Hand Presence Sensing for Control Input Devices
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Solution Overview
Problem
Existing control input devices struggle to reliably detect the presence of a user's hands, particularly when using configurations such as rotating pincher grips, which can obscure direct sensing, leading to unintended manipulation of manipulator devices.
Innovation Solution
A control input device with a handle and presence sensors that detect electromagnetic radiation or ultrasonic waves through space, using a sensing field proximate to the handle to determine hand presence, orientation, and motion, enabling robust hand detection without direct contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If rotating pincher grips are used on control input device, then control functionality is provided, but hand presence detection becomes difficult
Solution Approach 1:
A sensing rod extends from the sensor through the rotating pincher grip mechanism to a distal end positioned in the sensing field. The sensing rod acts as an intermediary that transmits sensor output signals to the distal end, allowing hand presence detection despite the rotating grip structure that would otherwise block direct sensing.
Solution Approach 2:
The sensing field is positioned in a spatial dimension that extends beyond the physical boundaries of the rotating pincher grip. By placing the sensing field distal to the grip mechanism and using a sensing rod to bridge the gap, the system detects hand presence in three-dimensional space rather than requiring direct contact with the grip surface.
2Reliability
If presence sensors are positioned to detect hand presence, then safety is improved, but device complexity increases
Solution Approach 1:
The sensor assembly integrates multiple functions: the sensor detects hand presence, the sensing rod transmits the signal, and the distal end positions the sensing field. This multi-functional integration achieves safety detection while minimizing additional complexity compared to separate independent components.
Solution Approach 2:
The control input device uses its own structural components (the rotating pincher grip and existing sensor mounting) to facilitate hand presence detection. The sensing rod utilizes the existing mechanical structure to position the sensing field, rather than requiring entirely separate detection infrastructure.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution provides reliable hand presence detection, allowing controlled manipulator systems to enter a safe operating mode only when the user's hand is properly positioned, preventing unintended device manipulation and enhancing safety and reliability.
Implementation Method 1
A presence sensor has a sensing field, at least a portion of which is located proximate to the handle. The presence sensor is configured to detect electromagnetic radiation or an ultrasonic wave that is directed through space to the presence sensor by a presence of the hand in the sensing field of the presence sensor.
Implementation Method 2
The presence sensor is configured to detect electromagnetic radiation or an ultrasonic wave that is directed through space to the presence sensor by a presence of the hand in the sensing field of the presence sensor.
Data Source
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AI summary
Implementations relate to hand presence sensing at a control input device. In some implementations, a control input device includes a base member, a handle coupled to the base member and configured to be manually contacted at a grip portion of the handle and moved by a hand of a user in one or more degrees of freedom, one or more control input sensors configured to detect positions or orientations of the handle in the one or more degrees of freedom, and a presence sensor coupled to the base member. The presence sensor has a sensing field, and at least a portion of the sensing field is located proximate to the handle.