Control devices

Abstract

A control device including a handle defining a palm portion and a finger portion is disclosed. The palm portion is configured to be contacted by a palm of a hand in a relaxed position and the finger portion is configured to be grasped by at least one finger of the hand. The control device includes a multi-axis control element actuatable by a thumb of the hand and a button positioned on the handle and actuatable by the finger of the hand. The handle is fixedly positioned during use.

Description

31681-787 (3244WO01)CONTROL DEVICESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 694,562, filed September 13, 2024, which is incorporated herein by reference in its entirety.DISCUSSION OF ART

[0002] The field of the disclosure relates generally to control devices, and in particular, to ergonomic hand control devices including a multi-axis control element for use with self-propelled machines.

[0003] Self-propelled machines, such as compact tool carriers which are commonly referred to as crawlers or wheeled machines, may include a control console having one or more hand controls for operating a tool mounted to a front end of the carrier or for steering the carrier. Compact tool carriers may be either pedestrian operated, i.e., an operator walks behind the compact tool carrier, or alternatively, the operator may ride on the compact tool carrier, e.g., an operator may stand on a platform positioned at the rear of the carrier.

[0004] Conventional hand controls may be shaped like a handlebar such that, when grasped, the operator’s hands are in a curled position. This curled position leads to operator fatigue, particularly if the operator’s hands are curled about the handlebar for extended periods of time. Inertial forces of the operator may be transmitted to the hand controls which impedes use of multi-axis hand controls, such as a joystick, because these forces may inadvertently actuate the joy stick.

[0005] A need exists for hand control devices for controlling operations of self-propelled vehicles, which are able to transmit inertial forces, while providing a gripping support that is ergonomic and reduces operator fatigue.31681-787 (3244WO01)SUMMARY

[0006] In one embodiment, a control device including a handle defining a palm portion and a finger portion is provided. The palm portion is configured to be contacted by a palm of a hand in a relaxed position and the finger portion is configured to be grasped by at least one finger of the hand. The control device includes a multi-axis control element positioned proximate to the palm portion. The multi-axis control element is actuatable by a thumb of the hand while the palm of the hand is in contact with the palm portion of the handle. The control device includes a button positioned on the handle. The button is actuatable by the finger of the hand while the palm of the hand is in contact with the palm portion of the handle. The handle is fixedly positioned during use.

[0007] In another embodiment, a vehicle control assembly includes a dash portion which is engageable by a user in a standing or sitting position. The vehicle control assembly includes a right control device and a left control device. The right control device includes a right handle defining a palm portion and a finger portion. The palm portion is configured to be contacted by a palm of aright hand in a relaxed position and the finger portion is configured to be grasped by at least one finger of the right hand. The right control device includes a right multi-axis control element positioned proximate to the palm portion and actuatable by a thumb of the right hand while the palm of the right hand is in contact with the palm portion of the right handle and a right button positioned on the right handle and actuatable by the finger of the right hand while the palm of the right hand is in contact with the palm portion of the right handle. The left control device includes a left handle defining a palm portion and a finger portion. The palm portion is configured to be contacted by a palm of a left hand in a relaxed position and the finger portion is configured to be grasped by at least one finger of the left hand. The left control device includes a left multi-axis control element positioned of the left hand is in contact with the palm portion of the left handle and a left button positioned on the left handle and actuatable by the finger of the left hand while the palm of the left hand is in contact with the palm portion of the left handle. The right handle and the left handle are fixedly positioned to the dash portion during use.31681-787 (3244WO01)

[0008] In another embodiment, a compact tool carrier for use with a standing operator includes aground drive mechanism, a tool, and a control station. The control station includes a dash, at least one handle connected to the dash including a thumb portion, and at least one control element mounted on the at least one handle. The at least one control element includes a multi-axis control element positioned on the thumb portion, and wherein the multi-axis control element operates at least one of the ground drive mechanism and operations of the tool.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Fig. 1 is a front perspective view of a compact tool carrier including a control console including a pair of control devices.

[0010] Fig. 2 is a rear perspective view of the compact tool carrier shown in Fig. 1.

[0011] Fig. 3 is a side view of the compact tool carrier shown in Fig. 1.

[0012] Fig. 4 is a detailed front perspective view of the control console shown in Fig. 1.

[0013] Fig. 5 is a detailed rear perspective view of the control console shown in Fig. 4.

[0014] Fig. 6 is a detailed top view of the control console shown in Fig. 4.

[0015] Fig. 7 is a detailed side view of the control console shown in Fig. 4

[0016] Fig. 8 is a detailed front view7of the control console shown in Fig. 4.

[0017] Fig. 9 is a detailed rear view of the control console shown inFig. 4.31681-787 (3244WO01)

[0018] Fig. 10 is a perspective view of a left hand engaged with a left control device.

[0019] Fig. 11 is a perspective view of a right hand engaged with a right control device.DETAILED DESCRIPTION

[0020] The field of the disclosure relates generally to hand control devices for operating and steering self-propelled machines, such as a compact tool earner. Embodiments of the hand controls described herein have improved ergonomics enabling operators to rest or press against the hand control devices to brace for changes in motion or to transmit inertial forces while the carrier is moving, while simultaneously controlling the carrier using a multi-axis control element mounted to the hand control.

