TWI293423B

TWI293423B - Multi-axis joystick and transducer means therefore

Info

Publication number: TWI293423B
Application number: TW092128428A
Authority: TW
Inventors: Leslie R Obermeyer; Fritz H Obermeyer; Henry K Obermeyer
Original assignee: Henry K Obermeyer; Fritz H Obermeyer; Leslie R Obermeyer
Priority date: 2003-04-14
Filing date: 2003-10-14
Publication date: 2008-02-11
Also published as: TW200422920A

Description

1293423 玖、發明說明：本發明係一國際申請案，及主張2002年4月12日申請之美國臨時專利申請案第6 0/3 7 2,216號的權益，在此倂予參照。 (一）發明所屬之技術領域本發明係有關一種多軸輸入裝置，諸如用於但不受限於電腦控制、電腦輔助設計領域中電腦繪圖應用控制及電腦遊戲之類的搖桿，以及用於控制諸如建築設備、機械操縱器及車輛之類機器的搖桿。在此揭示的多軸光學位置轉換器可用於很多其他應用上，特別是可將之用於小尺寸及低成本很重要的應用上。 (二）先前技術過去已嘗試開發出商業上可行的六軸搖桿。習知設計的複雜度可能造成只有電腦輔助設計及其他高價位工業及商業應用才負擔得起的昂貴產品。型號爲「Space Orb®」之類於1 99 0年代後期由Spacetec IMC公司製造且當作電腦遊戲周邊裝置銷售多年的產品，也許是起因於其複雜度以及相對於大槪5 0到1 0 0美元之零售價格的製造成本而終告無法持續販售。有關Spacetec SpaceOrb®的專利文件有：指定代表爲Spacetec IMC公司而授予Hilton的美國專利第 5,591，924號文件以及授予Hilton等人的美國專利第5,706,027 號及第5,7 9 8,74 8號文件。另外指定代表爲Spatial systems Pty有限公司也是授予Hilton的美國專利第4,811，608號文件。新進由Logitech (可能收購了 Spacetec IMC公司）提供 -5- 1293423 的/、軸搖桿包含太空球（Spacebaii®)及太空滑鼠（Spacemouse®) ’其於2002年1月的零售價格大槪每一個5 0 0美元。其他嘗試係於一六軸搖桿內使用光學位置轉換器。例如 ’ Sale u dean等人提供的美國專利申請案第20010038380號文件中揭示了一種將光源及感知器裝設於搖桿之靜態及可動元件上的應用。這種解決方案可能伴隨著不必要的複雜結構且可能起因於對需要彈性連接結構之可動電子組件的需求造成裝置可靠更低且韌度更差。可應用很多其他方法以達成六軸或多軸控制。例如，已圍繞習知金屬箔應變計量技術同時使用電線應變計量器建立了多軸輸入裝置。這類裝置基本上可以是強制輸入裝置且可能無法爲操作員提供任何有用的偏轉反饋作用。來自這類裝置的基礎信號也許需要小心遮蔽且隨後進行放大以補償各應變計量器的固有低計量係數。授予Jenkins的美國專利第4,76,5 24號文件以及授予 Selker的美國專利第5,767,840號文件中揭示了使用應變計量器的習知實例。這類應變計量器的應用可能因溫度弓丨致的誤差及低計量係數，兩者都會添加信號處理及信號遮蔽上的困難。此外，可允許的應變幾乎是操作員所無法察覺的，且可造成缺乏對操作員的有用而必要的偏轉反饋作用。此外，低應變値可排除使用機械式光欄以防止應變言十量器的過載現象。可訂定該應變計量器的尺寸以包含相對於各負載的安全係數，以進一步減小他們已經很差的計羹係數。即使有了安全係數，使用應變計量器的裝置或許不 -6- 1293423 適合諸如電腦遊戲之類經常被小孩掉到地板上的應用。其他的習知六軸搖桿應用7複數個線性可變差分型'變壓器（LV D T )、可變電感器或是其他線性分離式機械位移轉換器。某些這類六軸輸入裝置係以史特瓦特（S t e w a r t)平臺結構內具彈簧中心的LV D T爲基礎。較之根據本發明所建造之具有經濟且強固之'結構的六軸輸入裝置’這類裝置可能既昂貴又易碎。習知設計中的多重機械式接頭可能造成精確度與成本之間的交換。1293423 发明发明发明发明发明发明发明发明发明发明发明发明发明发明发明发明发明发明发明发明发明发明发明发明。。。。。。。。。。。。。。。。。。。。。。。。。 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-axis input device such as a joystick for, but not limited to, computer control, computer graphics application control and computer games in the field of computer-aided design, and Control the rocker of machines such as construction equipment, mechanical manipulators and vehicles. The multi-axis optical position converter disclosed herein can be used in many other applications, particularly for applications where small size and low cost are important. (ii) Prior Art In the past, attempts have been made to develop commercially viable six-axis rockers. The complexity of conventional designs can result in expensive products that are only affordable for computer-aided design and other high-priced industrial and commercial applications. Models such as "Space Orb®", which were manufactured by Spacetec IMC in the late 1970s and sold as computer game peripherals for many years, may be due to their complexity and relative to the 槪50 to 100. The manufacturing cost of the retail price of the US dollar is not sustainable. The patent documents relating to Spacetec SpaceOrb® are: US Patent No. 5,591,924 to Hilton, and US Patent Nos. 5,706,027 and 5,7,8,8,8,8, to Hilton et al. . In addition, the designated representative is Spatial Systems Pty Co., Ltd., which is also the US Patent No. 4,811,608 issued to Hilton. The new entry by Logitech (possibly acquired Spacetec IMC) provides -5-1293423 /, the rocker includes Spacebaii® and Spacemouse®. Its retail price in January 2002 was greater than One $500. Other attempts have been to use an optical position transducer in a six-axis rocker. An application for mounting a light source and a sensor to the static and movable elements of a rocker is disclosed in U.S. Patent Application Serial No. 20010038380, the entire disclosure of which is incorporated herein by reference. Such a solution may be accompanied by an unnecessarily complex structure and may result from a lower reliability and less toughness of the device for the need for a movable electronic component requiring an elastic connection structure. Many other methods can be applied to achieve six-axis or multi-axis control. For example, multi-axis input devices have been built around conventional metal foil strain gauging techniques using wire strain gauges. Such devices can basically be forced input devices and may not provide any useful deflection feedback for the operator. The underlying signals from such devices may need to be carefully masked and subsequently amplified to compensate for the inherently low metering factor of