| 摘要 |
Disclosed is a high degree of freedom control apparatus that includes a base attached to a strain gauge assembly movable in three orthogonal directions to provide signals indicative of a position of the strain gauge assembly relative to the base. An actuator assembly is supported on the base and movable by an operator's arm, hand, digit, or wrist relative to the base structure. The actuator assembly provides signals indicative of the position of the operator's arm, hand, digit or wrist in at least seven degrees of freedom relative to the base structure. The actuator assembly includes a wrist angle stage and a digit angle stage. The strain gauge assembly includes a spring plate and a load cell that is configured to provide a signal indicative of deflection of the load cell relative to the base. |
| 主权项 |
1. An apparatus for controlling a machine, comprising:
a base structure including a strain gauge assembly movable in three orthogonal directions to provide at least one signal or value indicative of a position of the strain gauge assembly relative to the base structure; and an actuator assembly supported on the base structure movable by at least one of an associated operator's arm, hand, digit, and wrist relative to the base structure, the actuator assembly operative to provide at least one signal or value indicative of the position of at least one of the operator's arm, hand digit, and wrist relative to the base structure, the actuator assembly comprising:
a wrist angle stage that is moveable about at least one of three orthogonal directions relative to the base structure by operator hand, forearm, or wrist motion, the wrist angle stage providing at least one signal or value indicative of the pivotal position of the wrist angle stage relative to the base member with respect to rotation about at least one of the three orthogonal directions, anda digit angle stage comprising at least one digit actuator movable by operator hand motion relative to the wrist angle stage, the digit angle stage providing at least one signal or value indicative of the position of the at least one digit actuator relative to the wrist stage with respect to at least one of a finger flexion, a thumb flexion, and a thumb rotation of the operator's hand; wherein the strain gauge assembly includes a spring plate that connects a load cell to the actuator assembly, wherein the load cell includes a T-beam with at least one strain gauge positioned along at least one surface of the T-beam configured to sense a deflection of the load cell and to provide at least one signal or value indicative of the position of the strain gauge assembly relative to the base structure. |