[0021] Embodiments of a control device having one or more user inputs are described herein. The control device includes a handle defining a palm portion and a finger portion. The palm portion is sized and shaped to be contacted by a palm of a hand in a relaxed, or neutral, position (e.g., requiring minimal muscle force to maintain the hand position) and the finger portion is sized and shaped to be grasped by at least one finger of the hand, assisting in stabilizing a person gripping the control device. For example, in some embodiments, the finger portion is sized to be grasped by all the fingers of the hand, e.g.. the index finger, the middle finger, the ring finger, and the pinky, simultaneously. In some embodiments, the finger portion is sized and shaped to be gripped by at least three fingers (e.g., the ring finger, the middle finger, and the pinky) during all operations, while the index finger and thumb may actuate user inputs . In some embodiments, the control device is sized and shaped to support at least 80% of a person’s overall grip strength exerted by the palm and at least three fingers. The control device includes a multi-axis control element positioned proximate to the palm portion and actuatable by a thumb of the hand while the palm of the hand is in contact with the palm portion of the handle. A button is positioned on the handle and is actuatable by the finger of the hand, e.g., the index finger, while the palm of the hand is in contact with the palm portion of the handle. The handle is fixedly positioned31681-787 (3244WO01) during use. For example, the index finger and the thumb may actuate control devices, while the remaining fingers, e.g., the ring finger, the middle finger, and the pinky are grasped onto the finger portion and the palm is engaged with the palm portion.

[0022] When introducing elements of various embodiments disclosed herein, the articles “a”, ‘"an”, ‘"the’; and “said” are intended to mean that there are one or more of the elements. The terms “comprising”, “including”, and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements.

[0023] Unless otherwise indicated, approximating language, such as “generally”, “substantially”, and “about”, as used herein indicates that the term so modified may apply to only an approximate degree, as would be recognized by one of ordinary skill in the art, rather than to an absolute or perfect degree. Accordingly, a value modified by a term or terms such as “about”, “approximately”, and “substantially” is not to be limited to the precise value specified. In at least some instances, the approximating language may correspond to the precision of an instrument for measuring the value. Additionally, unless otherwise indicated, the terms “first”, “second”, etc. are used herein merely as labels, and are not intended to impose ordinal, positional, or hierarchical requirements on the items to which these terms refer. Moreover, reference to, for example, a “second” item does not require or preclude the existence of, for example, a “first” or lower-numbered item or a “third” or higher- numbered item.

[0024] Provisions of the present disclosure relate to control devices and vehicle control assemblies that include control devices. The control devices and vehicle control assemblies may suitably be used on a self-propelled vehicle (i.e. , any vehicle that includes a motor for powering a drive assembly such as wheels or tracks). In some embodiments, the self-propelled vehicle is configured for standing operation (e.g., having a vehicle control assembly having a dash portion which is engageable by a user in a standing position). In some embodiments, the self-propelled vehicle is a compact tool carrier. As used herein, “compact tool carrier” may refer to machines that are configured for standing or walk-behind operation and are capable of carrying31681-787 (3244WO01) interchangeable equipment. In some embodiments, the compact tool carrier meets the definition of a compact tool carrier provided in ISO 6165 (2012) and SAE J2752, both standards being incorporated herein by reference for all relevant and consistent purposes.

[0025] An embodiment of a compact tool carrier is generally referred to as “100” in Figs. 1-3. The compact tool carrier 100 includes a loader 108 supported by a mainframe 110. The loader 108 includes an attachment plate 112 (Fig. 2) for interchangeably attaching any one of a number of tools 109, embodied herein as a bucket. Alternative tools (not shown) may be selectively attached or detached to the attachment plate 112, such as a grapple, a pallet fork, or a tree puller, for example. The attachment plate 1 12 is connected to an actuator 1 14 (Fig. 1) for tilting the tool 109 connected to the attachment plate 112. The loader 108 may include a pair of loader arms 115.

[0026] Another actuator 154, shown as a hydraulic cylinder, is attached to the mainframe 110 and to at least one of the pair of loader arms 115 for raising the loader 108. The compact tool carrier 100 may include a single actuator 154, or, as in other embodiments, two actuators with one actuator attached to each loader arm 115. The actuator 154 is powered to raise the loader 108 and, in some embodiments, is also powered to lower the loader 108 (as opposed to a one-way actuator lowered by gravity alone).

[0027] The compact tool carrier 100 includes a longitudinal axis Aioo that is generally parallel to the direction of travel of the compact tool carrier 100 (i.e., parallel to a length of the compact tool carrier 100). The compact tool carrier 100 is generally longitudinally symmetrical (i.e., relative to the longitudinal axis Aioo) in that several components have a corresponding component with the same function opposite the component (i.e., across the axis Aioo). The tool 109 is attached to the loader 108 at, or near, a front end 116 of the compact tool carrier 100. An operator platform 120 and a vehicle control assembly 200 (e.g., a control station 200) (Fig. 2) are positioned on an opposing rear end 119 of the compact tool carrier 100.31681-787 (3244WO01)

[0028] The compact tool carrier 100 includes a drive mechanism 118 attached to the mainframe 110. In the illustrated embodiment, the drive mechanism 118 includes a drive sprocket 122 (Fig. 3) connected to a hub 126. The hub 126 is attached to a shaft (not shown) that extends through a drive opening (not shown) of the mainframe 110. As shown, the drive mechanism 118 includes tracks 134. In other embodiments, the drive mechanism 118 includes wheels. Motion of the compact tool earner 100 may be generally confined to a horizontal plane defined by an X-axis and Y-axis, parallel to the ground or floor on which the compact tool carrier 100 travels. For example, the compact tool carrier 100 may move in a forward / backward direction and / or in a left / right direction generally in the horizontal plane.