each strain gauge. A conventional example of the use of a strain gauge is disclosed in U.S. Patent No. 4,76,5, the disclosure of which is incorporated herein by reference. The application of such strain gauges may be due to temperature error and low metering factor, both of which add difficulties in signal processing and signal shielding. In addition, the allowable strain is almost imperceptible to the operator and can result in a lack of useful and necessary deflection feedback for the operator. In addition, the low strain 値 eliminates the use of a mechanical diaphragm to prevent overloading of the strain gauge. The strain gauge can be sized to include a safety factor relative to each load to further reduce their already poor calculation factor. Even with a safety factor, the device using a strain gauge may not be -6-1293423 suitable for applications such as computer games that are often dropped on the floor by children. Other conventional six-axis rockers use a plurality of linear variable differential type 'transformers' (LV D T ), variable inductors or other linearly separated mechanical displacement converters. Some of these six-axis input devices are based on the spring-centered LV D T in the Stewart platform. Devices such as six-axis input devices having an economical and robust 'structure' constructed in accordance with the present invention can be expensive and fragile. Multiple mechanical joints in conventional designs can result in an exchange of precision and cost.

授予Sundin的美國專利第6,3 2 9，181 Β1號文件中揭示了一種由史特瓦特（stewart)平臺變型構成之簡化裝置的實例其中強調了成本的重要考量。不過’因爲必需遮蔽無線電頻率的干涉現象以及因爲各接合用感應彈簧之間的干涉現象，故無法避免其整體複雜度。假如用在相關的建造設備或移動中的車輛上，則該Sund in設計的另一缺點可能是多重彈簧可以在總成內造成無法接受的共振振動。這種振動可包含其彈簧上活性把柄的共振或者可能在其彈簧本身內涉及了橫向或更高模式的振動。又一種已知六軸搖桿可包括複數個磁性感知線圈及多重可動磁鐵。揭示磁性位置偵測裝置的專利實例包含由End 〇提出的美國專利申請案第200 1 005 5 002號文件以及授予 Hoyt等人的美國專利第5,6 8 7,0 8 0號文件。這類設計經常是比本發明的設計更爲複雜及昂貴且無法由環境磁場通量提供任何固有遮蔽。再一種方法係使兩個三軸控制器耦合於所得到的六軸控 1293423 制器上如同授予 Couch等人的美國專利第5,749,577及 6,〇〇 3, 3 0 9號文件中所揭示的。這種方法可能比本發明的方法更昂貴且可能缺乏直覺式六軸介面。很多根據習知設計加以建造的大尺寸裝置可在旋轉水平軸與平移水平軸之間造成非刻意而不必要的耦合作用。這種耦合作用可能必需藉由以裝置在精確度及動態範圍上之對應耗損的信號處理進行後續對角化作業。習知設計中可能因爲費用及技術上伴隨著必要之微型化所產生的障礙而很難避免這種不必要的耦合作用。一'般而θ在諸如結合於鍵盤或手持式電腦以便進行定位當作其他控制把手或控制桿的延伸或者在靠近使用者手的中心點處圍繞於如同授予S a 1 i n a s之美國專利第D e s 3 8 1，7 0 1 號文件中所揭示習知搖桿內之類的應用上，習知設計中由六軸搖桿構成的轉換器系統顯得實體上太大又太重。已認定在操作航空器時需於使用軌跡球期間保持手的穩定。達梭航空（Dassault Aviation)採用了一種包含手掌靠座的習知二軸軌跡球以便在擾動的飛行條件下有利於施行可靠的（二軸）駕駛艙顯示器游標控制[參見職業機師雜誌/2 0 02 年1月（PROFESSIONAL PILOT)]。習知設計的六軸裝置可能太笨重以致無法結合於這種手掌靠座內。事實上，有很多種習知六軸裝置可能笨重到不再像是桿狀且因此甚至不再稱作「搖桿」。已知各種多軸輸入裝置或「搖桿」可應用某種具有諸如霍爾效應感知作用（Hall Effect sensing)之類形式的磁場量 1293423 測。用以揭示霍爾效應感知作用的多軸輸入裝置或「搖桿」 _ 相關專利實例包含授予Hoyt等人的美國專利第5,9 5 9,8 6 3 “ 號文件以及授予Hoyt等人的美國專利第5,6 8 7,0 8 0號文件。由E n do提出的美國專利申請案第20010055002號文件中也揭示了一種應用霍爾效應感知作用的多軸電腦輸入裝置。An example of a simplified device consisting of a variant of the Stewart platform is disclosed in U.S. Patent No. 6,329,181, filed to the name of the entire disclosure of which is incorporated herein by reference. However, the overall complexity cannot be avoided because it is necessary to shield the interference of the radio frequency and the interference phenomenon between the induction springs for each joint. Another disadvantage of the Sundin design may be that multiple springs can cause unacceptable resonant vibrations within the assembly, if used on related construction equipment or moving vehicles. Such vibrations may include resonance of the active handle on its spring or may involve lateral or higher mode vibrations within its spring itself. Yet another known six-axis rocker can include a plurality of magnetic sensing coils and multiple movable magnets. Examples of patents that disclose magnetic position detecting devices include U.S. Patent Application Serial No. 200 1 005 5 002 filed by End 〇 and U.S. Patent No. 5,6,8,080, issued to Hoyt et al. Such designs are often more complex and expensive than the design of the present invention and are not capable of providing any inherent shading by ambient magnetic field flux. </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; This approach may be more expensive than the method of the present invention and may lack an intuitive six-axis interface. Many large-sized devices constructed according to conventional designs can cause unintentional and unnecessary coupling between the rotating horizontal axis and the translational horizontal axis. This coupling may necessitate subsequent diagonalization by signal processing with corresponding loss in accuracy and dynamic range of the device. In conventional designs, it is difficult to avoid such unnecessary coupling due to cost and technical