illustration only. The housing 104 may any shape or configuration that generally defines a volume for retaining internal components of the inceptor 100. Other shapes, configurations, mounting schemes, modifications, and / or the like will be appreciated by those having ordinary skill in the art, with the benefit of this disclosure. In some examples, aspects of this disclosure can include providing mechanical redundancies in an inceptor that has the same footprint, shape, and / or size of a conventional inceptor. That is, the benefits of this disclosure may be integrated into the inceptor 100 without increasing the size of the inceptor 100 relative to conventional inceptors. In this manner, the housing 104 can be sized and / or shaped to replace an existing inceptor and / or to otherwise be included in a system configured for use with a conventional inceptor.

[0024] The inceptor 100 may be configured to detect any of a number of different inputs and to generate commands to a control system (e.g., a flight control system) based on those inputs. In examples, the grip 102 is movable relative to the housing 104 and relative to components in the housing. Thus, the grip may be an operator interface via which an operator provides instructions to the control system by manipulating the grip 102. In use, the operator can manipulate the grip 102 by applying any of a number of directional forces on the grip 102. TheSensata Ref.: A44354 / L&H Docket No. S427-0729PCT inceptor 100 includes functionality to detect such manipulations and generate associated control signals.

[0025] The inceptor 100 can be configured to detect any of a number of different inputs. Specifically, an application of force by an operator to the grip 102 will cause the grip 102 to move (e g., relative to the housing 104). For example, FIG. 1A illustrates a frame of reference including an x-axis, a y-axis, and a z-axis. The grip 102 may be movable to facilitate rotational motion about one or more of the x-axis, the y-axis, and the z-axis. Herein, the grip can be movable generally in the x-direction (positive and / or negative) to impart rotation about the y- axis. The y-axis may correspond to a pitch axis, such that application of the force to the grip 102 generally in the x-direction can correspond to a pitch input. The grip 102 may also or alternatively be configured to move generally in the y-direction (positive or negative) to impart rotation about the x-axis. The x-axis may correspond to a roll axis, such that application of the force to the grip 102 generally in the y-direction can correspond to a roll input. The grip 102 may also or alternatively be configured for rotation or twisting about the z-axis. The z-axis may correspond to a yaw axis, such that application of a twisting or rotational force to the grip 102 about the z-axis can correspond to a yaw input. In examples the inceptor may be any of a one-, two-, or three-axis controller, e.g., configured to detect one, two, or three of the pitch input, the roll input, and / or the yaw input.

[0026] As described, the grip 102 serves as a handle with which a vehicle operator can interact to provide input to control a system. The grip 102 is illustrated as a type of joystick, but in other examples, the grip 102 may be shaped like a handle, knob, lever, or any other shape with which an operator may interact. The grip 102 may be made of metal, plastic, cloth, foam, and / or any other material, or combination(s) thereof.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT

[0027] The grip 102 may also include one or more additional input devices 116. The input devices 116 of the grip 102 may be configured to receive inputs from an operator of the inceptor 100 other than the roll, pitch, and / or yaw inputs discussed above. In one example, the input devices 116 may correspond to a fourth axis of control, where the first through third axes are the roll, pitch, and yaw axes discussed above. Manipulation of the input devices 116 may affect the movement of the controlled system. For instance, the input device 116 may be include a thumbwheel. Without limitation, an operator may manipulate the thumbwheel to alter speed of a controlled vehicle, e.g., a vertical or horizontal speed. In other examples, the input devices 116 can include a thumbwheel that may be used to adjust an elevation of the controlled system, e.g., by causing an increase in the speed of a rotor that produces a vertical force to elevate the controlled system. In other examples, the input devices 116 can include one or more of paddle wheel, one or more switches, one or more buttons, a trigger mechanism, and / or any other actuator through which a user may provide an input to the control system. Although FIG. 1A shows the input devices 116 arranged at various positions on the grip 102, this is for example only. Any number of additional input devices 116 may be provided at any number of positions on or associated with the inceptor 100. In still further examples, the inceptor 100 may not include any of the input devices 116, e.g., the inceptor 100 may be used only to control motion relative to one or more of the three axes discussed above.

[0028] In examples, the grip 102 may be biased to a normal position, which may be the position illustrated in FIGS. 1A and IB. The biasing force holding the grip 102 in the normal position may be provided to prevent or reduce the likelihood of unintentional movement of the grip 102, e.g., because of an inadvertent contact with the grip, movement of the system, and / or the like. Also in examples, the inceptor 100 may be configured to cause the operator to applySensata Ref.: A44354 / L&H Docket No. S427-0729PCT increased force at greater displacements (e.g., a greater force is needed to rotate the grip 102 from nine to ten degrees than from one to two degrees). In some embodiments, the inceptor 100 may be designed to include greater friction as the operator moves the inceptor 100 away from the normal position and less friction as the operator moves the inceptor towards the normal position. Moreover, and as detailed further herein, damping may be added to the x-, y-, and / or z-axis to reduce oscillation of the inceptor 100 (e.g., under a free dynamic response).

[0029] As noted, the grip 102 is movable to facilitate an operator input to the control a system, such as an aircraft. As shown in FIG. 1A, the inceptor 100 can also include one or more ports 118 for coupling the inceptor 100 to an external system, which may be a computing system, a control system, an actuator system, and / or the like. In the example of FIG. 1A, the ports 118 may be configured for threaded connection of a conduit, e.g., a wire-carrying conduit that can be used to transmit to and / or from the inceptor 100 to the external system. The ports 118 may also facilitate transfer of power to the inceptor 100. Although the ports 118 may be used to transmit data between the inceptor 100 and one or more external systems, in other examples the inceptor 100 may include a wireless transmitter, e g., comprising an antenna and / or the like, to facilitate transmission of data from and / or to the inceptor 100.

