Robot Manipulator Hand Controller With Force-Feedback Trigger
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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 lack of forearm support, leading to strain and discomfort during prolonged use.
Innovation Solution
A user interface device with a body designed for ergonomic grip, featuring a trigger that rotates relative to the body and a drive mechanism housed within the grip portion, including a motor and gearbox, to provide torque and force feedback, allowing for comfortable three-dimensional motion input and functional control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a traditional master-slave manipulator controller is used, then six degrees of freedom movement control is achieved, but the user experiences forearm strain and fatigue due to lack of support
Solution Approach 1:
The controller is divided into distinct functional segments: a support structure with forearm rest, a grip portion for finger placement, and a trigger mechanism. This segmentation allows each component to be optimized independently for its specific function while working together as a unified system.
Solution Approach 2:
The controller design incorporates built-in forearm support that serves the user's ergonomic needs automatically during operation. The support structure and grip portion work together to naturally position and support the user's hand and forearm, eliminating the need for external support devices.
2Ease of operation
If the drive mechanism is housed within the grip portion, then weight distribution is improved and muscle loading is reduced, but the device internal space becomes more constrained
Solution Approach 1:
The drive mechanism is nested within the grip portion, with the motor and gearbox housed inside the hollow cavity of the grip structure. This nested arrangement allows the drive components to be contained within the existing grip geometry, minimizing the increase in overall device volume while achieving improved weight distribution.
Solution Approach 2:
The trigger rotation axis is positioned to pass through the grip portion, allowing the drive mechanism to exert torque through a compact arrangement. This dimensional configuration enables the drive system to be integrated within the grip's three-dimensional space without requiring excessive linear dimensions.
3Measurement precision
If the trigger is supported to rotate relative to the body, then precise control input is achieved, but the mechanism becomes more complex
Solution Approach 1:
The trigger mechanism incorporates a drive mechanism that provides torque feedback to the trigger during rotation. This feedback system allows the controller to sense trigger position and apply counter-torque or assistive torque, enhancing control precision while managing the complexity through integrated sensor and actuator systems.
Solution Approach 2:
The trigger support structure and rotation mechanism are merged with the drive mechanism housing. The same structural components that support trigger rotation also house the motor and gearbox, eliminating the need for separate support structures and reducing overall mechanism complexity.
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 muscle loading and strain by distributing weight evenly, providing comfortable and precise control over robotic manipulators, enhancing user experience during extended use.
Implementation Method 1
The drive mechanism may comprise a motor. The motor may be arranged for applying force to the trigger.
Implementation Method 2
The drive mechanism may comprise a gearbox. The majority of the volume of the gearbox may be located within the grip portion.
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.