obstacles associated with the necessary miniaturization. Generally, θ is surrounded by, for example, a keyboard or a hand-held computer for positioning as an extension of other control handles or levers or at a center point near the user's hand, as US Patent D, which is assigned to Sa 1 inas. In applications such as the conventional rocker disclosed in the document es 3 8 1,7 0 1 , the converter system consisting of a six-axis rocker in the conventional design appears to be too large and too heavy. It has been determined that the hand should be kept stable during the operation of the aircraft during the use of the trackball. Dassault Aviation uses a conventional two-axis trackball that includes a palm rest to facilitate reliable (two-axis) cockpit display cursor control in disturbed flight conditions [see Journal of Professional Mechanics/2 0 02 (PROFESSIONAL PILOT)]. Conventional six-axis devices may be too bulky to fit into such a palm rest. In fact, there are many conventional six-axis devices that can be cumbersome to no longer be rod-shaped and therefore not even called "rockers." It is known that various multi-axis input devices or "rockers" can be applied to some type of magnetic field 1293423 having a form such as Hall Effect sensing. A multi-axis input device or "rocker" for revealing Hall effect sensing _ related patent examples include U.S. Patent No. 5,9 5 9,8 6 3 to Hoyt et al. and US to Hoyt et al. A multi-axis computer input device using Hall effect sensing is also disclosed in U.S. Patent Application Serial No. 20010055002, filed on Jan.

Shumin Zhai博士已在六軸使用者介面的課題上發表了數篇論文，其中包含標題爲「依六個自由度進行輸入控制之人力表現」、「互動式三維繪圖法」及「與三維輸入裝置設計有關之使用者表現」的論文。 φ 本發明的目的是爲新進的多軸電腦輸入裝置提供一種低成本的強固替代裝置。特別是本發明的目的是提供一種成本低得足以吸引結合電腦遊戲之類的應用同時足夠簡單而強固以便用於但是並不受限於工業應用的裝置。新近可取得的裝置對電腦遊戲產業而言具有禁制性的高價位且對典 ' 型建築設備上的應用而言又太脆弱。反之，本發明的裝置只需要兩個移動零件，例如簡單的線圈型彈簧以及具有內部反射性表面的簡單塑膠按鈕。本發明之塑膠按鈕的製造 · 成本大約與一普通閃光燈之反射器的製造成本枏同。本發明的整體製造成本明顯地低於任何其他習知六軸搖桿的製造成本且事實上可能低於標準二軸搖桿的製造成本。本發明的另一目的是提供一種簡單而易於製造且組成元件儘可能愈少愈好的六軸電腦輸入裝置。較佳的設計可將所有（例如7個）轉換器結合到單一的印刷電路板或是單件式光電套裝組合之上。 -9- 1293423 本發明的又一目的是提供一種具高品質及高精確度的信號，其方式是藉由最佳化方式相對於控制把手及使用者的手爲高解析度轉換元件定位以產生經良好調節的轉換程式。本發明的再一目的是提供一種耐用而強固的多軸電腦輸入裝置以適用於諸如加工控制及建築設備之類的應用。本發明的又另一目的是提供一種多軸控制裝置以允許在技術不足且商業上不具吸引力的工業及建築設備之類一般應用上作更大幅度的控制。Dr. Shumin Zhai has published several papers on the topic of the six-axis user interface, including the title "Human Performance of Input Control with Six Degrees of Freedom", "Interactive 3D Plotting" and "With 3D Input Devices" Design papers on user performance. φ The object of the present invention is to provide a low cost, robust alternative to a new multi-axis computer input device. In particular, it is an object of the present invention to provide a device that is low enough to attract applications such as computer games while being sufficiently simple and robust for use in, but not limited to, industrial applications. Newly available devices are prohibitively high-priced for the computer game industry and too fragile for applications on typical building equipment. In contrast, the device of the present invention requires only two moving parts, such as a simple coil spring and a simple plastic button with an internal reflective surface. The manufacture of the plastic button of the present invention is about the same as the cost of manufacturing a conventional flash reflector. The overall manufacturing cost of the present invention is significantly lower than that of any other conventional six-axis rocker and may in fact be lower than the manufacturing cost of a standard two-axis rocker. Another object of the present invention is to provide a six-axis computer input device that is simple and easy to manufacture and that has as few components as possible. A preferred design combines all (e.g., seven) converters into a single printed circuit board or a single piece optoelectronic package combination. -9- 1293423 A further object of the present invention is to provide a signal of high quality and high precision by optimizing the positioning of the high-resolution conversion element relative to the control handle and the user's hand by an optimization method. A well-adjusted conversion program. It is a further object of the present invention to provide a durable and robust multi-axis computer input device for use in applications such as process control and construction equipment. Still another object of the present invention is to provide a multi-axis control device that allows for greater control over general applications such as technically inadequate and commercially unattractive industrial and construction equipment.