[0029] The compact tool carrier 100 includes an engine (not shown) for powering the drive mechanism 118. The engine may drive a hydraulic pump that powers hydraulic motors (not shown) which drive the drive mechanism 118 for propelling the compact tool carrier 100 and which provide hydraulic power to the actuators 114, 154. In some embodiments, the hydraulic pump may provide hydraulic powder to the auxiliary ports 124 for powdering certain attachments and / or attachments connected to the attachment plate.

[0030] Referring now- to Figs. 4-9, the control station 200 may be used to control or monitor operations of the compact tool carrier 100. The control station 200 includes one or more control devices 202 which may be engaged by the hands of an operator. The control device 202 supports one or more user inputs 204 (e.g., buttons, knobs, control wheels, switches, or multi-axis control elements, etc.) w hich may be selectively actuated by the fingers or thumb of an operator. The one or more user inputs 204 are communicatively coupled to a controller 130 (Figs. 1-4) Actuation of the one or more user inputs 204 transmits control signals to the controller 130. The controller 130 transmits control signals to various components of the compact tool carrier 100. based on control signals received from actuation of the user inputs 204. For example, the one or more user inputs 204 may be actuated to control steering or motions of wheels / tracks 134 and / or to control actuation of actuators 114, 154 for controlling motions of the tool 109. The controller is also communicatively coupled to the motor and, as such, the user inputs 204 may be actuated by an operator to selectively control31681-787 (3244WO01) engine rotations per min (RPM). ground drive max speed, motor torque, etc. In embodiments described herein, the control device 202 may be suitably communicatively coupled to any controllable functions, including primary functions, auxiliary functions, and / or attachment functions or operations associated with the compact tool carrier 100, e.g., attachments having a hydraulic function, any attachments, e.g., a bucket, a log grapple, or a grapple that has a hydraulic swivel, etc. In some embodiments, control devices 202 may be selectively programmed to control any suitable or desired controllable functions of the compact tool carrier 100, as described below.

[0031] The control station 200 may be mounted towards the rear end 119 of the compact tool carrier 100 (e.g., opposite the front end 116 of the compact tool carrier 100 supporting the tool 109). The control station 200 is positioned to enable standing or walk-behind operation. As used herein, “standing operation” generally refers to operation in which the operator stands on a platform attached to the compact tool carrier 100 while “walk-behind operation” generally refers to operation in which the operator stands on the surface supporting the compact tool carrier 100. In the illustrated embodiment, the compact tool carrier 100 includes the operator platform 120 positioned at least partially behind the control station 200.

[0032] In the illustrated embodiment, the control station 200 is attached to the upper frame 139 (Figs. 1-3) that is attached to or supported by the mainframe 110. In alternative embodiments, the control station 200 may be positioned in any suitable location or orientation relative to the compact tool carrier 100. In embodiments described herein, the compact tool carrier 100 includes an operator platform 120 for standing operation. The vertical position of the platform 120, relative to the control station 200 (e.g., as measured from a control device 202 and / or a palm portion 250 of the control device 202. described below) is a height Hl that may be at least about 90 cm (e.g., from about 90 cm to about 130 cm). In embodiments in which the operator walks behind the compact tool carrier 100, the control station 200 may be at least about 90 cm (e.g., from about 90 cm to about 130 cm) from the surface supporting the compact tool carrier 100. In embodiments in which the operator walks behind the compact tool carrier 100, the control station 200 may be at least about 13031681-787 (3244WO01) cm (e.g., from about 120 cm to about 160 cm) from the surface supporting the compact tool carrier 100. Such ranges generally complies with the zones of comfort and reach for controls in earth-moving equipment set forth in ISO 6682 (2008) as determined from the physical dimensions of operators and minimum operator space envelope as set forth in ISO 3411 (2007), both of which are incorporated herein by reference for all relevant and consistent purposes. In some alternative embodiments, the vertical location of the control station 200 may be adjustable such that the control station 200 may be selectively raised or lowered to be a suitable height for either standing operation or seated operation. In some embodiments, the control station 200 may be selectively- rotated.

[0033] In further reference to Figs. 5-7, the control station 200 includes a dash 220 and the one or more control devices 202 are connected to and / or extend from the dash 220. In the illustrated embodiment, the control devices 202 include a left control device 222 configured to engage a left hand of an operator and a right control device 224 configured to engage a right hand of an operator. The left and right control devices 222, 224 may be spaced a distance apart and are generally aligned in a vertical plane, e.g., a plane parallel to a plane defined by the Z-axis and Y-axis or a plane parallel to a plane defined by the Z?-axis and Y’-axis. The left and right control devices 222, 224 may have a similar shape and / or size and are mirror images of each other such that the left and right control devices 222, 224 are suitable for engagement with the left hand and right hand of an operator, respectively. In the illustrated embodiment, the user inputs 204 on the left control device 222 have an arrangement that is different from the user inputs 204 on the right control device 224. In some embodiments, the user inputs 204 on the left control device 222 and the right control device 224 are symmetric about a midline between the left control device 222 and the right control device 224. The type and arrangement of the user inputs 204 connected to the left and right control devices 222. 224 are described in detail below.

[0034] The dash 220 includes a dash surface 230 that is generally planar. The dash surface 230 extends along a plane defined by an X'-axis (Fig. 6) and a Y?-axis which may be rotated at a q angle relative to the horizontal plane, e.g.. a plane that is parallel to the ground or a surface upon which the compact tool carrier 10031681-787 (3244WO01) travels. The rotated dash surface 230, in addition to the placement and / or orientation of the control devices 202. may result in the operator's forearms being extended downward, relative to the horizontal plane, when the operator’s hands are engaged with the control devices 202. The extended downward rotated dash surface 230 and likewise the angled downward control devices 202 enables comfortable operation for a large height range of operators. For example, different operators, having different heights, may rotate their arms into different elbow angles h in order to reach the control devices 202. In some embodiments, the dash extends parallel to the horizontal plane and the control devices 202 are rotated downward. For example, at least one of the dash surface 230 or the control device 202 is rotated downward by the angle r|.

