Natural Response Manipulator Apparatus

Abstract

A natural response manipulator apparatus which includes a controller and a responsive manipulator. The controller includes a support means; a generally tubular handle; and a plurality of switches which are mounted on the support means and which solely support the handle thereon so that the handle has floating action. The manipulator may include a simulated human arm which has its various components powered by a plurality of bidirectional power units. The power units may be controlled by the switches of the controller and may be connected to the various components of the simulated human arm so that the arm performs natural movements which correspond to hand-control of the controller.

Description

The invention described herein may be manufactured and used by or for the Government of the United States of America for governmental purposes without the payment of any royalties thereon or therefor.

The tremendous increase in underwater research in the past few years has brought about an urgent need for underwater manipulator devices which can be remotely controlled by a person on a surface ship or in a deep submersible. In any type of manipulator work it is desirable to have a manipulator device which will simulate the natural motions of the operator. Since the human arm is the primary working tool of the human body, it is this portion which is most often simulated. The human arm with its upper arm, forearm, wrist, and fingers have seven basic movements. These basic movements are shoulder rotate, reach, lift, forearm rotate, wrist twist, wrist flex, and finger grasp.

The present invention provides a controller which enables an operator to control motions of a responsive device such as a simulated human arm wherein the motions correspond to the forces applied by his own arm. The present invention also provides a simulated human arm which is operable with the controller. The controller includes a support means, a generally tubular handle, and a plurality of switches which are mounted on the support means and which solely support the handle thereon so that the handle has floating action with respect to the support means. The manipulator device, which is operable with the controller, is a simulated human arm. The switches are arranged in such a manner on the controller so that when the operator grasps the controller handle with his hand and applies forces with his arm, selected power units are actuated to move the simulated human arm in a like manner. The teachings of this invention overcome many of the complexities associated with prior art manipulator systems.

An object of the present invention is to provide a natural response manipulator apparatus.

Another object is to provide a controller which will enable an operator to control a responsive device, such as simulated human arm with movements which correspond to directional forces of his own arm.

A further object is to provide a manipulator controller which is simple in construction and easy to operate.

Other objects and many of the attendant advantages of this invention will be readily appreciated as it becomes better understood by reference to the description and accompanying drawings which follow.

FIG. 1 is an axonometric illustration of the present controller which may be used for controlling a responsive device, such as a simulated human arm;

FIG. 2 is a schematic illustration of the handle of the controller with the various operator arm movements numbered thereon;

FIG. 3 is a schematic illustration of the controller handle with switch locations indicated in capital letters thereon;

FIG. 4 is a schematic illustration of an exemplary circuit showing controller switch locations for actuating respective bidirectional power units;

FIG. 5 is a series of schematic illustrations showing the seven basic movements of a human arm;

FIG. 6 is a schematic illustration of a simulated human arm;

FIG. 7 is a generally schematic illustration of an exemplary manipulator control apparatus;

FIG. 8 is a side view of the manipulator control apparatus;

FIG. 9 is an enlarged illustration of the hand portion of the manipulator control apparatus;

FIG. 10 is an enlarged illustration of the bottom portion of the manipulator control apparatus; and

FIG. 11 is a schematic illustration of a bidirectional power unit and mechanical push-pull cable.

Referring now to the drawings wherein like reference numerals designate like or similar parts throughout the several views, there is shown in FIG. 1 an exemplary natural response controller 20 which includes a support means 22, an elongated handle 24, and a plurality of switches mounted on the support means 22. The switches, which will be described in detail hereinbelow, suspend and solely support the handle on the support means 22 so that the handle 24 has floating action thereon. The support means 22 may be a generally U-shaped frame having a base 26 and right and left upstanding flanges 28 and 30 respectively. The flanges 28 and 30 may be provided with circular openings 32 and 34 for receiving respective right and left ends of the handle 24 with annular spaces located therebetween. Accordingly, the ends of the handle 24 will have freedom of movement in all directions within the circular openings 32 and 34 because of the annular spaced relationship. The handle 24 is also free to move along its longitudinal axis within these openings.