本發明的再另一目的是提供一種尺寸足夠小而能夠依中央對準方式定位於遊戲搖桿內的轉換元件，使之與手腕旋轉上平行於尺骨及橈骨的軸對齊如同習知設計的情況一般。It is still another object of the present invention to provide a conversion element that is small enough to be positioned in a centrally aligned manner within the joystick to align with the axis of rotation of the wrist parallel to the ulna and tibia as in a conventional design. general.

本發明的又再一目的是提供一種尺寸足夠小的轉換元件 ’以容許在主動式控制把手上很容易地進行指尖操縱，而在使用者的手內留下空間以便容納穩定使用者之手及臂時所需要的固定式控制把手元件或手掌靠座，以致能夠在陸上、水中、空中或太空中的移動交通工具內安全地使用該多軸搖桿功能。 (三）發明內容本發明的設計滿足前述目的之各種實施例可總述如下：在一實施例，本發明的裝置可包括一可動的”主動式控制把手’’結合有固定其上且例如依彈性方式裝設於線圈型彈簧上之六個左右的面鏡刻面。可在與該面鏡刻面總成相對的很短距離上依方固定式裝設一包括有一個或更多個光電發射器以及一個或更多個光電偵測器的光電轉換器陣列。 -10- 1293423 作爲面鏡刻面用以連接各光電發射器與光電偵測器之六個獨特光徑的長度可依該主動式控制把手的六個自由度以及其相對於該光電轉換器陣列的各面鏡刻面定義出各座標。一般而言由一光電偵測器在每一光徑端點上量測到的亮度可以是一種與該光徑長度的平方反比函數。任何平移或是繞該主動式控制把手上任意軸的旋轉運動都可能造成其圖案的亮度出現改變。例如可將該亮度圖案轉換爲電子形式以便用於數位電腦中，或者可沿著光纖電纜傳送當作類比亮度信號。一般而言，僅試圖將以下有關各光電發射器及光電偵測器之位置的說明當作實例而不是用以限制本發明的揭示內容及對本發明所附申請專利範圍中任意項目的解讀。特別是，幾乎在所有例子裡各光電發射器及光電偵測器的相對位置都是可交換的。在某些例子裡，能以單獨的分離式裝置同時扮演著發射器及偵測器的角色。電路上的簡單變化可有利於各發射器及偵測器的位置交換。例如，在有六個發射器圍繞一個偵測器的例子裡，可一次加能一個發射器以致可由該偵測器依與一獨特光徑及其對應發射器相關的方式產生信號。可有利地使用這種配置以減少可程式規劃之介面控制器或是其他信號轉換裝置上所需要之類比數位轉換通路的數目。可利用標準組件及已知的電子工程原理完成這種配置。係依廣義方式解讀「光電發射器」及「光電偵測器」等名詞以涵蓋任何用以引導或轉換光的裝置或元件或是用以 1293423 輸送光的界面’無論光是否源自或終止於本發明所構思的裝置內。例如’可從一個能將光反射到複數個可動面鏡上的點以陽光照射標靶，各可動面鏡可將光進一步反射到受光器上’各受光器則藉由光纖電纜引導光而進一步將光傳送到超出某些實體邊界的遠隔地點上。光電發射器的實例可包含但是並不受限於具有包含可見光及紅外線之任意波長的發光二極體、雷射二極體、氣體放電管、白熾燈泡及其他此時已知或未知的等效元件。偵測器的實例包含光電二極體、光電電晶體、硫酸鈣光電電阻、光生伏打電池、光電管及其他此時已知或未知的等效元件。可依傳統槪念運用本發明中用到的下列名詞或是賦予額外標示如下的意義。「Stewart平臺」可包含一「六角艙蓋」或是像飛航模擬器中常用的八邊平行聯結型式運動平臺。「從屬平臺」一詞包含一種其位置受複數個遙控發動機控制的平臺或是其在操縱電腦模型例子裡的虛擬等效裝置。「感知器總成」一詞包含一種由一個或更多個分離式感知器或是單一多軸感知元件構成的總成。「感知器基座」一詞包含一種有感知器總成連接其上的非常穩定物體。「感知器平臺」一詞包含裝置上可藉由包含該「主動式控制把手」之操縱器移動的部分。「主動式控制把手」一詞包含裝置上可藉由操縱器移動其位置且其運動可造成輸出信號出現改變的可動部分。「恢復元件」一詞包含一種可在移除偏轉力之後作出貢 -12- 1293423 獻使運動平臺恢復其最小能量位置的諸如彈簧或彈性體結構之類裝置。「恢復系統」一詞包含一種由一個或更多個可在移除偏轉力之後作出貢獻使運動平臺恢復其最小能量位置之「恢復元件」構成的系統。「具結構的光」一詞包含一種依固定且較佳的是高反差的圖案投射的光，這種光可用來量測從落在空間內除此之外無器件表面上另一有利的點拍到的影像。「Μ E M S」一詞指的是一類依用於電子式積體電路晶片的類似方式製造並封裝的微型機械裝置。「C C D陣列」一詞指的是一種以通常用於攝影機及電子式靜態照相機之電荷耦合裝置爲基礎光學影像感知裝置。「側視器」一詞如同在光電發射器及光電偵測器上的應用指的是一種可安裝於電路板套裝組合內的裝置，此裝置的定向方式是使之可造成一般而言平行於電路板之光發生放射或是對這種光呈現出光敏性。「搖桿」一詞可廣義地包含可實體地抓住、結合或實體地移動的任何把手、按鈕或其他裝置，其方式是使之產生電子、光學、電磁或是其他代表該裝置之運動或是其上所加力量的信號。「空間性可變反射率」一詞包含諸如反射性表面的界限邊緣、表面的可變鏡面反射性、表面的可變反射性、表面的可變顏色、透明器件、不透明器件、灰階器件、條碼器件、印刷器件、稜鏡型元件及折射元件之類。 -13- 1293423 根據本發明的一槪念，該主動式控制把手可結合有一種 @ _如面鏡或稜鏡之類光學元件構成的系統以控制一個或更多個光源與一個或更多個光偵測器之間的光徑。根據本發明的進一步槪念，可結合多重切換式光源使用單一光電偵測器以減少單一通路上的類比對數位轉換需求。根據本發明的進一步槪念，在結合有多重切換式光源下使多偃I光電偵測器並聯於較少數目（例如一個）的類比輸入通路上因此減少了所需要的類比對數位轉換通路。根據本發明的另一槪念，一種依類似於七段式led套裝糸且合之方式建造的單件式光電轉換器套裝組合可扮演著光電發射器及光電偵測器之一或是同時扮演這兩者的角色。根據本發明的進一步目的，可將六個紅外線發光二極體及一個或更多個光電二極體裝設到印刷電路板上隨後再於其上模造透明的波導且可於其上模造不透明材料，如是產生了輕巧而強固的光電套裝組合。根據本發明的進一步目的，可依共面方式將各紅外線發光二極體及光電二極體裝設到印刷電路板上，且各波導可結合有可沿著一般而言從轉換器對稱軸輻射出之方向投射光的內部反射表面。根據本發明的進一步槪念，可連同各光學轉換器將一諸如類比裝置的PIC之類信號處理晶片埋藏到轉換器套裝組合之內。藉由這種方式，可依符合人類環境改造學的方式採用且輕巧的裝置之內完成任何具必要序列的這種已施行資料之比例縮放及正規化的光電發射器以輸出信號的有效 -14- 1293423 數位傳輸。 _ 根據本發明的進一步槪念，可使用諸如CCD陣列之類的 ~ 影像感知器’以量測受可動控制把手之多軸位置控制之影像的位置。根據本發明的進一步槪念，可使用諸如用以預覽穿過大門的訪客之類型式的超廣角透鏡，將一可動控制把手內部表面上的位敏影像投射到諸如習知C C D陣列之類的影像轉換器上。根據本發明的進一步槪念，該可動控制把手內部的特色 φ 爲具有由一般呈三葉形式之反射區及非反射區構成的圖案。根據本發明的進一步槪念，可使用連接在搖桿之第一可動部分例如其基座上的C C D陣列，以量測該搖桿之第二可動部分例如其控制把手內部上三個點的球面角。例如可藉由此中揭示的通用方法非常容易地爲由各具有三個可相對 ~ 移動點的兩個球面角構成的六個資料信號進行處理。根據本發明的進步一槪念，可使用藉由固定在依與透鏡裝置共軸之方式定位之第二可動部分上的光電發射器照射該第一 · 可動部分以便使位敏影像聚焦到c C D陣列之上。根據本發明的進一步槪念，該可動控制把手內部的特色爲具有由一般呈多葉形式之反射區及非反射區構成的圖案。根據本發明的進一步槪念，可使光的有結構圖案從第一兀件投射到可相對於該第一元件沿著多軸移動的第二元件上。可藉由連接在例如第一元件上的偵測器或造影裝置使用最終的照射圖案定出該第一和第二元件的相對多軸位置 -15- 1293423 。可使用這種配置在不需要具空間性可變反射率之第二元件表面下定出反射性第二元件的相對位置。根據本發明的進一步槪念，可使此中說明的單件式光電轉換器套裝組合包含一元件以牢牢地固定住一個或更多個彈簧。根據本發明的進步一槪念，可將能以更低廉價格取得積體式準直透鏡的光電發射器及光電偵測器埋藏於不透明的絕緣化合物內使之保持在定位上例如使之固定於印刷電路板上，隨後再將之當作總成進行加工或磨砂以產生適合的光學表面。根據本發明的進一步槪念，可依圍繞印刷電路板周緣面向外部方式定位交替設置的側視型光電發射器及側視型光電偵測器，該電路板係裝設於由該至少兩個可動元件中的第一元件（較佳的是指基座）上。可相對於該第一元件沿著多軸移動的第二元件（較佳的是指控制把手）所包含的反射裝置一般而言係依圍繞落在足夠允許進行必要徑向運動之距離上之第一元件的方式設置。該反射裝置可以是例如具有呈圓柱狀、球狀或環狀形式之圖案的表面。根據本發明的進一步槪念，可依並聯方式連接各光電偵測器。根據本發明的進一步槪念，一般而言該反射性裝置可以是一種具空間性可變反射率的圓柱狀面鏡。根據本發明的進一步槪念’ 一般而言該反射性裝置可以是一種具空間性可變反射率的環狀面鏡。 -16- 1293423 根據本發明的進一步槪念，該反射性裝置可以是一種回復反射性例如複數個錐狀反射性表面。根據本發明的進一步槪念，該反射性裝置可以是一種多邊形裝置。根據本發明的進一步槪念，一般而言該反射性裝置可以是一種球狀裝置。根據本發明的進一步槪念，可使用一般而言呈平面形式的單一彈簧以便在可動控制把手上提供恢復力。