Multi-Finger Master Control Grip for Stable Ungrounded Teleoperation
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Solution Overview
Problem
Users face difficulties in maintaining a secure grip on hand input devices for teleoperated systems, particularly over long periods, and existing ungrounded controllers can lead to fatigue, slippage, and accidental movements due to lack of grounding, while grounded controllers restrict mobility.
Innovation Solution
A master control device with a multi-finger grip featuring a thumb grip and a finger grip member that are moveable in a pinching configuration, equipped with sensors to detect relative positions and orientations, and extension portions for enhanced stability and control, allowing secure operation in both grounded and ungrounded modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a hand input device is designed to be ungrounded for mobility, then ease of operation is improved, but reliability deteriorates due to fatigue and slippage
Solution Approach 1:
The hand input device is segmented into multiple grip zones: a first grip zone for the thumb and a second grip zone for the index and middle fingers. This segmentation allows different portions of the hand to engage with different parts of the device, distributing the gripping load and reducing fatigue while maintaining secure hold during mobile operation.
Solution Approach 2:
The device extends beyond a simple handheld form by incorporating an extension portion that projects from the main body. This adds a spatial dimension to the grip configuration, allowing the user's fingers to wrap around or contact multiple surfaces, thereby enhancing grip stability without compromising portability.
2Reliability
If a hand input device is designed with extended grip surfaces for stability, then reliability is improved, but device complexity increases
Solution Approach 1:
The extension portion is merged with the main body of the hand input device as an integrated structural element. This merging approach provides additional grip surfaces and improved stability without requiring separate attachments or complex assemblies, thereby maintaining design simplicity while enhancing reliability.
3Measurement precision
If a sensor system is added to detect grip position, then measurement precision is improved, but device complexity increases
Solution Approach 1:
A sensor is integrated into the device to detect the relative position between the first and second grip zones. This feedback mechanism provides real-time information about grip configuration, enabling precise measurement of hand position and orientation while maintaining a relatively simple implementation through strategic sensor placement.
Data Source
AI summary
Implementations relate to a master control device. In some implementations, a master control device includes a thumb grip member including a thumb grip receptive to a thumb of a hand of a user. The master control device includes a finger grip member coupled to the thumb grip member at a proximal end of the master control device and extending toward a distal end of the master control device, where the finger grip member includes a finger grip receptive to multiple fingers of the hand. The thumb grip member and finger grip member are moveable in a pinching configuration with respect to each other. The master control device includes a sensor coupled to at least one of the thumb grip member or finger grip member to sense relative positions of the thumb grip member and finger grip member with respect to each other in the pinching configuration.