Robotic hand controller

Patent metadata

Field	Value
Publication number	US-9763739-B2
Application number	US-201213660328-A
Country	US
Kind code	B2
Filing date	Oct 25, 2012
Priority date	Aug 22, 2008
Publication date	Sep 19, 2017
Grant date	Sep 19, 2017

Abstract

A hand controller for enabling a user to perform an activity and method for controlling a robotic arm is provided. The hand controller includes a bar with a grip and a plurality of motors to provide a force feedback to the user in response to the movement of the plurality of mechanical arms. The method involves receiving input corresponding to the manipulation of a bar and providing a force feedback in response to the movement of the plurality of mechanical arms.

First claim

What is claimed is:

1. A hand controller configured to enable a user to perform an activity, the hand controller comprising:
a bar with a grip, the bar configured to be held and operated by the user to control a plurality of mechanical arms;
a clutch button configured to allow a movement of the hand controller without a corresponding movement of any one of the plurality of mechanical arms for re-centering the hand controller; and
a plurality of motors, the plurality of motors configured to provide a force feedback to the user in response to the movement of the plurality of mechanical arms in one or more of at least eight degrees of freedom.

2. The hand controller according to claim 1 , wherein the bar is configured to control the plurality of mechanical arms in one or more of at least eight degrees of freedom.

3. The hand controller according to claim 1 , wherein the bar is configured to be operated ambidextrously.

4. The hand controller according to claim 1 , wherein the bar is configured to be held by multiple users, each user having a different hand size.

5. The hand controller according to claim 1 , further comprising a position sensing device configured to sense presence of a hand of the user.

6. The hand controller according to claim 1 , further comprising an index finger slot configured to receive an index finger of the user.

7. The hand controller according to claim 6 , wherein the index finger slot comprises a force sensing device configured to sense a force being applied at the index finger slot by the index finger for operating a medical tool.

8. The hand controller according to claim 6 , further comprising an element for supporting the index finger slot, the element connected to the bar.

9. The hand controller according to claim 8 , wherein the element is pivotally connected to the bar at a pivot point.

10. The hand controller according to claim 9 , wherein the pivot point is positioned off a central axis to provide a natural pinching motion.

Assignees

• Titan Med Inc

Inventors

• Schaible Uwe
• Brocilo Drazena
• Harmen John

Classifications

• G05B2219/45117

  Medical, radio surgery manipulator · CPC title

• B25J13/025

  comprising haptic means · CPC title

• G05B2219/40144

  Force sensation feedback from follower · CPC title

• G05B2219/35419

  Four and more-DOF hand controller, joystick, manipulandum · CPC title

• A61B34/74

  Manipulators with manual electric input means · CPC title