Robot Manipulator Grip Trigger With Force Feedback and Forearm Support
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Solution Overview
Problem
Existing user interface devices for controlling robotic systems, such as master-slave manipulators, can be tiring to use due to inadequate forearm support, leading to strain and discomfort during prolonged use.
Innovation Solution
A user interface device with an elongate grip portion and a rotating trigger mechanism, supported by a drive mechanism housed within the grip, allowing for comfortable three-dimensional motion input and providing force feedback through a control unit, which includes sensors to detect trigger position and applied force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a traditional input device with six degrees of freedom is used to control a master-slave manipulator, then the device provides comprehensive control capability, but the user experiences fatigue and strain during prolonged use due to inadequate forearm support
Solution Approach 1:
The device segments the control functions into two independent parts: a head for six-degree-of-freedom motion control and a separate trigger for jaw actuation. This segmentation allows each component to be optimized independently, with the head providing comprehensive control capability and the trigger providing ergonomic operation with forearm support, thereby resolving the contradiction between versatility and ease of operation
Solution Approach 2:
The patent introduces an intermediary structure (the trigger mechanism with forearm support) that mediates between the user's hand and the control system. The trigger acts as a mediator that transfers control signals for jaw actuation while the forearm support structure distributes the mechanical load, reducing user fatigue while maintaining control capability
2Ease of operation
If a rest is provided for the user's forearms to reduce fatigue, then user comfort is improved, but the working positions the user can adopt are restricted
Solution Approach 1:
The device employs dynamic elements including a gimbal system that allows the head to move with three degrees of rotational freedom and a parallelogram system that permits three degrees of translational freedom. These dynamic mechanisms enable the head to adapt to various working positions and orientations while the forearm support remains stationary, thus maintaining user comfort without restricting the range of working positions
Solution Approach 2:
The patent separates the control dimensions into two independent systems: the head handles three-dimensional positional control through translational and rotational degrees of freedom, while the trigger handles the fourth dimension of jaw actuation. This dimensional separation allows the forearm support to provide comfort without limiting the spatial flexibility of the control head
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 device reduces user fatigue by distributing weight and muscle loading, enabling precise control and comfortable use over extended periods while providing intuitive handling and effective force feedback.
Implementation Method 1
a drive mechanism at least partially housed in the grip portion, the drive mechanism being coupled to the trigger for applying a torque to the trigger
Data Source
AI summary
A user interface device for controlling a robot manipulator having an end effector comprising at least one movable element, the user interface device comprising: a body for being held by a user, the body comprising an elongate grip portion configured to be gripped by one or more of a user's second to fourth fingers; a trigger extending transversely to the direction of elongation of the grip portion, the trigger being supported by the body so as to be capable of rotating relative to the body about a rotation axis passing through the grip portion; and a drive mechanism at least partially housed in the grip portion, the drive mechanism being coupled to the trigger for applying a torque to the trigger.