[0030] In examples of this disclosure, and as schematically illustrated in FIG. 1A, data generated at the inceptor 100, e.g., sensor data, may be transmitted to a computing system 126. Without limitation, the computing system 126 can include functionality to receive the sensor data and generate one or more outputs, e.g., as signals, instructions, or the like, to be implemented at a controlled system 128, such as an aircraft, a vehicle, or the like. For example, the computing system 126 can include functionality to quantify an input at the grip 102 and generate a signal for driving an actuator at the controlled system 128, e.g., to control an aspect of the controlledSensata Ref.: A44354 / L&H Docket No. S427-0729PCT system 128. Although the computing system 126 is illustrated as being separate from the inceptor 100, in other example some or all functionality of the computing system 126 may be performed at or on the inceptor 100. Without limitation, the computing system 126 can be disposed in the housing 104, and the inceptor may be directly connected to aspects of the controlled system 128.

[0031] FIG. IB shows the inceptor 100 in cross-section, along the line IB — IB in FIG. 1A. In FIG. IB, the baffle 106 is omitted, but the grip 102 and the housing 104 are shown. Moreover, the view of FIG. IB shows interior components of the inceptor 100. The cross- sectional view of FIG. IB shows that the interior components of the inceptor 100 include a grip portion 120, a pitch / roll sensing portion 122, and a yaw sensing portion 124. These designations are for ease of illustration and description only. In examples, the portions 120, 122, 124 may be otherwise arranged and / or coupled.

[0032] Generally, the components comprising the grip portion 120 are configured to relay a user input at the grip 102 to the pitch / roll sensing portion 122 and / or the yaw sensing portion 124. For example, a user may apply a force to the grip portion 120 that causes a corresponding movement at the pitch / roll sensing portion 122 and / or the yaw sensing portion 124. In one example, the user may apply a force in the x-direction that causes rotation or pivoting of the grip 102 about the y-axis and / or the user may apply a force in the y-direction that causes rotation or pivoting of the grip 102 about the x-axis. These corresponding rotations may be sensed at the pitch / roll sensing portion 122. In other examples, the user may apply a rotation force or torque on the grip 102 that causes the grip to rotate about the z-axis. The rotation about the z-axis may be sensed at the yaw sensing portion 124. Aspects of the grip portion 120, the pitch / roll sensing portion 122, and the yaw sensing portion 124 are detailed further in FIGS. 2-5.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT

[0033] FIG. 2 is an enlarged cross-sectional view of the grip portion 120 of FIG. IB. As noted above, the grip portion 120 is generally configured to (mechanically) convey a user input, e.g., as a force applied to the grip 102, to one or more sensing systems. In the illustrated example of FIG. 2, the grip portion 120 generally includes a first grip shaft 202 and a second grip shaft 204. In examples of this disclosure, both the first grip shaft 202 and the second grip shaft 204 are coupled to the grip 102. In examples, the first grip shaft 202 and the second grip shaft 204 may be coupled to the grip shaft 202 independent of each other, e.g., the first grip shaft 202 and the second grip shaft 204 may not be directly fixed to each other. In other examples, the first grip shaft 202 may be fixed to the second grip shaft, e.g., via a fastener 206.

[0034] In the illustrated example, the first grip shaft 202 is illustrated as a hollow shaft, defining a longitudinal opening. The second grip shaft 204 is sized to be disposed in the longitudinal opening of the first grip shaft 202. As will be appreciated, because the second grip shaft 204 is disposed inside the first grip shaft 202, the two grip shafts 202, 204 may be provided in the same physical space as a single grip shaft having the size of the first grip shaft 202.

[0035] In FIG. 2, the grip portion 120 also is illustrated as including a first control shaft 208 and a second control shaft 210. In the illustrated example, the first control shaft 208 is illustrated as a hollow shaft, e.g., defining a longitudinal opening. The second control shaft 210 is disposed in the longitudinal opening of the first control shaft 208. The second control shaft 210 is illustrated as a solid shaft, although in other examples the second control shaft 210 may be hollow.

[0036] In examples of this disclosure, the first control shaft 208 is coupled to the first grip shaft 202 and the second control shaft 210 is coupled to the second grip shaft 204.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCTAccordingly, in examples, motion imparted on the first grip shaft 202 causes a corresponding movement of the first control shaft 208 and motion imparted on the second grip shaft 204 causes a corresponding movement of the second control shaft 210. In the example of FIG. 2, the first control shaft 208 is partially disposed in a longitudinal opening defined by the second grip shaft 204 and extends from a lower (in the pictured orientation) end of the second grip shaft 204. As noted above, the second control shaft 210 is disposed in the first control shaft 208. Accordingly, at an interface of the grip shafts 202, 204 and the control shafts 208, 210, the second control shaft 210 is nested in the first control shaft 208, the first control shaft 208 is nested in the second grip shaft 204, and the second grip shaft 204 is nested in the first grip shaft 202. Thus, and as will be appreciated, the four shafts 202, 204, 208, 210, may occupy the same physical space as a single shaft sized .