It is yet another object of the present invention to provide a conversion element that is sufficiently small in size to permit easy fingertip manipulation on the active control handle while leaving space in the user's hand to accommodate a stable user's hand. The fixed control handle element or palm rest required for the arm is such that the multi-axis rocker function can be safely used in a mobile vehicle on land, in water, in the air or in space. (C) SUMMARY OF THE INVENTION Various embodiments of the present invention that satisfy the foregoing objectives can be summarized as follows: In one embodiment, the apparatus of the present invention can include a movable "active control handle" that is coupled to a fixed and Six left and right mirror facets mounted on the coil spring in an elastic manner. The one or more photoelectric devices may be mounted on a short distance opposite to the facet facet assembly. Transmitter and one or more photodetector arrays of photodetectors. -10- 1293423 The length of the six unique optical paths used as the facet facets to connect the photoemitters and photodetectors can be The six degrees of freedom of the active control handle and its coordinates relative to the facet faces of the array of opto-electrical converters define the coordinates. Generally measured by a photodetector at each end of the optical path. The brightness can be a function inversely proportional to the square of the length of the path. Any translation or rotation around any axis on the active control handle can cause a change in the brightness of the pattern. For example, the brightness pattern can be changed. Switched to electronic form for use in digital computers, or as an analog brightness signal along a fiber optic cable. In general, only the following description of the position of each phototransmitter and photodetector is used as an example. It is not intended to limit the disclosure of the present invention and the interpretation of any item in the scope of the appended claims. In particular, the relative positions of the photo-emitters and photo-detectors are interchangeable in almost all examples. In some cases, a separate split device can simultaneously act as a transmitter and detector. Simple changes in the circuit can facilitate positional exchange of transmitters and detectors. For example, there are six emissions. In the example of a detector, a transmitter can be energized at a time such that the detector can generate signals in a manner associated with a unique optical path and its corresponding transmitter. This configuration can advantageously be used to reduce The number of analog-to-digital conversion paths required for programming controllers or other signal conversion devices. Standard components are available and known The electronic engineering principle accomplishes this configuration. The terms "photoelectric emitter" and "photodetector" are interpreted in a broad sense to cover any device or component used to guide or convert light or an interface for 1293423 to deliver light. 'Whether light originates or terminates within the device contemplated by the present invention. For example, 'a target that reflects light onto a plurality of movable mirrors can illuminate the target with sunlight, and each movable mirror can further reflect the light onto the light receiver. 'The light receivers are further guided by the fiber optic cable to guide the light. Transfer light to a remote location beyond the boundaries of certain entities. Examples of photoemitters may include, but are not limited to, light emitting diodes having any wavelength including visible light and infrared light, laser diodes, gas discharge tubes, incandescent light bulbs, and other equivalents known or unknown at this time. element. Examples of detectors include photodiodes, optoelectronic transistors, calcium sulfate photo resistors, photovoltaic cells, photocells, and other equivalent elements known or unknown at this time. The following nouns used in the present invention may be used in accordance with the conventional concept or may be given the following meanings. The Stewart Platform can include a "hexagonal hatch" or an eight-sided parallel-coupled motion platform commonly used in aircraft simulators. The term "subordinate platform" includes a platform whose position is controlled by a plurality of remotely controlled engines or a virtual equivalent device in which the computer model is manipulated. The term "perceptor assembly" includes an assembly of one or more separate sensors or a single multi-axis sensing element. The term "perceptor pedestal" encompasses a very stable object with a perceptron assembly attached to it. The term "perceptor platform" includes the portion of the device that can be moved by a manipulator that includes the "active control handle." The term "active control handle" includes the movable portion of the device that can be moved by its position by the manipulator and whose motion can cause a change in the output signal. The term "recovery element" encompasses a device such as a spring or elastomeric structure that can be used to remove the deflection force -12-1293423 to restore the motion platform to its minimum energy position. The term "recovery