| 摘要 |
A force controller wherein lateral, axial and rotational force on a handle (10) are opposed by bending, extension, compression and torsional forces in a tubular flexure element (12) that includes lateral rings (92a . . . 92n) and longitudinal beams (96a . . . 96n-1). A translating plate (23) is controlled in accordance with the torsion and deflection of flexure element (12) to provide optical control signals from code element (56) and read head (64) for three axes of motion. Axial forces on handle (10) cause extension or compression of flexure element (12) which is linked to fin (42). Pivotal movement of fin (42) in response to such extension and compression provides optical control signals from code element (72) and read head (74) for a fourth axis of motion.
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