Because of the aforementioned switches the handle 24 has floating action within the openings 32 and 34. These switches may be of the single pole pushbutton type with single throw action so that when the handle is moved against the button of a particular switch, the switch is placed in an on position for control purposes and when the handle is moved back the switch goes to an off position. In the preferred embodiment, the aforementioned switches include two pair of switches which are mounted on the flanges 28 and 30 at each end of the handle 24. Referring to FIGS. 1 and 3 one pair of switches B.sub.1 and B.sub.2 horizontally support forward movements of the left and right ends of the handle 24, and another pair of switches B.sub.3 and B.sub.4 horizontally support after movements of the right and left ends of the handle 24. Another pair of switches C.sub.1 and C.sub.2 vertically support movements of the left and right ends of the handle 24, and still another pair of switches C.sub.3 and C.sub.4 vertically support downward movements of the right and left ends of the handle 24. Each of these switches may be mounted on the respective support flanges 28 and 30 by brackets 36 so that the pushbutton of each switch slidably engages the handle 24. Accordingly, the handle 24 can slidably rotate in either direction about its longitudinal axis and can slidably extend in either direction along its longitudinal axis.

The switches, which support the handle 24 within the apertures 32 and 34, may further include a pair of pushbutton switches A.sub.1 and A.sub.2 which are mounted on the support flanges 28 and 30 respectively at each end of the handle 24 along the handles' longitudinal axis. The pushbuttons on the switches A.sub.1 and A.sub.2 engage the right and left ends respectively of the handle 24 so as to support the handle 24 in right and left directional movement along the handles' longitudinal axis. Accordingly, as the handle is pushed to the right switch A.sub.1 is activated and when the handle is pushed to the left switch A.sub.2 is activated. In the case of all switches described hereinabove, the switches will be in a condition of inactivation when the handle 24 is in a neutral position, that is no force being applied to the handle 24 by an operator's hand, and when the handle is pushed in one direction the switch in that direction will be activated and the switch in the opposite direction will remain inactivated. All switches described herein may be microswitches so that a slight pressure will cause their activation. The end switches A.sub.1 and A.sub.2 may be mounted on the support flanges 28 and 30 by brackets 38.

In order to utilize to an advantage the aforementioned rotative movement of the handle 24 about its longitudinal axis a pair of lever actuated pushbutton switches F.sub.1 and F.sub.2 are mounted in a spaced-apart opposing relationship on the support base 26. These switches may be mounted on the support 26 directly below one end portion of the handle 24 in an opposing facing relationship. The handle 24 is provided with a radially extending lever 42 which is located between the pushbutton switches F.sub.1 and F.sub.2 for selectively actuating these switches as the handle 24 is rotated about its longitudinal axis. The switches F.sub.1 and F.sub.2 may be microswitches and may be of the single pole single throw type.

It is preferable that all of the pushbutton switches described hereinabove be mounted with their pushbuttons simultaneously directly engaging the handle 24. Within this description pushbutton switches are intended to include any switch means which is operated by a force. Accordingly, a pushbutton switch would include any switch which is operated by a force on a button, lever, or other mechanical appendage which is engageable with the handle 24. Further the term "switch" is intended to include any on-off device whether it snaps from one condition to another condition or is a rheostat which is gradually increased from an off condition.

As presently described the controller 20 is now capable of controlling six primary functions of an arm manipulator. Since there are seven primary movements of a human arm this last control function may be provided for by a toggle actuated double pole double throw switch G which is mounted on the support flange 30 adjacent the left end of the handle 24. The toggle switch G has a toggle lever 44 which extends inwardly from the flange 30 and is located for finger action by a hand grasping the handle 24. Accordingly, when no pressure is applied to the toggle 44 the switch G is inactivated, when the toggle 44 is pushed in one direction one throw G.sub.1 of the switch G is activated, and when the toggle 44 is pushed in an opposite direction the other throw G.sub.2 of the switch G is activated.

FIG. 2 is a schematic illustration of the controller handle 24 and operator's hand with numerals showing the various primary movements of a human arm. A seventh primary movement which is opening and closing of the hand is not illustrated, but this function would be performed with the operator's forefinger on the toggle 44 of the G.sub.1 switch. All of these primary movements are related in both directions to human arm movements in the table immediately below.