[0037] As noted above, the first control shaft 208 is coupled to the first grip shaft 202 and the second control shaft 210 is coupled to the second grip shaft 204. In examples of this disclosure, these couplings may be independent of each other. For example, FIG. 2 shows a fastener 212, e.g., comprising a bolt or the like, extending radially through holes formed in the first grip shaft 202 and the first control shaft 208. The fastener 212 can also extend through holes formed radially through the second grip shaft 204, e.g., to effectively couple the second grip shaft 204 to the first grip shaft 202 and the first control shaft 208.

[0038] FIG. 2 also shows a threaded coupler 214 that is fixed to the second grip shaft 204, e.g., to an interior surface of the second grip shaft 204. In this example, the threaded coupler 214 defines a threaded opening 216 that receives a threaded end 218 of the second control shaft 210. Although the coupler 214 is illustrated as including the threaded opening 216, in other examples the second control shaft 210 could include a threaded opening and the couplerSensata Ref.: A44354 / L&H Docket No. S427-0729PCT214 could include external threads configured for mating with the threaded opening in the shaft 210. Moreover, although a threaded engagement is used in the illustrated example to couple the second grip shaft 204 to the second control shaft 210, in other examples the shafts 204, 210 may be coupled using other techniques.

[0039] As will be appreciated, because each of the grip shafts 202, 204 is coupled to the grip 102, movement of the grip 102 will cause a corresponding movement of the grip shafts 202, 204. Moreover, because the first control shaft 208 is coupled to the first grip shaft 202 and the second control shaft 210 is coupled to the second grip shaft 204, the movement of the grip shafts 202, 204 will cause corresponding movement of the control shafts 208, 210. In examples, an input at the grip 102 should result in corresponding movement of both of the control shafts 208, 210.

[0040] As just described, in examples of this disclosure, the first control shaft 208 is coupled to the first grip shaft 202 using a first fastener, e.g., the fastener 212, and the second control shaft 210 is coupled to the second grip shaft 204 using a second fastener, e.g., the threaded coupler 214. The use of two fastening schemes creates a mechanical redundancy. For example, should the fastener 212 fail, e.g., because of shearing, twisting of the grip 102 may cause the first grip shaft 202 to rotate, but the first control shaft 208 may not correspondingly rotate. However, the twisting will also cause the second grip shaft 204 to rotate and, because of the coupler 214, cause the second control shaft 210 to undergo a corresponding rotation. Similarly, should the coupler 214 fail such that the second control shaft 210 becomes decoupled from the second grip shaft 204, the fastener 212 will ensure movement of the first control shaft 208, based on movement of the first grip shaft 202.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT

[0041] As also illustrated in FIG. 2, the grip 102, the first grip shaft 202, and the second grip shaft 204 are disposed outside the housing 104, and the first control shaft 208 and the second control shaft 210 extend from ends coupled to the grip shafts 202, 204 to opposite ends disposed in the housing 104. More specifically, FIG. 2 illustrates a portion of the base 108 and the cover 110 of the housing 104. An opening 220 is formed through the cover 110 of the housing 104. The opening 220 may be sized to allow for movement of the grip 102 and the control shafts 208, 210. For instance, the opening 220 is illustrated as having an extent in the x- direction that allows for movement of the grip 102 generally in the direction shown by the arrow 222. Specifically, a force applied to the grip 102 generally in the x-direction will result in rotation about the y-direction (normal to the view of FIG. 2) shown by the arrow 222. In examples, the opening 220 can be sized to at least partially define a range of motion for the grip 102, e.g., by acting as a physical stop that the first control shaft 208 contacts. In other examples, other stop mechanisms may be used, including brakes, dampers, hard stops, or the like, to restrict motion of the control shaft.

[0042] Although not visible in the Figures, the opening 220 may have a similar extent in the y-direction, e.g., normal to the view of FIG. 2. Specifically, the opening 220 may be sized to facilitate movement of the grip 102, e.g., generally as rotation about the x-axis. In examples, the shape and / or size of the opening 220 may be varied based on an intended use of the inceptor 100. For example, when the inceptor 100 is intended only to detect rotation about the y-axis, e.g., motion generally along the arrow 222, the opening 220 may be formed as a slot having a greater extent in the x-direction than in the y-direction. Similarly, when the inceptor 100 is intended only to detect rotation about the x-axis, the opening 220 may be formed as a slot having a greater extent in the y-direction than in the x-direction. When the inceptor 100 is intended to detectSensata Ref.: A44354 / L&H Docket No. S427-0729PCT movement about the x- and y-axes the opening may be formed as a relatively larger circular openings, as two crossing slots, and / or otherwise to facilitate a larger range of motion. In still further examples, when the inceptor is intended to measure only rotation about the z-direction, the opening 220 may be sized to allow only for a small clearance around the first control shaft 208.

[0043] As noted above, the grip portion 120 generally provides mechanisms and / or linkages via which an operator input at the grip 102 is transferred to the pitch / roll sensing portion 122 and / or the yaw sensing portion 124. FIGS. 3A and 3B show the pitch / roll sensing portion 122 in more detail. More specifically, FIG. 3A is an exploded perspective view of aspects of the pitch / roll sensing portion 122, and FIG. 3B is a cross-sectional view of the pitch / roll sensing portion 122.