system" encompasses a system consisting of one or more "restoring elements" that can contribute to the motion platform to restore its minimum energy position after removal of the biasing force. The term "structured light" encompasses a light that is projected in a fixed and preferably high contrast pattern that can be used to measure another advantageous point on the surface of the device that is not otherwise present in the space. The image captured. The term "Μ E M S" refers to a type of micromechanical device that is manufactured and packaged in a similar manner to electronic integrated circuit chips. The term "C C D array" refers to an optical image sensing device based on a charge coupled device commonly used in cameras and electronic still cameras. The term "side view" as used in optoelectronic transmitters and photodetectors refers to a device that can be mounted in a combination of circuit board sets that is oriented in such a way as to be generally parallel to Light from the board emits light or exhibits photosensitivity to such light. The term "rocker" may broadly encompass any handle, button or other device that can be physically grasped, engaged or physically moved by electronic, optical, electromagnetic or other means of motion of the device or It is the signal of the force applied to it. The term "spatial variable reflectivity" includes bounding edges such as reflective surfaces, variable specular reflectivity of surfaces, variable reflectivity of surfaces, variable colors of surfaces, transparent devices, opaque devices, grayscale devices, Bar code devices, printed devices, germanium components, and refractive components. -13- 1293423 In accordance with the teachings of the present invention, the active control handle can incorporate a system of @ _ such as a mirror or an optical element such as a cymbal to control one or more light sources and one or more The optical path between the light detectors. In accordance with a further complication of the present invention, a single photodetector can be used in conjunction with multiple switched light sources to reduce the need for analog to digital conversion on a single path. In accordance with a further complication of the present invention, multi-turn I photodetectors are coupled in parallel to a smaller number (e.g., one) of analog input paths in combination with multiple switched light sources, thereby reducing the required analog-to-digital conversion path. According to another concept of the present invention, a single-piece photoelectric converter package combination constructed in a manner similar to a seven-segment LED package can function as one of a photo-emitter and a photodetector or simultaneously The role of both. According to a further object of the present invention, six infrared light emitting diodes and one or more photodiodes can be mounted on a printed circuit board and then a transparent waveguide can be molded thereon and an opaque material can be molded thereon. If it is a light and strong optoelectronic combination. According to a further object of the present invention, each of the infrared light-emitting diodes and the photodiode can be mounted on a printed circuit board in a coplanar manner, and the waveguides can be combined to radiate from the axis of symmetry of the converter in general. The direction in which the light is projected from the internal reflective surface of the light. According to a further complication of the present invention, a signal processing chip, such as a PIC of an analog device, can be buried within the converter package in conjunction with each optical converter. In this way, it is possible to perform the scaling and normalization of any implemented data with the necessary sequence in a device that is compliant with the ergonomics and in a lightweight device to produce an effective signal-14 - 1293423 Digital transmission. According to a further complication of the present invention, an image sensor such as a CCD array can be used to measure the position of the image controlled by the multi-axis position of the movable control handle. According to a further complication of the present invention, a position sensitive image on the interior surface of a movable control handle can be projected onto an image such as a conventional CCD array using an ultra wide angle lens such as a type used to preview a visitor through the gate. On the converter. According to a further commemoration of the present invention, the characteristic φ inside the movable control handle is a pattern having a reflective area and a non-reflective area generally in the form of a trilobal. According to a further complication of the present invention, a CCD array