[0035] In alternative embodiments, the dash surface 230 may be generally arranged parallel to the horizontal plane, not shown, such that an operator’s forearms are generally parallel to the horizontal plane while the operator’s hands are engaged with the control devices 202.

[0036] In some embodiments, the control station 200 may further include a screen 232, positioned in front of the control devices 202. for displaying information to an operator. In the illustrated embodiment, the screen 232 extends from the dash surface 230 at an angle providing an operator a view of the screen 232, e.g., a line of sight of the operator extends over a top of the operator’s hands to view' the screen, while the operator's hands are engaged with the control devices 202.

[0037] In some embodiments, the control station 200 further includes at least one dash user input 234, connected to the dash 220 and spaced a distance in front of the control devices 202. In the illustrated embodiment, the control station 200 includes a pair of dash user inputs 234 positioned between the screen 232 and the control devices 202. The dash user inputs 234 are embodied as a toggle switch (i.e., a proportional control toggle switch) having a single axis toggle direction as well as a detent and a latching rotational angle positions. The pair of dash user inputs 234 may be used to selectively control a first and second hydraulic fluid flow delivered to auxiliary hydraulic valves for controlling hydraulically powered attachments, such as post hole diggers, trenchers, and / or rotary tillers. In other embodiments, the control31681-787 (3244WO01) station 200 may include any suitable number, arrangement, or type of dash user inputs 234, that may be programmed, or reprogrammed, enabling customized control of various operations of the compact tool carrier 100.

[0038] The control device 202 includes a stem portion 240 and a handle portion 242. The stem portion 240 and the handle portion 242 may be connected or formed integrally together. The stem portion 240 includes a first end 244 (Fig. 8) that is fixed to the dash 220 and a second, free end 246 that is spaced apart from the dash surface 230. The stem portion 240 includes a length L240 that extends from the first end 244 to the second end 246 along a direction that is generally perpendicular to the dash surface 230. The length L240 of the stem portion 240 provides clearance for the operator’s fingers to engage the handle portion 242. For example, the operator’s fingers may be positioned at the finger portion 252 and a distal portion of the operator’s fingers may be engaged with a distal finger portion 260 and at least a portion of the operator’s fingers may be disposed between the handle portion 242 and the dash 220 when the operator’s hands are engaged with the control devices 202. (Fig. 3)

[0039] The first end 244 of the stem portion 240 is rigidly fixed to the dash 220 and, likewise, the stem portion 240 is rigidly fixed to the compact tool carrier 100, such that the stem portion 240 and the handle portion 242 are restricted from rotating or translating relative to the dash 220 and / or relative to the compact tool carrier 100. As such, when the operator’s hands are engaged with the handle portion 242, the operator’s inertial forces may be transmitted from the operator’s hands to the compact tool carrier 100 through the handle portion 242 and the stem portion 240 such that the control device 202 may be utilized to maintain the operator’s balance while the compact tool carrier 100 is moving and / or while the operator is operating the compact tool carrier 100.

[0040] Accordingly, the control devices 202 may be used by the operator to both control operations of the compact tool carrier 100, by actuation of the user inputs 204 supported on the control device 202, while simultaneously enabling the operator to brace or resists changes in motion of the compact tool carrier 100 or to maintain the balance of the operator while operating the compact tool carrier 100. As31681-787 (3244WO01) will be discussed in further detail herein, the control device and, in particular, the handle portion 242 is arranged with improved ergonomics, e.g., the handle portion 242 is arranged to engage an operator’s hands such that the operator’s palm, fingers, and / or thumb are positioned in a neutral or relaxed position which reduces operator gripping fatigue. The arrangement, and / or relative arrangement, of components of the control device 202 may comply with the British Standard BS EN 614 of Safety of Machinery - Ergonomic Design Principles, which is incorporated herein by reference for all relevant and consistent purposes.

[0041] In further reference to Fig. 6, the handle portion 242 includes a palm portion 250 and a finger portion 252 and a branch 254 that extends outwards from the palm portion 250 at an angle <f>. (Fig. 6) The branch 254 may also extend downward relative to the palm portion 250 at an angle o. (Fig. 7) The branch 254 includes a thumb portion 256 and an index finger portion 262. An operator may press the palms of their hands against the palm portion 250 or, additionally or alternatively, the operator may grip their fingers with the finger portion 252, engage their index finger with the index finger portion 262, and / or engage their thumb with the thumb portion 256, while the operator is riding or operating the compact tool carrier 100. In some embodiments, the finger portion 252 is arranged such that when an operator’s hands are engaged with control devices 202, the interphalangeal joint or metacarpophalangeal joints (e.g., knuckles) are aligned with the finger portion 252. In some embodiment, the distal interphalangeal joints (e.g., tips of the fingers) are aligned with the distal finger portion 260. In some embodiments, the operator’s knuckles may be aligned with a peak of the convex palm portion 250.