[0044] In FIGS. 3A and 3B, the same reference numerals introduced in FIGS. 1A, IB, and 2 are used to show the same components. Thus, for example, FIGS. 3A and 3B shows aspects of the pitch / roll sensing portion 122, as well as the first control shaft 208 and the second control shaft 210. As illustrated in FIGS. 3A and 3B, the first control shaft 208 is a hollow member extending longitudinally from a first end 302 (an upper end in the orientation of FIGS. 3A and 3B) to a second end 304 (a lower end in FIGS. 3A and 3B). First lateral openings 306 are formed through the sidewall proximate the first end 302. In examples, the lateral openings 306 are sized and configured to receive the fastener 212 (not shown in FIGS. 3 A and 3B). The first control shaft 208 also includes second lateral openings 308 proximate the second end 304.

[0045] The second control shaft 210 is sized to be received in a longitudinal, hollow opening of the first control shaft 208. Once inserted, lateral connectors 310 are secured to anSensata Ref.: A44354 / L&H Docket No. S427-0729PCT outer surface 312 of the second control shaft 210. For example, the lateral connectors 310 are illustrated as including a central opening 314 and in examples, a fastener, such as a bolt, screw, or the like, may pass through the central opening and engage, e.g., via threads, with the outer surface 312 of the second control shaft 210. In examples, the lateral connectors 310 may be received in the second lateral openings 308 of the first control shaft 208, such that once the lateral connectors 310 are secured to the second control shaft 210, longitudinal movement of the second control shaft relative to the first control shaft 208 is substantially limited to any clearance between the lateral connectors 310 and the second lateral opening 308. In the example of FIGS. 3 A and 3B, the lateral connectors 310 have a substantially cylindrical body 316 and a flanged head 318, although this configuration is for example only. In other examples, the flanged head 318 may be omitted and / or the cylindrical body 316 and / or the flanged head 318 may be otherwise shaped and / or configured. In some examples, the lateral connectors 310 may comprise bearings.

[0046] The pitch / roll sensing portion 122 also includes a substantially U-shaped saddle 320. The saddle 320 comprises a first leg 322 and a second leg 324 spaced (e.g., in the x- direction) from the first leg 322. A bridge 326 connects the first leg 322 and the second leg 324 at ends of the legs 322, 324 (e.g., upper ends in the orientation of FIGS. 3A and 3B). In the example of the FIGS. 3A and 3B, the legs 322, 324 extend generally in the z-direction, and the bridge 326 extends in the y-direction. As will be detailed further herein, the components illustrated in FIGS. 3A and 3B may be configured for rotation and measurement of rotation about the x-axis, e.g., for roll inputs. In other examples, the components may be configured for rotation about another axis, e.g., the y-axis, for pitch inputs.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT

[0047] As further illustrated in FIGS. 3A and 3B, a first lateral opening 328 is formed through the first leg 322 and a second lateral opening 330 is formed through the second leg 324. As illustrated, the first lateral opening 328 and the second lateral opening 330 may be formed as holes that are co-axial about a pivot axis 332 extending generally in the x-direction. Moreover, a bridge opening 334 is formed through the bridge 326, generally in the y-direction. As illustrated, the bridge opening 334 may be a slotted opening, e.g., having a larger length in the x-direction than a width in the y-direction in the illustration.

[0048] The first control shaft 208 is aligned to extend generally in the y-direction and extends through the bridge opening 334 such that the first end 302 of the bridge opening 334 is disposed above (in the orientation of FIGS. 3 A and 3B) the bridge 326 and the second end 304 is disposed between the first leg 322 and the second leg 324. More specifically, the first control shaft 208 is arranged such that the second lateral openings 308 align with the first lateral opening 328 in the first leg 322 of the saddle 320 and with the second lateral opening 330 in the second leg 324. Thus, with the second control shaft 210 disposed in the first control shaft 208, the lateral connectors 310 also align with the first and second lateral openings 328, 330. With this configuration, as will be appreciated, when the control shafts 208, 210 are rotated generally in the direction of the arrow 222, e.g., about the x-axis, an outer surface of the first control shaft 208 will contact an inner surface of the bridge opening 334, causing the bridge 326 to move. More specifically, and as detailed herein, this rotation causes the bridge 326 (and the control shafts 208, 210) to pivot about the pivot axis 332.

[0049] As also illustrated in FIGS. 3A and 3B, the pitch / roll sensing portion 122 includes a first intermediate shaft 336 and a second intermediate shaft 338. In the illustrated example, the first intermediate shaft 336 is a hollow shaft extending from a first end 340 to a second end 342.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCTThe first intermediate shaft 336 also includes a mounting flange 344 proximate the first end 340. The mounting flange 344 is configured to secure the first intermediate shaft 336 to the saddle 320. More specifically, the mounting flange 344 is illustrated as including mounting holes 346 that align with mounting holes formed in the second leg 324 of the saddle 320. In examples, the mounting holes in the second leg 324 may be threaded openings, and threaded fasteners may be used to secure the mounting flange 344 to the saddle 320 via the threaded openings. Other fasteners may also or alternatively be used.

[0050] Once mounted to the saddle 320, the first intermediate shaft 336 extends from the saddle 320 generally along the pivot axis 332. Accordingly, pivoting of the saddle 320, e.g., in response to movement of the control shafts 208, 210, will cause a corresponding pivot of the first intermediate shaft 336 about a longitudinal axis of the first intermediate shaft 336. FIGS. 3A and 3B also shows that the pitch / roll sensing portion 122 includes a sensor 348. In examples, the sensor 348 may be configured to determine a rotational displacements, e.g., of the first intermediate shaft 336. In FIGS. 3A and 3B, the sensor 348 is illustrated as including a plurality (e.g., a cluster) of rotary variable differential transformers (RVDTs) 350. Although the RVDTs 350 are illustrated, any sensor modalities that can detect rotation of the first intermediate shaft 336 may be used.