coupled to the first movable portion of the rocker, such as its base, can be used to measure the second movable portion of the rocker, for example, the spherical surface of the three points on the inside of the control handle. angle. For example, it is very easy to process six data signals consisting of two spherical faces each having three relatively movable points by the general method disclosed herein. According to a further development of the present invention, the first movable portion can be illuminated by a photo-emitter fixed on a second movable portion that is positioned coaxially with the lens device to focus the position sensitive image onto the c-CD. Above the array. According to a further commemoration of the invention, the interior of the movable control handle is characterized by a pattern of reflective and non-reflective areas, generally in the form of multi-lobes. According to a further complication of the present invention, a structured pattern of light can be projected from the first member onto the second member movable along the plurality of axes relative to the first member. The relative multi-axis position of the first and second elements -15 - 1293423 can be determined by using a final illumination pattern coupled to a detector or contrast device such as a first component. This configuration can be used to define the relative position of the reflective second element under the surface of the second element that does not require spatially variable reflectivity. In accordance with further complications of the present invention, the single-piece opto-electrical converter kit combination described herein can be combined to include an element to securely hold one or more springs. According to an advancement of the present invention, an optoelectronic emitter and a photodetector capable of obtaining an integrated collimating lens at a lower cost can be buried in an opaque insulating compound to be held in position, for example, to be fixed in printing. The board is then machined or sanded as an assembly to create a suitable optical surface. According to a further complication of the present invention, the side view type phototransmitters and the side view type photodetectors alternately disposed adjacent to each other around the periphery of the printed circuit board, the circuit board being mounted on the at least two movable The first element in the component (preferably referred to as the pedestal). The reflective means included in the second element (preferably the control handle) movable relative to the first element along a plurality of axes is generally surrounded by a distance sufficient to allow for the necessary radial movement. A component is set in a way. The reflecting means may be, for example, a surface having a pattern in the form of a cylinder, a sphere or a ring. According to a further complication of the present invention, each of the photodetectors can be connected in parallel. According to a further complication of the present invention, in general the reflective device can be a cylindrical mirror having a spatially variable reflectivity. A further commemoration in accordance with the present invention' is generally that the reflective device can be a toroidal mirror having a spatially variable reflectivity. Further, in accordance with the present invention, the reflective device can be a retroreflective, e.g., a plurality of conical reflective surfaces. According to a further complication of the present invention, the reflective device can be a polygonal device. According to a further complication of the present invention, in general the reflective device can be a spherical device. According to a further complication of the present invention, a single spring, generally in the form of a flat, can be used to provide a restoring force on the movable control handle.

根據本發明的進一步槪念，該一般而言呈平面形式的彈簧可設置有諸如孔洞之類的正向座落式器件以便於組合期間控制該控制把手與基座之間的對齊作業。根據本發明的進一步槪念，可結合該一般而言呈平面形式的彈簧設置一種一般而言呈平面形式的風箱裝置。根據本發明的進一步槪念，可使該控制把手內的非圓形孔洞與一非圓形轉換器支撐用支柱結合以便限制該控制把手相對於基座的運動範圍。According to a further complication of the present invention, the generally planar spring may be provided with a positively seated means such as a hole to facilitate alignment during the assembly to control the alignment between the control handle and the base. According to a further complication of the present invention, a generally planar planar bellows arrangement can be provided in conjunction with the generally planar spring. According to a further complication of the present invention, the non-circular aperture in the control handle can be combined with a non-circular transducer support post to limit the range of motion of the control handle relative to the base.

