Tactile feedback apparatus for rotary manual input

摘要

An apparatus for rotary manual input utilizes an electromagnetic brake and control circuit to provide tactile feedback to the operator similar to that of a mechanical detent. A shaft connects a handwheel to the brake and to an incremental encoder. The torque generated by the brake when energized is small enough to allow easy rotation of the handwheel. The control circuit keeps the brake normally energized. As the handwheel is turned, the control circuit monitors the encoder position signals and momentarily de-energizes the brake for each incremental movement. The momentary loss of resistance is felt by the operator to verify the incremental movement. The encoder position signals are also made available to an external device, such as for example a Numerical Controller, to implement the commanded movement.