[0042] The finger portion 252 is positioned in front of the palm portion 250 and is sized and shaped to be engaged by one or more of an operator’s fingers, e.g., an operator’s index finger, middle finger, ring finger, and / or pinky finger. The index finger portion 262 extends from an inner side 264 of the palm portion 250 and is sized and shaped to be selectively engaged by an operator’s index finger. The finger portion 252 includes a sufficient width such that all of the operator’s fingers, i.e., the index finger, the middle finger, the ring finger, and the pinky may be engaged with the finger portion 252, simultaneously. The index finger portion 262 is positioned adjacent to the31681-787 (3244WO01) finger portion 252 such that an operator may selectively reposition their index finger to engage with either the finger portion 252 or the index finger portion 262. The operator may also reposition their index finger between finger portion 252 or the index finger portion 262, without requiring the operator to reposition the other fingers, e.g., the middle, ring, pinky, and / or the thumb. In some cases, the operator may reposition their index finger between finger portion 252 or the index finger portion 262 while minimally moving or sliding their palms relative to the palm portion 250. For example, an operator may reposition their index finger between finger portion 252 or the index finger portion 262 while maintaining their grip and / or their balance using the control devices 202.

[0043] The thumb portion 256 is positioned proximate to the palm portion 250. For example, the thumb portion 256 may be positioned generally on the inner side 264 of the palm portion 250 and / or adjacent to the index finger portion 262. The thumb portion 256 may generally oppose the index finger portion 262, such that the thumb and index finger, when engaged with the index finger portion 262 and the thumb portion 256, respectively, are arranged in a neutral or relaxed position. The thumb portion 256 is also positioned such that an operator’s thumb may be engaged with the thumb portion 256. while the operator’s fingers are engaged with either, or both, of the finger portion 252 and the index finger portion 262 and / or while the operator’s palm is engaged with the palm portion 250. The thumb portion 256 is positioned medially inwards relative to the palm portion 250 and / or the index finger portion 262. In some embodiments, when the operator’s thumb is not being used to actuate user inputs 204 on the thumb portion 256, the operator's thumb may be wrapped around the palm portion 250 (e.g., inner side 264 of the palm portion 250) or the finger portion 252. For example, the left thumb may be used to actuate user inputs 204, e.g., controlling the tracks 134, while the right thumb may be wrapped around palm portion 250 or the finger portion 252.

[0044] As mentioned above, the control device 202 supports one or more user inputs 204. The user inputs 204 are positioned on the thumb portion 256 and the index finger portion 262, while the palm portion 250 and the finger portion 252 are devoid of user inputs 204.31681-787 (3244WO01)

[0045] In embodiments described herein, the thumb portion 256 supports a multi-axis control element 270, having at least two axes of control, or having complete 360° rotational freedom for controlling all directions, and the index finger portion 262 includes at least one button 272. The multi-axis control element 270 may be actuated by a thumb of an operator's hand while the palm of the hand engages with, e.g., presses against, or rests against, the palm portion 250 of the handle portion 242 and one or more of the operator’s fingers are gripped onto the finger portion 252 or the distal finger portion 260. Similarly, the button 272 may be actuated by the index finger of the operator’s hand while the palm of the hand engages the palm portion 250 of the handle portion 242. The multi-axis control element 270, positioned on the thumb portion 256, may have a neutral axis A270 that is generally aligned with where an operator would place their thumb on the multi-axis control element 270. The relative orientation between a palm axis A250 and the neutral axis A270 is such that the operator’s hand is placed in a relaxed, or neutral, and comfortable position, requiring minimal muscle force to maintain the operations hands in the position, when the operator’s hands are engaged with the palm portion 250 and the multi-axis control element 270. For example, an angle p between the palm axis A250 and the neutral axis A270, in the horizontal plane, may be between 30° and 45°, between 20° and 55°, or between 20° and 70°. (Fig. 6) In some embodiments, the angle p may be any suitable angle between 0° and 90°. In embodiments described herein, the multi -axis control elements 270 may be used to control motions, e.g., the multi-axis control elements 270 may be actuated to control steering or motions of wheels / tracks 134 and / or to control actuation of actuators 114, 154 for controlling motions of the tool 109.

[0046] In some alternative embodiments, the control device 202 only includes a single one of the user input 204 positioned on the thumb portion 256, e.g., a single one of the multi-axis control element 270. In some embodiments, the control device 202 only includes a single user input 204 on the thumb portion 256 including one of a button, a roller wheel, or a button roller wheel, for example.

[0047] In the illustrated embodiment, the left control device 222 includes a left index single-axis user input 280 positioned on the index finger portion 262. The left control device 222 also includes two user inputs 204 positioned on the31681-787 (3244WO01) thumb portion 256 including a left thumb multi-axis control element 282, a left thumb first button 284, and a left thumb second button 286. In alternative embodiments, the left index user input 280 is a button-wheel having different wheel configurations. The wheel configurations may be selected by the button. The wheel-button may be actuated, rotated, or pressed, by an index finger of the operator. For example, the wheel -button may be used to control the RPM of the engine, and / or to set a maximum ground speed control. In some embodiments, the wheel-button may be used to adjust a maximum flow of the auxiliary hydraulic. In the illustrated embodiment, the right control device 224 includes three user inputs 204 positioned on the thumb portion 256 including a right thumb multi-axis control element 290, a first right thumb button 292. and a second right thumb button 294. The right control device 224 also includes a pair of user inputs 204 positioned on the index finger portion 262, including a first right index button 296 and a second right index button 298. The right multi-axis control element 290 may be positioned rearward from the pair of right index buttons 296, 298.

[0048] In some embodiments, one or more of the user inputs 204 includes buttons for controlling the position, e.g., the angular position, of the tool 109 or for setting a current tool rotation position as a new default position. In some embodiments, one or more of the user inputs 204, positioned on the index finger portion 262 or the thumb portion 256, is used to open / close the tool 109. For example, if the tool is a grapple, a first of the user input 204 may open the grapple and a second of the user input 204 may be used to close the grapple.

