Hand Control Device With Rotatable Joints For Force Reflection

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Solution Overview

Problem

Conventional robotic master control devices are cumbersome, expensive, and lack force reflection functionality, making them unsuitable for intuitive teleoperation of robotic end effectors and virtual world interfaces, especially in applications like video games where economical and effective force reflective interfaces are needed.

Innovation Solution

A compact hand control device with rotatable joints and actuators for thumb and finger control, incorporating force sensors and actuators for force reflection, allowing intuitive control of peripheral systems with ergonomic design to provide sensory feedback.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If conventional robotic master control devices are used, then control functionality is provided, but the devices become cumbersome, bulky, and expensive

Engineering Contradiction:

Improvecontrol functionalityVSAvoiddevice structure

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The control device is segmented into separate functional modules: a wearable glove portion with sensors for detecting hand movements, and a separate control unit that processes signals and interfaces with the robotic system. This segmentation allows each component to be optimized independently, reducing overall complexity while maintaining control functionality.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

A control unit acts as an intermediary between the wearable glove sensors and the robotic system. This intermediary processes sensor signals, handles force reflection calculations, and manages communication protocols, thereby simplifying the direct interface requirements and reducing device complexity.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Reliability

If force reflection functionality is incorporated, then sensory feedback is provided, but the device complexity and cost increase

Engineering Contradiction:

Improvesensory feedbackVSAvoiddevice structure

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system incorporates force reflection by measuring interaction forces between the user and the peripheral system, then applying compensating forces through the wearable device. This feedback loop provides sensory feedback to the user while using software-based force calculation algorithms rather than complex mechanical feedback mechanisms, thereby reducing device complexity.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

Complex mechanical force reflection mechanisms are replaced with software-based force calculation and electronic actuation. The control unit calculates required force reflections algorithmically and actuates sensors/actuators electronically, eliminating the need for complex mechanical linkages and reducing overall device complexity.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Ease of operation

If wearable glove devices are used, then hand movement control is achieved, but the devices become bulky and non-robust

Engineering Contradiction:

Improvehand movement controlVSAvoiddevice robustness

Core Design Contradiction:

Ease of operationVSStrength

Solution Approach 1:

The control device utilizes flexible sensor elements embedded in a thin glove structure rather than rigid mechanical components. This allows the device to conform to the hand's natural movements while maintaining robustness through the flexibility and durability of the glove material, eliminating bulkiness associated with rigid structures.

Inventive Principle:

Principle #30Flexible shells and thin films

4Adaptability or versatility

If complicated mechanisms are employed, then hand accommodation is achieved, but the devices become expensive and non-robust

Engineering Contradiction:

Improvehand accommodationVSAvoidmanufacturing cost

Core Design Contradiction:

Adaptability or versatilityVSEase of manufacture

Solution Approach 1:

The device accommodates different hand sizes and movements by adjusting sensor sensitivity parameters and control algorithms rather than employing complicated mechanical adjustment mechanisms. This software-based parameter tuning provides adaptability while keeping the physical structure simple and cost-effective to manufacture.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS9727076B2Hand control device for controlling a peripheral system

Publication Date: 2017.08.08 SARCOS LC

AI summary

A hand control device for controlling a peripheral system is disclosed. The hand control device can include a handle configured to be grasped by a user. The handle can comprise a body portion to be supported against a palm of the user. The hand control device can also include a finger control supported about the handle and comprising a rotatable joint to facilitate control based on flexion/extension of an index finger of the user. In addition, the hand control device can include a thumb control supported about the handle and comprising first and second rotatable joints to facilitate control based on flexion/extension and abduction/adduction of a thumb of the user.