Six-Axis Control Handle for Precise and Intuitive 6DOF Input
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Solution Overview
Problem
Current control devices for multi-degree of freedom applications, such as quadcopters and virtual reality, face challenges in balancing cost, precision, agility, and intuitiveness, particularly in handling six degrees of freedom, with existing solutions either being too expensive and complex or lacking in precision and repeatability.
Innovation Solution
A control device that measures six axes of force and moment using triaxial force sensors and additional moment sensors, allowing for rapid input changes without complex linkages, and includes digital and analog inputs for user control, enabling intuitive and precise control of translational and rotational movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If high-grade six-axis load cells and optical/magnetic systems are used for 6DOF control, then measurement precision and repeatability are improved, but device complexity and cost increase significantly
Solution Approach 1:
The patent divides the 6DOF measurement into two separate sensor elements: one measuring translational forces (Fx, Fy, Fz) and another measuring rotational moments (Mx, My, Mz). This segmentation allows each sensor to be optimized for its specific measurement type, reducing overall system complexity while maintaining precision
Solution Approach 2:
The control handle is designed to serve multiple functions: it acts as both the interface for applying forces and moments, and as a structural element that transmits these inputs to the sensors. This multi-functionality reduces the number of separate components needed in the system
2Productivity
If force-measurement based controls are used instead of motion-measurement, then control agility and precision are improved, but the device is limited to three degrees of freedom
Solution Approach 1:
The patent combines force measurement and moment measurement capabilities into a single integrated control handle system. By measuring both translational forces and rotational moments simultaneously at the same interface, the system achieves 6DOF control agility comparable to force-based systems while expanding capability to six degrees of freedom
3Adaptability or versatility
If multiple separate inputs (pedals, sticks, head tracking) are added for 6DOF control, then adaptability is improved, but ease of operation deteriorates due to non-intuitive controls and extended training requirements
Solution Approach 1:
The control handle is designed as a universal interface that can naturally express all six degrees of freedom through a single gripping object. The user applies forces and moments in any combination directly to the handle, eliminating the need to switch between or coordinate multiple separate inputs, thereby maintaining intuitive operation
Solution Approach 2:
Instead of adding multiple separate control inputs as traditionally done, the patent inverts the approach by using a single control element (the handle) that can measure all six degrees of freedom. This inversion simplifies the user interface from many separate controls to one unified control object
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 a cost-effective, highly precise, and durable control system that allows for rapid input changes and balanced user feedback, enhancing control agility and intuitiveness for applications requiring six degrees of freedom.
Implementation Method 1
measuring the three axes of force, Fx, Fy, and Fz applied to two opposed origin points of force measurement
Implementation Method 2
measuring the two axes of moment, Mx and My, applied to the control handle
Data Source
AI summary
Provided are embodiments of control devices capable of simultaneously measuring six degrees of freedom and electronic systems comprising the control devices. In some embodiments, the control devices are useful for controlling and/or directing movement of vehicles and virtual entities through operation of the control device with a computer processor, computer interface and, optionally a display.