[0051] The sensor 348 generally includes an input shaft 352 to which the first intermediate shaft 336 is coupled. In examples, the input shaft 352 is a splined shaft, and an interior surface of the first intermediate shaft 336 proximate the second end 342 of the first intermediate shaft 336 is correspondingly splined. Accordingly, the input shaft 352 may be received in the second end 342 of the first intermediate shaft 336 in a manner that causes the splined surfaces to cooperate, e.g., to transfer or transmit rotational movement of the firstSensata Ref.: A44354 / L&H Docket No. S427-0729PCT intermediate shaft 336 to the input shaft 352. The rotation of the input shaft 352 is measured at the sensor 348. For example, the RVDTs 350 may be coupled to the input shaft 352, e.g., via a first gear 354 fixed to the input shaft 352.

[0052] As noted above, the pitch / roll sensing portion 122 also includes the second intermediate shaft 338. The second intermediate shaft 338 is configured to transmit rotation of the second control shaft 210 to the sensor 348. In the example of FIGS. 3 A and 3B, the second intermediate shaft 338 is disposed in the hollow opening defined by the first intermediate shaft 336. A first end 356 of the second intermediate shaft 338 is coupled to one of the lateral couplers 310, and a second end 358 of the second intermediate shaft 338 is coupled to the input shaft 352 of the sensor 348. For example, the first end 356 may be threaded to the coupler 310 and / or the second end 358 may be threaded to the input shaft 352. Fastening means other than threads may altematively / also be used.

[0053] In examples, the second intermediate shaft 338 may comprise a linkage between the second control shaft 210 and the sensor 348. As noted above, the first intermediate shaft may be a linkage between the first control shaft 208 and / or the saddle 320 and the sensor 348. Thus, the two linkages provide for a mechanical redundancy of the first intermediate shaft 336. Moreover, because the second intermediate shaft 338 is movable relative to the first intermediate shaft 336, the linkages are independent of each other. Thus, for example, should a connection of the first intermediate shaft 336 to the saddle 320 fail, e.g., because of a mechanical failure at the mounting flange 344, although the first intermediate shaft 336 may not rotate, the second intermediate shaft 338 will still transmit rotation to the sensor 348, e.g., via the connection to the second control shaft 210 and the input shaft 352 of the sensor 348. Similarly, should the lateral connector 310 fail, such that the second intermediate shaft 338 does not rotation with movementSensata Ref.: A44354 / L&H Docket No. S427-0729PCT of the second control shaft 210, the first intermediate shaft 336 will still transmit rotation to the sensor 348.

[0054] Aspects of this disclosure also include an additional mechanical redundancy for transmitting an input at the grip 102 to the sensor 348. Specifically, FIGS. 3A and 3B shows that the pitch / roll sensing portion 122 further includes a secondary gear 360. The secondary gear 360 includes a central opening 362 sized to allow the secondary gear 360 to be disposed on the input shaft 352 of the sensor 348. In examples, the central opening 362 is configured to provide a clearance fit, e.g., such that the secondary gear 360 can rotate about the pivot axis 332 relative to or independently of the input shaft 352. The secondary gear 360 is also configured such that gear teeth interface with corresponding gear teeth on the RVDTs 350. Accordingly, rotation of the first gear 354 (by either or both of the intermediate shafts 336, 338) will cause corresponding rotation of the RVDTs 350, and rotation of the secondary gear 360 will also cause corresponding rotation of the RVDTs 350. In examples of this disclosure, the secondary gear 360 may be driven by the saddle 320.

[0055] As shown in FIGS. 3A and 3B, the saddle 320 includes outturned ends 364 at distal ends of the first and second legs 322, 324. The outturned end 364 associated with the second leg 324 of the saddle 320 includes a protrusion 366 generally extending in a direction parallel to the pivot axis 332, e.g., toward the sensor 348. The protrusion 366 is configured to cooperate with a first keyed opening 368 in a secondary gear actuator 370. In the illustrated example, the first keyed opening 368 is generally formed as a U-shaped opening or slot in a first end of the secondary gear actuator 370. Other coupling arrangements, e.g., instead of the first keyed opening 368 and the protrusion 366 may be used, as will be appreciated by those having ordinary skill in the art with the benefit of this disclosure.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT

[0056] The secondary gear actuator 370 also includes a second keyed opening 372. The second keyed opening 372 is configured to cooperate with a keyed protrusion 374 extending from a face of the secondary gear 360. In examples, the second keyed opening 372 includes opposing flat surfaces connected by arcuate ends, and the keyed protrusion 374 similarly defines opposing flat surfaces and arcuate ends.

[0057] In operation, and as discussed above, the saddle 320 pivots about the pivot axis 332 in response to a force applied at the grip 102 that causes movement of the control shafts 208, 210 generally along the direction of the arrows 222. This pivoting causes a corresponding rotation of the protrusion 366. Via the first keyed opening 368, this rotation of the protrusion 366 causes a corresponding rotation of the secondary gear actuator 370. Because the secondary gear actuator 370 is coupled to the secondary gear via the second keyed opening 372 and the keyed protrusion 374, the rotation of the secondary gear actuator 370 causes a corresponding rotation of the secondary gear 360 (and thus the RVDTs 350). Thus, the secondary gear 360 provides yet another, independent, linkage for transmitting an operator input to the sensor 348.