TABLE OF ARM MOVEMENTS OF OPERATOR AND MANIPULATOR

1 + shoulder external rotation

1 - shoulder internal rotation

2 + elbow extension and shoulder flexion

2 - elbow flexion and shoulder extension

3 + elbow flexion

3 - elbow extension

4 + supination

4 - pronation

5 + ulnar deviation

5 - radial deviation

6 + wrist flexion

6 - wrist extension

7 + hand open

7 - hand close

FIG. 3 is a schematic illustration showing the various switch locations with respect to the controller handle 24 for accomplishing the first six primary movements of a manipulator arm. The seventh primary movement is accomplished by switch G which is shown in FIG. 1. These switches are wired in a circuit so that they will activate power units which in turn operate a manipulator arm to follow the natural movements of an operator's hand on the handle 24. An exemplary circuit diagram to accomplish this purpose is shown in FIG. 4. In this circuit the seven primary arm movements are enabled by seven bidirectional power units 51 through 57, each power unit being connected in series across first and second electrical power sources 58 and 60 which are of opposite polarity. Accordingly, when one of the power units is energized by one of the power sources it will provide power in one direction and when energized by the other power source will provide power in an opposite direction. The power units 51 through 57 may be D.C. operated, and, as shown in FIG. 11, may be provided with an output shaft 62 upon which there is mounted a lever arm 64.

The power units of FIG. 4 are capable of functioning with a manipulator arm to control all of the movements set forth in the above chart. Referring to the chart and FIGS. 2 and 4, power units 51 through 57 control both directions of movements 1 through 7 respectively, movement 7 being operation of toggle switch G with the forefinger. The switches are arranged in the circuit of FIG. 4 so that the power units 51 through 57 power a manipulator arm in natural response to arm forces of an operator on the control handle 24. Accordingly, the right and left direction pushbutton switches A.sub.1 and A.sub.2 are connected between the first power unit 51 and respective electrical power sources, such as power sources 58 and 60 respectively. The horizontally supporting pair of forward switches B.sub.1 and B.sub.2, and the pair of after switches B.sub.3 and B.sub.4 are connected between the power unit 52 and electrical power sources 58 and 60 respectively. The horizontally supporting pair of forward switches B.sub.1 and B.sub.2, and the pair of after switches B.sub.3 and B.sub.4 are connected between the power unit 52 and electrical power sources 58 and 60 respectively. The vertically supporting pair of upward switches C.sub.1 and C.sub.2 and the pair of downward switches C.sub.3 and C.sub.4 are connected between the power unit 3 and electrical power sources 58 and 60 respectively. A pair of switches C.sub.1 and C.sub.3, at opposite ends of the handle 24 and selected one from each of the vertically supporting pairs of upward and downward switches, and the remaining pair of switches C.sub.2 and C.sub.4 of the vertically supporting pairs of upward and downward switches, are connected between the power unit 54 and the electrical power sources 58 and 60 respectively. Another pair of switches B.sub.1 and B.sub.3, at opposite ends of the handle 24 and selected one from each of the horizontally selected pairs of forward and after switches, and the remaining pair of switches B.sub.2 and B.sub.4 of the horizontally supporting pairs of upward and downward switches, are connected between the power unit 55 and the electrical power sources 58 and 60 respectively. Each of the lever actuated switches F.sub.1 and F.sub.2 are connected between the power unit 56 and the electrical power sources 58 and 60 respectively. Each of the throws G.sub.1 and G.sub.2 of the toggle actuated switch G is connected between the power unit 57 and the electrical power sources 58 and 60 respectively.

It should be noted that the placement of the switches in the circuit of FIG. 4 is merely exemplary and that they could be placed in a different relationship in respect to the electrical power sources 58 and 60 since the power units can be selectively positioned with respect to a manipulator arm to obtain the desired directional movements. Further, a pair of single-pole single-throw switches could be substituted for the double-throw switch G in which event the pair of switches would be separately controlled by forefinger control rather than using a single toggle switch arrangement. If desired, proportional devices, such as a bridge with a rheostat or strain gauges, may be connected in each circuit between each power unit and each electrical power source in order to obtain output movements from the power units which are proportional to forces of the operator's arm upon the control handle 24. These proportional devices could be used in lieu of or in combination with the aforementioned switches.

FIG. 5 illustrates the seven primary movements of the human arm. The nomenclature in FIG. 5 corresponds to the chart hereinabove except that the primary arm movements are described in more generic common terminology. It is these seven primary movements that the controller 20 is able to accomplish when combined with a manipulator arm which is described hereinbelow. In FIG. 6 there is shown a schematic manipulator arm with the various primary movements shown thereon. The manipulator arm 66 may include a support means 68, an upper arm 70 which is rotatably connected to the support means 68, a forearm 72 which is pivotally connected to the upper arm 70, a wrist 74 which is pivotally connected to the forearm 72, and a plurality of fingers 76, at least one of which is pivotally connected to the wrist 74.