[0049] The left and right control devices 222, 224 may include any suitable number, type, and / or arrangement of user inputs 204 and the user inputs 204 may be programmed, or re-programmed, to control any selected component of the compact tool earner 100 and / or the tool 109. For example, the user inputs 204 may be programmed to control, for example, and without limitation, any primary or auxiliary functions, control display of information on the screen 232, shift the drive motors between high and low displacement, adjust the chariot suspension settings, turn on and off / adjust cruise control, adjust engine RPM, move / set the tool 109 to different set positions, engage a bucket shake to clear debris, switch the 2 axis joystick from ISO to H pattern of control, operate electric and hydraulic functions on attachments,31681-787 (3244WO01) enable / disable hydraulic locking, enable / disable parking brake, adjust lights, adjust max pump stroke, control a continuous variable transmission (CVT), control an intermittent variable transmission (IVT), adjust an auxiliary hydraulic flow rate, turn on / off a backup radar or sensors, change the direction of a cooler fan, adjust a temperature setting, turn on / off a bucket weight function or cycle, setting or identifying a weight tare, turn on / off / adjust boom suspension system, etc.

[0050] The position and arrangement of the left thumb multi-axis control element 282 and left index user input 280 on the left control device and right thumb multi-axis control element 290 and right index first and second buttons 296, 298 is such that an operator may use their thumbs to actuate the left thumb and right thumb multi-axis control elements 282, 290 and / or may use their index fingers to actuate left index user input 280 and / or right index finger to actuate buttons 296, 298, while simultaneously bracing and maintaining the operator balance, e.g., by pressing or resting the operator’s palms against the palm portion 250 and / or gripping the remaining fingers, e.g., the middle, ring or pinky, on the finger portion 252 and / or distal finger portion 260.

[0051] The palm portion 250 includes a palm width W250 (Fig. 6) extending generally along the palm axis A250 and a palm length L250 extending along a direction perpendicular to the palm axis A250. The palm length L250 and palm width W250 may be generally the same as a length and width of the palm of an average adult human hand. The palm portion 250 may be contoured to receive a palm of the operator such that an operator may rest their palm on the palm portion 250 in a relaxed position, e.g., the palm portion is convex having one or more arched or rounded portions such that a user’s palm may be arranged in a slightly concave, or cupped, position requiring minimal muscle force to reduce operator fatigue. The palm portion 250 may be arched or convex, e.g.. relative to the dash 220 along the palm axis A250. The arch of the palm is slight, such that an operator’s hand, particularly a palm of the operator’s hand, may be generally extended with a slight arch, thereby positioning the operator’s hands in a neutral and comfortable position when the operator's hand is engaged with the control device 202 to reduce operator fatigue. For example, the palm portion 250 is shaped31681-787 (3244WO01) such that an operator may press or rest their palm against the palm portion 250, without requiring the operator to curl their hand in a tiresome or uncomfortable position.

[0052] As shown in Fig. 6, the palm portion 250 may include a forward palm portion 300 and a rear palm portion 302. The forward palm portion 300 and the rear palm portion 302 are shaped to conform to the upper and lower palm portion of a hand of an operator. In some embodiments, the forward palm portion 300 and the rear palm portion 302 includes one or more planar portions and / or one or more convex portions. In some embodiments, generally, the forward palm and the rear palm portions 300, 302 may be arranged at a palm angle y. e.g., between 145° and 180°, between 180° to 100°, or between 180° and 45°. (Fig. 7) Additionally, and / or alternatively, the palm portions 302 or 300 may be defined by one or more radius of curvatures R250 to position an operator’s hands in a concave shape. For example, when an operator hand is engaged with the control device 202, the metacarpus bones of the palm and the proximal phalanx of the fingers are arranged in the palm angle y.

[0053] The palm axis A250 may be rotated by an angle (3 relative to a vertical plane formed of the Y -axis and the Z-axis. The vertical plane may be generally parallel to a coronal plane of an operator nding the compact tool carrier 100, e.g.. standing on the operator platform 120. The angle 0 may be between 30° and 35°, between 20° and 40°, or between 25° and 25°. In some embodiments, the angle 0 may be betw een -30° and 90°. The angle 0 of the palm axis A250 may cause the users hands and / or forearms to be rotated slightly externally, relative to the vertical plane, when the operator’s hands are engaged with the control devices 202, such that the operator’s hands, wrists, and forearms are in a comfortable position when engaged with the control devices 202.

[0054] In some embodiments, the control device 202 is rotationally positionable relative to the dash 220, e.g., the angle 0 and / or the angle a may be selected by the operator. The angles 0 and a are selected such that the wrists, forearms, and shoulders of the operator may be arranged in any of a plurality of comfortable positions. For example, an operator’s hands may engage with the control device 202 in multiple different comfortable and relaxed position to accommodate a wide range of various31681-787 (3244WO01) operator heights. When an operator’s hands are engaged with the control device 202, a wrist angle h. in the vertical plane between the palm and the forearm, may be approximately zero, or between -20° and +40° from zero. (Fig. 3) Another wrist angle h, in the horizontal plane between the palm and the forearm, may also be approximately zero, or between -10° and +10° from zero. (Figs. 10 and 11) In some embodiments, the wrist angles h and I2 may be less than 45°. In reference to Fig. 3, the operator’s elbow is arranged at the elbow angle I3 and the shoulder is arranged at a shoulder angle k. The angle q is such that the elbow angle I3 and the shoulder angle I4 are a slightly flexed. In some embodiments, the elbow angle I3 is slightly less than 180° and the shoulder angle k is slightly greater than zero, such that the elbow angle I3 and the shoulder angle I4 are not arranged at full extension. In some embodiments, the elbow angle I3 is between 150° and 180° or between 110° and 180°. In some embodiments, the elbow angle I3 is between 45° and 90° or between 50° and 120°. In some embodiments, the shoulder angle I4 is between 0° and 45° or between 15° and 60°.