[0058] Although the secondary gear actuator 370 is illustrated as including the first keyed opening 368 and the second keyed opening 372, other coupling arrangements may be used, as will be appreciated by those having ordinary skill in the art with the benefit of this disclosure. Any arrangement that transmits movement of the saddle 320 to the secondary gear 360 may be used.

[0059] The pitch / roll sensing portion 122 can also include additional features. For example, FIGS. 3A and 3B shows a first damping shaft 376 and a second damping shaft 378. The first damping shaft 376 is coupled to the first leg 322 of the saddle 320 and extendsSensata Ref.: A44354 / L&H Docket No. S427-0729PCT generally laterally (e.g., along the pivot axis 332 in a direction away from the sensor 348). The first damping shaft 376 is illustrated as including a mounting flange 380 that facilitates coupling of the first damping shaft 376 to the saddle 320. The first damping shaft 376 also is hollow. The second damping shaft 378 is disposed at least partially in the first damping shaft 376, and a first end 382 of the second damping shaft 378 is coupled to one of the lateral connectors 310. Accordingly, the first damping shaft 376 is configured to rotate about the pivot axis 332 in response to a pivoting of the saddle 320 and the second damping shaft 378 is configured to rotate about the pivot axis 332 in response to a pivoting of the second control shaft 210. As illustrated in FIG. 3B, the first damping shaft 376 and the second damping shaft 378 may be coupled, e.g., at their distal ends, to a damper 384. For example, the damper 384 may resist rotational motion about the pivot axis 332.

[0060] As will be appreciated from the foregoing, FIG. 3A shows an arrangement that provides multiple mechanical linkages that convey an operator input, e.g., at the grip 102, to the sensor 348 for determining a rotational displacement associated with the input. In the example of FIG. 3A, the input is generally in the y-direction, with the resulting displacement being a rotation about the x-axis. Thus, in examples, the components of FIG. 3 A may be configured to determine a roll input. However, and as will be appreciated, by rotating the illustrated components of FIG. 3A 90-degrees about the z-axis, the same components may be used to determine a pitch input, e.g., a rotation about the y-axis.

[0061] Moreover, aspects of this disclosure can allow for determining rotation about both the x-axis and the y-axis. Specifically, FIG. 3C shows a perspective view of an example of the pitch / roll sensing portion 122 that includes capabilities for determining both rotations. In this example, the saddle 320 may be a component of a gimbal, e.g., a gimbal saddle. For example,Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT the pitch / roll sensing portion 122 may include a second saddle 386 (shown partially in FIG. 3B) that is movable relative to the first saddle 320 to form a gimbal that allows for rotation about both the x- and y-axes. For instance, as shown in FIGS. 3A-3C, the saddle opening 334 is illustrated as being a slotted opening, having a longer extent in the x-direction. In examples, this configuration of the saddle opening 334 facilitates movement of the control shafts 208, 210 relative to the saddle 320. Specifically, while movement of the control shafts 208, 210 in the y- direction will cause pivoting of the saddle 320 about the pivot axis 332 aligned with the x-axis, the control shafts 208, 210 are free to move relative to the saddle 320 in the x-direction. Such movement causes a pivoting about an axis aligned with the y-axis. Although only partially visible in FIGS. 3A -3C, components substantially identical to those shown in FIGS. 3A and 3B may be configured to transmit and measure such movement. In examples, the second saddle 386 associated with these substantially identical components may be nested within the saddle 320, e.g., the second saddle 386 may be relatively smaller and disposed in a space defined by the legs 322, 324 and the bridge 326 of the saddle 320. Also for example, FIG. 3C shows a second sensor 388 configured to measure rotation about the y-axis. FIG. 3C also shows a second damper 390 configured to damp rotation about the y-axis.

[0062] FIG. 3C also shows a frame 392 that is configured to support the pitch / roll sensing portion 122. In the illustrated example, the frame 392 is substantially cubic, having four sides defining a central opening 394. The sides are configured to support the sensors 348, 388 and the dampers 384, 390. For example, as illustrated, the first sensor 348 and the first damper 384 are disposed on first opposite sides and the second sensor 388 and the second damper 390 are disposed on second opposite sides. The saddles 320, 386 are disposed within the central234817-4170-2598.1Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT opening 394, and the first control shaft 208 extends at least partially from the (top) of the central opening 394. Of course, this arrangement is for example only.

[0063] FIGS. 4A-4C illustrates aspects of the yaw sensing portion 124 of the inceptor 100. More specifically, FIG. 4A is an exploded perspective view, FIG. 4B is a cross-sectional view, and FIG. 4C is a perspective view of aspects of the yaw sensing portion 124. As described above, the yaw sensing portion 124 is configured to determine a rotational or twisting displacement, e.g., about the z-axis.

[0064] As illustrated in FIG. 4, the yaw sensing portion 124 includes a first yaw shaft 402 and a second yaw shaft 404. In the illustrated example, the first yaw shaft 402 is configured for coupling to the first control shaft 208 and / or the second yaw shaft 404 (neither of which is shown in FIGS. 4A-4C). Accordingly, a twisting motion of the grip 102, e.g., about the z-axis, that causes rotation of the first control shaft 208 and the second control shaft 210, will also cause rotation of the first yaw shaft 402 and the second yaw shaft 404. In more detail, in the illustrated example, a top surface 406 of the first yaw shaft 402 has mounting holes 408 configured for aligning with corresponding mounting holes associated with the pitch / roll sensing portion 122. In some examples, the frame 392 (shown in FIG. 3C) can include mounting holes (e.g., on a bottom surface) that align with the mounting holes 408 on the first yaw shaft 402. Thus, when the control shaft 208 is rotated about the z-axis, the frame 392 correspondingly rotates, as does the first mounting yaw shaft 402.