An exemplary embodiment of the manipulator 66 is illustrated in FIGS. 7--10. The support means may be a support base 68 and an upstanding rod 69 which is journaled for rotation about its longitudinal axis within the base 68. A block 78 may be fixedly connected to a top portion of the rod 69. The upper arm 70 may include lever arms 70a and 70b which are pivotally interconnected at their tops by a crossbar 70c at pivot locations 80 and 82. The lever arm 70a is further pivoted at the pivot location 82 to the block 78 so that the upper arm components can pivot and rotate in a vertical plane. The bottom ends of the upper arm levers 70a and 70b may be pivoted to a 90.degree. bracket 84 at pivots 86 and 88 respectively. A tubular member 72, comprising the forearm, may be rotatably connected to the bracket 84 generally parallel to the line of direction of the pivot points 86 and 88 by a bearing 89. The forward portion of the forearm 72 may fixedly extend through a block 90 and may have a forwardly extending reduced portion which is pivotally connected to a wrist block 74 by a ball and socket connection 92. Connected at the forward end of the wrist 74 is a pair of fingers 76. The bottom finger 76 may be rigidly attached to the block 74 and the top finger 76 may be pivotally connected thereto by a yoke 94 which is pivoted at locations 96 (one of which is shown in FIG. 9). If desired, some of the primary movements of the manipulator arm may be provided with spring returns. A spring return may be provided for shoulder rotation by a spring 98 which is connected between a radially extending pin 100 on the upstanding rod 69 and another pin 102 which projects upwardly from the base 68. Spring return for wrist movements may be accomplished by springs 104 and 106 which are located 90.degree. apart and are each connected between the forearm block 90 and the wrist block 74. Spring return for the top finger 76 may be accomplished by a spring 108 which is connected between the fingers 76.

In order to accomplish the various movements of the manipulator arm 66 a plurality of sheathed cables may be appropriately connected between the power units 51 through 57 and various control points on the manipulator arm. One of such sheathed cables is illustrated at 110 in FIG. 11. This cable is similar to a choke cable in an automobile and has clamps 112 at various locations to achieve the desired movements. As shown in FIG. 10 the power units for the first three primary movements may be mounted on the support base 68 by a T-shaped bracket 114. The output shafts of the power units may be journaled through the upstanding portion of the bracket 114 and may each be provided with a lever arm 64 which in turn is connected to an appropriate cable 110 (see FIG. 11). As shown in FIG. 10 the power unit 51 may have a lever arm 116 which is connected to one end of a cable 118. The other end of the cable 118 may be connected to the pin 100 on the upstanding rotatable rod 69. The sheath of the cable 118 is connected to the support base 68 by a clamp 120. The power unit 52 may have a lever arm 122 which is connected to one end of a cable 124. The opposite end of the cable 124 may be connected to a top portion of the upper arm lever 70a between pivot points 82 and 86. The bottom sheath portion of this cable 124 may be clamped to the bracket 114 by a clamp (not shown) and the top sheath portion may be clamped to the bottom of the block 78 by a clamp (not shown). The power unit 53 may have a lever arm 128 which is connected to one end of a cable 130. The opposite end of the cable 130 may be connected to the middle portion of the crossbar 70c. The sheath of the cable 130 may be fixed to the bracket 114 at one end by a clamp 132 and the other end of the sheath may be clamped to the block 78 by a clamp 133. Power unit 54, which controls primary movement 4, is mounted on bracket 84 by a clamp 135 and has its output shaft directly connected to the end of the forearm rod 72.

The power units 55, 56 and 57, controlling primary movements 5, 6 and 7 of the manipulator arm, may be mounted on the bracket 84 in a similar manner to the mounting of the power units 51, 52 and 53 on the bracket 114. Power unit 55 may have a lever arm 137 which is connected to one end of a cable 134. The other end of the cable 134 is connected to one side of the wrist block 74 and the sheath of the cable 134 is clamped to the bracket 84 by a clamp 139 and to the block 90 by a clamp 136. The power unit 56 has a lever arm 141 which is connected to one end of a cable 138. The other end of the cable 138 is connected to an opposite side of the wrist block 74 and its sheath is connected to the bracket 84 at one end by a clamp (not shown) and is connected at its opposite end to the block 90 by a clamp 140. The power unit 57 has a lever arm 143 which is connected to one end of a cable 142. The other end of the cable 142 is connected to the yoke 94 for movement of the top finger 76. One end of the sheath of cable 142 is fixed to the bracket 84 by a clamp (not shown) and the other end of the sheath is fixed to the wrist block 74 by a clamp 144.

