Multi-dimensional force-torque hand controller having force feedback

摘要

A hand controller or "cursor" (12) for the actuation of slaved apparatus (21). The cursor includes a handle (30) extending from a line attachment member (34) comprised of four equally spaced legs. The ends of these legs (38a, b, c, d) define vertices of a regular tetrahedron. The cursor is supported within a subtending structure by a plurality of tension lines (28) which may be connected to torque motors (24) or to another controlled device. A control computer (16) preferrably interfaces the present controller with the slaved apparatus wherein signals representative of the serveral tension line lengths are translated by the computer into control signals actuating the slaved device. In addition, force transducers on the slaved mechanism generate signals representative of the forces encountered by the slaved device which, in turn, are translated by the computer into torque motor control signals thereby providing interactive cursor force-feedback.