[0065] As best illustrated in FIGS. 4A and 4B, the first yaw shaft 402 generally includes a flared top 410 and a central shaft 412. The flared top 410 includes an outer cylindrical surface generally extending from the top surface 406. In examples, the central shaft 412 of the firstSensata Ref.: A44354 / L&H Docket No. S427-0729PCT yaw shaft 402 defines a hollow longitudinal opening, and the second yaw shaft 404 is disposed in the longitudinal opening. Thus, as with other shaft arrangements described herein, the yaw shafts 402, 404 are nested. The shafts 402, 404 may also be configured to move (rotationally) relative to each other.

[0066] The first yaw shaft 402 and the second yaw shaft 404 are coupled to a sensor 414. In examples, the sensor 414 may correspond generally to the sensor 348, but oriented to detect rotation about the z-axis. For example, the sensor 414 can include one or more RVDTs. The sensor 414 includes an input shaft 416 and a gear 418 to which the input shaft 416 is operatively coupled. In examples, the input shaft 416 and the gear 418 may be substantially the same as the input shaft 352 and the gear 354, respectively, discussed above. For example, and without limitation, the input shaft 416 may be fixed relative to the gear 418 and / or the gear 418 may be configured to drive the RVDT(s) comprising the sensor 414.

[0067] The first yaw shaft 402 and the second yaw shaft 404 are fixed to the input shaft 416, e.g., such that rotation of either (or both) of the yaw shafts 402, 404 causes a corresponding rotation of the input shaft 416. For example, an inner surface of the hollow opening of the first yaw shaft 402 may include splines that cooperate with splines formed on an exterior of the input shaft 416 (shown in FIG. 4A). The second yaw shaft 404 may be threadably engaged with the input shaft 416, generally as shown in FIG. 4B. Thus, in examples of this disclosure, the first yaw shaft 402 may provide a first linkage, from the first control shaft 208 via the frame 392, to the sensor 414. The second yaw shaft 404 may provide a second linkage to the sensor 414. As best illustrated in FIG. 3C, a top plate 420 may be secured to the first yaw shaft 402 and a top of the second yaw shaft 404 may be coupled to the top plate 420, e g., via a threaded fastener (not shown) inserted into a second yaw shaft 404 mounting hole 422. The distinct linkages provide aSensata Ref.: A44354 / L&H Docket No. S427-0729PCT mechanical redundancy, increasing the likelihood that a yaw input at the grip 102 is detected at the sensor 414, thereby reducing the risk of failure for the system controlled by the inceptor 100.

[0068] The yaw sensing portion 124 can also include a damper 424 with which both the first yaw shaft 402 and the second yaw shaft 404 interact. As illustrated, the damper 424 may be disposed along a length of the yaw shafts 402, 404, e g. between the control shafts 208, 210 and the sensor 414.

[0069] In the illustrated examples, the yaw sensing portion 124 also includes a yaw shaft mount 426. The damper 424 may be secured to an underside of the yaw shaft mount 426. The yaw shaft mount 426 defines an upper opening 428 configured to receive the first yaw shaft 402. The first yaw shaft 402, when disposed in the upper opening 428, rotates relative to the yaw shaft mount 426. A bearing 430 may be disposed in the upper opening 428 to facilitate relative rotation of the first yaw shaft 402. Also in example, the sensor 414 may be fixed relative to the yaw shaft mount 426. FIG. 4 A shows four posts 432 extending from the yaw shaft mount to a sensor mounting plate 434. The sensor 414 is mounted to an underside of the sensor mounting plate 434. In this manner, the yaw shaft mount 426 maintains the damper 424 and the sensor 414 stationary, and the first yaw shaft 402 and the second yaw shaft 404 are rotatable relative thereto.

[0070] The yaw sensing portion 124 can also include additional features for effecting rotational measurement at the sensor 414, e.g., as one or more additional redundancies. More specifically, FIGS. 4A and 4B show a secondary gear 436, which may be similar to the secondary gear 360 detailed above. The secondary gear 436 may be rotatable relative to the first gear 418 and relative to the input shaft 416. However, like the first gear 418, teeth of theSensata Ref.: A44354 / L&H Docket No. S427-0729PCT secondary gear 436 may mesh with gears of the sensor 414. Accordingly, rotation of either first gear 418 or of the secondary gear 436 will be sensed by the sensor 414.

[0071] As illustrated in FIG. 4A, the secondary gear 436 can include a slotted surface feature 438. The slotted surface feature 438 may be configured to receive one or more protrusions 440 extending from a (lower) distal end of the first yaw shaft 402. In this example, the one or more protrusions 440 are received in the slotted surface feature 438 to operatively couple the first yaw shaft 402 to the secondary gear 436. Thus, rotation of the first yaw shaft 402 also causes rotation of the secondary gear 436. Accordingly, should the splined connection of the first yaw shaft 402 to the input shaft 416 fail, the rotation of the first yaw shaft 402 will still be sensed at the sensor 414.