[0055] The control devices 202 are positioned, e.g., positioned on the dash 220, such that the control devices 202 are spaced a distance Di, in the coronal plane, to an operator’s upper body, such that Di is approximately equal to an average length between the operator’s shoulders and hands, when the arms are positioned at the angles I4 and I3. (Fig. 3) The control devices 202 may be separated by a distance D2 that is approximately equal to an average width length of an operator’s shoulders, in the coronal plane. (Fig. 6)

[0056] In some alternative embodiments, the control device(s) 202 and / or the compact tool carrier 100 includes a locking assembly, not shown, for selectively fixing the location, e.g., fixing angular position or fixing translations, of the control devices 202, e.g., or fixing the stem portion 240 relative to the compact tool carrier 100 or to the dash 220 during operations of the compact tool carrier 100. For example, the control device 202 may be selectively positionable, during non-use (e.g., when the compact tool carrier 100 is not being operated), and then fixed using the locking assembly during operations of the compact tool carrier 100. In some31681-787 (3244WO01) embodiments, the control devices 202 may be selectively raised or lowered, in the vertical direction, relative to the dash 220.

[0057] In reference to Fig. 9, the palm axis A250 is positioned at an angle a relative to the dash surface 230 or the Y’-axis. The angle a may be between 0° and 45°, between 15° and 30°, or between 19° and 21°. In some embodiments, the angle a may be rotated downward relative to the horizontal plane, e.g., the angle a may be -10°. In some alternative embodiments, the palm axis A250 may be arranged generally parallel to the dash surface 230. The angle a of the palm axis A250 may cause the users hands and / or forearms to be rotated slightly externally, relative to the horizontal plane of the dash 220 and / or relative to the horizontal plane of the ground, when the operator’s hands are engaged with the control devices 202, such that the operator’s hands and wrists are in a comfortable and / or relaxed position when engaged with the control devices 202.

[0058] In some cases, control station 200 and / or the control devices 202 may be used with alternative types or styles of compact tool carriers or additional or alternative types of self-propelled machines. For example, and without limitation, the control station 200 and / or the control devices 202 may be used with stump cutters, trenchers, utility tractors, vibratory plows, pile drivers, and / or articulated loaders.

[0059] In some embodiments, the user inputs 204 and the controller 130 may be selectively reprogrammed such that the user inputs 204 may be selectively enabled to control selected components of the compact tool carrier 100.

[0060] In reference to Figs. 10 and 11, the operator’s hands are shown to be engaged with the control devices 202. As shown, the operator's palms are positioned in a relaxed position having a generally flat or slightly concave arrangement when the palms are engaged with the palm portion 250 of the control devices 202. The thumbs of the operator’s hands are shown to be engaged with the multi-axis control elements 270, such that the operator may selectively actuate the multi-axis control elements 270, while the operator’s palm and fingers are engaged with the palm portion 250 and the finger portion 252, respectively. Furthermore, the hands are positioned31681-787 (3244WO01) with the palms generally facing downward and with slight rotation, e.g., external, or internal, at the operator’s hands relative to the horizontal plane, caused by the angle a. such that the operators’ palms and fingers may resist changes in motion of the compact tool carrier 100. For example, when an operator’s hands are engaged with the control device 202, the palm of the operator may be facing generally downward or angled downward, such that the operator’s palms may be at least partially facing the dash surface 230.

[0061] Embodiments of the control device described have improvements over other known controllers. For example, the control device enables an operator to brace themselves or hold onto the control device while actuating one or more user inputs, e.g., a multi-axis control element on the thumb portion and a button on the index finger portion, to control operations or motions of the compact tool carrier. The handle, including the palm and finger portions, and stem portion of the control device are rigidly fixed to the compact tool carrier such that an operator may press or grip their hands against the palm and finger portions to maintain the operators balance, even while the operator is actuating the multi-axis control element positioned on the thumb portion without inadvertently transmitting unwanted motions to the multi-axis control element.

[0062] The pinky, ring finger and middle finger in combination with the palm can achieve an approximate grip strength near 80% of a person’s full hand grip strength. As such, the control device enables an operator to resist inadvertent motion while still actuating the one or more user inputs, e.g., with the index finger and thumb. For example, engaging the pinky, ring finger and middle finger in combination with the palm with the control device 202 stabilizes the operator’s body, preventing excessive] ostling during motion of the compact tool carrier 100. Furthermore, the close proximity of the stabilizing palm and finger portions engaged with the palm and the pinky, ring and middle finger, to the user inputs positioned on the index finger portion or the thumb portion, enables high stability and precision during actuation of the user inputs (e.g., use of the thumb to actuate the multi-axis control element), reducing inadvertent actuation of the user inputs.31681-787 (3244WO01)

[0063] The multi-axis control element is positioned on a thumb portion aligned with or slightly below, in the vertical direction, relative to a peak or an apex of the convex palm portion. In some embodiments, the palm portion is rotated at an angle a, and the thumb portion is vertically aligned with, or slightly below, an upper side of the rotated palm portion. (Fig. 9) The palm portion may have a slight arch such that user hands are positioned in a neutral or relatively relaxed position, reducing the operators fatigue. In further reference to Fig. 9, the neutral axis A270 and the palm axis A250 may be generally parallel planes to each other such that the thumb and the palm of the operator are arranged in parallel planes to each other, thereby placing the operator’s hands in a relaxed and comfortable position.