In order to counterbalance the upper arm 70, forearm 72 and wrist 74 the lever arm 70a may be extended beyond pivot 82 and may be provided at its end with a weight 146.

In the operation of the present invention the operator places his hand on the control handle 24 of the controller 20. The upper arm, forearm, and wrist movements or forces of the operator will be reflected in control functions 1 through 6. These movements will in turn be sensed by pushbuttons of the switches associated with the handle 24 to selectively operate the power units 51 through 56. These power units in turn operate the cables to move the manipulator arm 66 in natural corresponding movements to the forces of the operator's arm. The finger grasping action of the manipulator arm by fingers 76 is accomplished by the operator's forefinger working the toggle 44 of switch G. This in turn actuates the power unit 57 to move the finger 76 by action of the cable 142.

It is now readily apparent that the present invention provides a simple natural response manipulator. The manipulator includes a controller which enables an operator to move a simulated human arm with movements which correspond to his own arm. It should be understood that hydraulic valves may be substituted for the switches and hydraulic actuators could be substituted for the power units described herein. It should also be understood that the controller 20 can be used for controlling any responsive device such as an underwater vehicle, aircraft, missile, or the manipulator arm disclosed herein.

Other objects and many of the attendant advantages of this invention will be readily appreciated as it becomes better understood by reference to the description and accompanying drawings which follow.

Claims

I claim:

1. A natural response controller comprising:

support means;

an elongated handle; and

a plurality of pushbutton switches mounted on the support means and solely supporting the handle thereon,

whereby forces on the handle in various directions will selectively operate the switches to enable the performance of controlling functions in directions corresponding to the applied forces.

2. A natural response controller as claimed in claim 1 comprising the pushbuttons of said switches simultaneously directly engaging said handle.

3. A controller as claimed in claim 2 comprising:

the handle being supported on the support means in a generally horizontal position and having right and left ends;

said switches including two pair of switches mounted on the support means at each end of the handle, one pair of switches horizontally supporting forward movement of each end of the handle and another pair of switches horizontally supporting after movement of each end of the handle, another pair of switches vertically supporting upward movement of each end of the handle and still another pair of switches vertically supporting downward movement of each end of the handle.

4. A controller as claimed in claim 3 comprising:

said switches supporting the handle for slidable movement along its longitudinal axis; and

said switches including a pushbutton switch mounted on the support means at each end of the handle along the longitudinal axis thereof, the latter switches supporting the handle in left and right directions along said longitudinal axis.

5. A controller as claimed in claim 4 comprising:

said switches supporting the handle for slidable rotatable movement about its longitudinal axis;

a pair of lever actuated pushbutton switches mounted on the support means; and

a lever mounted on the handle between the pair of lever actuated switches for selectively actuating these switches as the handle is rotated about its longitudinal axis.

6. A controller as claimed in claim 5 comprising:

a toggle actuated double-throw switch means mounted on the support means adjacent the left end of the handle; and

a toggle operatively connected to the toggle actuated switch and located for finger operation of a hand grasping said handle.

7. A controller as claimed in claim 6 comprising:

first through seventh bidirectional power units each being connected in series across first and second electrical power sources of opposite polarities;

the right and left direction pushbutton switches being connected between the first power unit and respective electrical power sources;

the horizontally supporting pair of forward switches and pair of after switches being connected between the second power unit and respective electrical power sources;

the vertically supporting pair of upward switches and pair of downward switches being connected between the third power unit and respective electrical power sources;

a pair of switches at opposite ends of the handle, selected one from each of the vertically supporting pairs of upward and downward switches, and the remaining pair of switches of the vertically supporting pairs of upward and downward switches being connected between the fourth power unit and respective electrical power sources;

another pair of switches at opposite ends of the handle, selected one from each of the horizontally supporting pairs of forward and after switches, and the remaining pair of switches of the horizontally supporting pairs of upward and downward switches being connected between the fifth power unit and respective electrical power sources;

each of the lever actuated switches being connected between the sixth power unit and respective electrical power sources; and

each of the throws of the toggle actuated switch means being connected between the seventh power unit and respective electrical power sources.

8. A natural response manipulator apparatus including the elements of claim 7 and further comprising:

further support means;

a forearm and upper arm, the forearm being pivotally connected to the upper arm and the upper arm being rotatably connected to the further support means;

a wrist pivotally connected to the forearm;

a plurality of fingers, at least one of which is pivotally connected to said wrist; and

means connecting the power units to the forearm, upper arm, wrist, and fingers for natural movements with respect to hand control of the handle of said controller.