[0072] FIG. 4A also shows a splined linkage 442. The splined linkage 442 is formed as a sleeve that may be disposed on an exterior of the central portion 410 of the first yaw shaft 402. In examples, the splined linkage 442 includes internal splines configured to cooperate with external splines formed on the exterior of the central portion 410 of the first yaw shaft 402. In some examples, the splined linkage 442 may function as a splint for the distal end of the first yaw shaft 402. For example, should the first yaw shaft 402 fracture proximate the lower end, the splined linkage 442 can assist with proper rotation of the shaft. In still other examples, the splined linkage 442 may be coupled to the first yaw shaft 402 and to the secondary gear 436. For example, the internal splines of the splined linkage 442 can be configured to cooperate with an exterior surface of the slotted surface feature 438 of the secondary gear 436. Accordingly, rotation of the first yaw shaft 402 causes a corresponding rotation of the secondary gear 436 and thus of the sensor 414. In other examples, the splined linkage 440 may be otherwise coupled toSensata Ref.: A44354 / L&H Docket No. S427-0729PCT one of the control shafts 208, 210, or any other component(s) that may rotate in response to a rotational or twisting input at the grip 102.

[0073] As will be appreciated from the foregoing, aspects of this disclosure provide a redundant mechanical path from an inceptor grip through all mechanical linkages and to one or more sensors. These redundancies can facilitate improved outcomes, e.g., by ensuring that a single mechanical failure does not render the inceptor unsuitable for use.

[0074] All orientations and arrangements of the components shown herein are used by way of example only. Further, it will be appreciated by those of ordinary skill in the pertinent art that the functions of several elements may, in alternative embodiments, be carried out by fewer elements or a single element. Similarly, in some embodiments, any functional element may perform fewer, or different, operations than those described with respect to the illustrated embodiment. Also, functional elements shown as distinct for purposes of illustration may be incorporated within other functional elements in a particular implementation.

[0075] While the subject technology has been described with respect to preferred embodiments, those skilled in the art will readily appreciate that various changes and / or modifications can be made to the subject technology without departing from the spirit or scope of the subject technology. For example, each claim may depend from any or all claims in a multiple dependent manner even though such has not been originally claimed.

Claims

Sensata Ref.: A44354 / L&H Docket No. S427-0729PCTWHAT IS CLAIMED IS;1. An inceptor comprising: a grip; a first shaft coupled to the grip and configured to move in response to a force applied at the grip; a second shaft coupled to the grip and configured to move in response to the force applied at the grip; a sensor; a first mechanical linkage coupling the first shaft to the sensor; and a second mechanical linkage coupling the second shaft to the sensor.

2. The inceptor of claim 1, wherein the first shaft is a hollow shaft defining a central opening and the second shaft is disposed at least partially in the opening.

3. The inceptor of claim 1, wherein the sensor comprises one or more rotary variable differential transformers (RVDT).

4. The inceptor of claim 1, wherein: the sensor comprises an input shaft; the first mechanical linkage comprises a first intermediate shaft coupled to the first shaft and to the input shaft of the sensor; and the second mechanical linkage comprises a second intermediate shaft coupled to the second shaft and to the input shaft of the sensor.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT5. The inceptor of claim 4, wherein: the first intermediate shaft is substantially perpendicular to the first shaft; the second intermediate shaft is substantially perpendicular to the second shaft; and the sensor is configured to sense one of a roll or a pitch associated with the force applied at the grip based at least in part on a rotation of the first intermediate shaft or the second intermediate shaft.

6. The inceptor of claim 4, wherein: the first intermediate shaft is axially aligned with the first shaft; the second intermediate shaft is axially aligned with the second shaft; and the sensor is configured to sense a yaw associated with the force applied at the grip based at least in part on a rotation of the first intermediate shaft or the second intermediate shaft.

7. The inceptor of claim 4, wherein: the first intermediate shaft comprises a hollow shaft; and the second intermediate shaft is disposed at least in part in the first intermediate shaft.

8. The inceptor of claim 1, further comprising: a damper; a first damper shaft coupled to the first shaft and to the damper; and a second damper shaft coupled to the second shaft and the damper.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT9. The inceptor of claim 1 , further comprising: a gimbal saddle configured to pivot in response to movement of the first shaft or the second shaft; and an actuator coupling the gimbal saddle to the sensor.

10. The inceptor of claim 9, further comprising: a gear coupled to the sensor, wherein: rotation of the gear causes corresponding rotation at the sensor, and the actuator cooperates with the gear such that pivoting of the gimbal saddle results in rotation of the gear.

11. The inceptor of claim 10, wherein the actuator comprises a keyed opening configured to cooperate with a protrusion on the gear.

12. The inceptor of claim 1, wherein the sensor is a first sensor configured to measure rotation about a first axis and the second shaft and the second mechanical linkage comprises a first redundant system for transferring rotation about the first axis to the first sensor, the inceptor further comprising: a second sensor configured to measure rotation about a second axis normal to the first axis; and a second redundant system for transferring rotation about the second axis to the second sensor, the second redundant system comprising the second shaft.Sensata Ref.: A44354 / L&H Docket No. S427-0729PCT13. The inceptor of claim 12, wherein the rotation about the first axis comprises a pitch or a roll and the rotation about the second axis comprises a yaw.

14. The inceptor of claim 1, further comprising: a computing system configured to perform actions comprising: determining, based at least in part on data from the sensor, an angle of rotation associated with the force on the grip.

15. The inceptor of claim 14, the actions further comprising: determining, based at least in part on the angle of rotation, a control signal for driving an actuator associated with a control system.

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