[0064] This written description uses examples to disclose the invention, including the best mode and to enable a person of ordinary7skill in the relevant art to make and practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims. Such other examples are within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims. Aspects from the various embodiments described, as well as other known equivalents for each such aspects, can be mixed and matched by one of ordinary skill in the art to construct additional embodiments and techniques in accordance with principles of this application.

Claims

31681-787 (3244WO01)WHAT IS CLAIMED IS:

1. A control device comprising: a handle defining a palm portion and a finger portion, wherein the palm portion is configured to be contacted by a palm of a hand in a relaxed position and the finger portion is configured to be grasped by at least one finger of the hand; a multi-axis control element positioned proximate to the palm portion and actuatable by a thumb of the hand while the palm of the hand is in contact with the palm portion of the handle; and a button positioned on the handle and actuatable by the finger of the hand while the palm of the hand is in contact with the palm portion of the handle, wherein the handle is fixedly positioned during use.

2. The control device according to claim 1, wherein the palm portion is contoured to receive the palm of a hand.

3. The control device according to claim 1, wherein the handle defines a branch that extends outwardly on an angle from the palm portion of the handle, the branch the branch defines an index finger portion and a thumb portion, wherein the index finger portion is configured to be engaged by an index finger of a hand and wherein the thumb portion is configured to be engaged by the thumb of the hand.

4. The control device according to claim 3, wherein the multi-axis control element is positioned on the thumb portion of the branch and the button is positioned on the index finger portion of the branch.

5. The control device according to claim 1, wherein the handle is movably adjusted to conform to a user’s hand position during non-use.

6. The control device according to claim 1, wherein the multi-axis control element includes at least two axes of control.31681-787 (3244WO01)7. The control device according to claim 1, wherein the multi-axis control element is positioned vertically below the palm portion.

8. The control device according to claim 1, wherein an angle between a palm axis defined by the palm portion and a neutral axis of the multi-axis control element is between 10 and 45 degrees in a horizontal plane.

9. The control device according to claim 1, wherein an angle of a palm axis and a neutral axis of the multi-axis control element are arranged in parallel planes.

10. The control device according to claim 1, wherein the multi-axis control element is positioned medially inwards relative to the palm portion.

11. A vehicle control assembly including a dash portion which is engageable by a user in a standing position, the vehicle control assembly comprising: a right control device comprising: a right handle defining a palm portion and a finger portion, wherein the palm portion is configured to be contacted by a palm of a right hand in a relaxed position and the finger portion is configured to be grasped by at least one finger of the right hand; a right multi-axis control element positioned proximate to the palm portion and actuatable by a thumb of the right hand while the palm of the right hand is in contact with the palm portion of the right handle; and a right button positioned on the right handle and actuatable by the finger of the right hand while the palm of the right hand is in contact with the palm portion of the right handle; a left control device comprising: a left handle defining a palm portion and a finger portion, wherein the palm portion is configured to be contacted by a palm of a left hand in a relaxed31681-787 (3244WO01) position and the finger portion is configured to be grasped by at least one finger of the left hand; a left multi-axis control element positioned proximate to the palm portion and actuatable by a thumb of the left hand while the palm of the left hand is in contact with the palm portion of the left handle; and a left button positioned on the left handle and actuatable by the finger of the left hand while the palm of the left hand is in contact with the palm portion of the left handle; and wherein the right handle and the left handle are fixedly positioned to the dash portion during use.

12. The vehicle control assembly of claim 11, wherein the palm portion is contoured to receive the palm of a hand.

13. The vehicle control assembly of claim 11, wherein the handle defines a branch that extends outwardly on an angle from the palm portion of the handle, the branch the branch defines an index finger portion and a thumb portion, wherein the index finger portion is configured to be engaged by an index finger of a hand and wherein the thumb portion is configured to be engaged by the thumb of the hand.

14. The vehicle control assembly of claim 13, wherein the multi-axis control element is positioned on the thumb portion of the branch and the button is positioned on the index finger portion of the branch.

15. The vehicle control assembly of claim 11, wherein the handle is movably positionable to a user’s hand, wrist, and forearm position during non-use.

16. The vehicle control assembly of claim 11 , wherein the multi-axis control element includes at least two axes of control.

17. The vehicle control assembly of claim 11 , wherein the multi-axis control element is positioned vertically below the palm portion.31681-787 (3244WO01)18. The vehicle control assembly of claim 11, wherein an angle between a palm axis defined by the palm portion and a neutral axis of the multi-axis control element is between 10 and 45 degrees in a horizontal plane.

19. The vehicle control assembly of claim 11. wherein an angle of a palm axis and a neutral axis of the multi-axis control element are arranged in parallel planes.

20. The vehicle control assembly of claim 11 , wherein the multi-axis control element is positioned medially inwards relative to the palm portion.

21. The vehicle control assembly of claim 11, wherein the left multi-axis control element controls operations of a ground drive mechanism and the right multiaxis control element controls a tool.

22. A compact tool carrier for use with a standing operator, the compact tool carrier comprises: a ground drive mechanism; a tool; and a control station including: a dash, at least one handle connected to the dash including a thumb portion, and at least one control element mounted on the at least one handle, wherein the at least one control element includes a multi-axis control element positioned on the thumb portion, and wherein the multi-axis control element operates at least one of the ground drive mechanism and operations of the tool.

23. The compact tool carrier of claim 22, wherein the control station is open to a rear of the compact tool carrier.1681-787 (3244WO01)24. The compact tool carrier of claim 22, wherein an opening to the control station is positioned at a rear of the compact tool carrier opposite to the tool.

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