根據本發明的進一步槪念，該非圓形孔洞指的是一種具有一般而言呈平行之側邊的槽溝且該支柱具有類似但較小的截面。根據本發明的進一步槪念，可設置一種適合的反射器元件以利使用諸如七段式L E D數字顯示器之類用於光放射及 /或光偵測裝置的標準LED顯示器套裝組合。根據本發明的另一槪念，可使用光導以便將一種多段式 LED的有效幾何位置變更爲諸如六邊式等大陣列之類的更 -17- 1293423 爲最佳化運動式轉換器結構。根據本發明的另一槪念，可使折射元件或是諸如含傾斜表面或菲涅耳透鏡之類的透鏡裝置合倂有或是***有上述光轉換器陣列。根據本發明的另一槪念，可使該可動.反射元件包括諸如含內凹面鏡的表面之類非平面反射性片段以便例如從該裝置取得必要的回應特徵。根據本發明的另一槪念，可使該可動反射器裝置包括一個或更多個回復性反射器，這類回復性反射器的運動可變更該一個或更多個光電發射器與一個或更多個光電偵測器之間的耦合程度。根據本發明的進一步槪念，該光電發射器/光電偵測器的奉禹合程度，可起因於增加了各個別亮度錐體之重疊程度隨著其與一對應回復性反射器的距離以及隨著距離增加的靈敏度而增高。根據本發明的另一槪念，各相鄰發射器/偵測器對的耦合程度，可起因於距離平方反比原理隨著其與一對應回復性反射器的距離而減低。根據本發明的進一步槪念，可將沿著某一軸具有回復性反射率但是沿著其他各軸具有習知反射率的表面裝設於一可動控制把手上，以便結合例如一種七-轉換器六角形陣列以進行位置量測。根據本發明的進一步槪念，可使該主動式可動控制把手套用有類似菲涅耳透鏡的含凹槽面鏡片段且可用以控制各 -18- 1293423 種光徑。根據本發明的另一槪念，可藉由在各轉換器與反射元件之間***一校準遮罩元件達成對各種光電發射器及光電偵測器的增益校準，且可映射並比例縮放其光學透射率以便跨越試圖涵蓋的位移範圍提供具有必要平衡的信號，並用以補償每一個分離式裝置在特徵上的製程誘發性變化。根據本發明的又一槪念，可使一透鏡元件及校準遮罩元件結合有單一組件的各種功能。According to a further complication of the present invention, the non-circular aperture refers to a groove having generally parallel sides and the post has a similar but smaller cross section. In accordance with a further complication of the present invention, a suitable reflector element can be provided to facilitate the use of a standard LED display set combination for a light emitting and/or light detecting device such as a seven-segment L E D digital display. According to another concept of the present invention, a light guide can be used to change the effective geometric position of a multi-segment LED to a larger array such as a hexagonal array, -17-1293423 to optimize the motion converter structure. According to another concept of the present invention, a refractive element or a lens device such as an inclined surface or a Fresnel lens may be incorporated or inserted into the above-described optical converter array. According to another concept of the present invention, the movable reflective element can comprise a non-planar reflective segment such as a surface containing a concave mirror to obtain, for example, the necessary response features from the device. According to another aspect of the present invention, the movable reflector device can include one or more regenerative reflectors, the movement of which can alter the one or more photoemitters with one or more The degree of coupling between multiple photodetectors. According to a further commemoration of the present invention, the degree of convergence of the photoemitter/photodetector may be due to an increase in the overlap of the individual brightness cones with their distance from a corresponding revertive reflector and The sensitivity increases with increasing distance. According to another aspect of the present invention, the degree of coupling of each adjacent transmitter/detector pair can be reduced by the distance square inverse ratio principle as a function of its distance from a corresponding regenerative reflector. According to a further complication of the present invention, a surface having a revertive reflectance along a certain axis but having a conventional reflectance along each of the other axes may be mounted on a movable control handle for bonding, for example, a seven-converter six An angular array for position measurement. According to a further complication of the present invention, the active movable control handle can be provided with a grooved mirror segment similar to a Fresnel lens and can be used to control the respective -18-1293423 optical paths. According to another aspect of the present invention, gain calibration of various phototransmitters and photodetectors can be achieved by inserting a calibration mask element between each converter and the reflective element, and the optical can be mapped and scaled. Transmittance provides a signal with the necessary balance across the range of displacements that are intended to be covered, and is used to compensate for process-induced changes in the characteristics of each discrete device. According to yet another concept of the present invention, a lens element and a calibration mask element can be combined with the various functions of a single component.

根據本發明的另一槪念，可設置額外光徑以便對可起因於電壓起伏及溫度變化而出現變化的亮度進行校準。根據本發明的另一槪念，可設置一種光擋板且例如使之同時扮演著可爲印刷電路板上的各光學組件進行精確定位及定向的角色。根據本發明的又一槪念，可使用光纖波導以便從單一光源將光輸送到多個例如六個投射點上。According to another concept of the present invention, an additional optical path can be set to calibrate the brightness that can vary due to voltage fluctuations and temperature changes. In accordance with another aspect of the present invention, a light baffle can be provided and, for example, simultaneously assume the role of precise positioning and orientation of the various optical components on the printed circuit board. According to yet another concept of the present invention, a fiber optic waveguide can be used to deliver light from a single source to a plurality of, for example, six projection points.

根據本發明的另一槪念，可使用光纖波導以便從多個偵測點將光輸送到單一光電偵測器上。根據本發明的另一槪念，可使用光纖波導以便從單一光電發射器將光輸送到多個放射點上。根據本發明的進一步槪念，可使用飛時規範以量測本發明之各種光學發射器與偵測器之間的可變光學距離。可藉 @已知的光學距離量測電路及光學轉換器以進行這種飛時量測。根據本發明的進一步槪念，可在爲光學飛時信號施行時 -19- 1293423 間倍增目的下各依與例如六個光（距離量測用）徑串聯的方式設置一獨特的光學延遲線。這種策略可有利於使用單一光電偵測器通路且可同時有利於使用單一光電發射器。根據本發明的進一步槪念，可在同時精確地取得多軸量測的目的下使用一種多軸干涉儀位置量測裝置。可藉由從一共同較佳的是相干光源分別將一直接（未受感知器平臺偏轉作用影響的）參考光徑加到例如六個光電感知器上。根據本發明的進一步槪念，可將一光電發射器、參考光徑及各光電偵測器全部包含於一單件式光/電套裝組合。根據本發明的進一步槪念，可建造一種本發明的實施例使光於從光電發射器經面鏡到光電偵測器的路徑內穿過液體或凝膠。可使用這種策略例如以利使不必要的反射作用最小化或是從光學路徑上將水或灰塵排除掉。根據本發明的進一步槪念，可使該液體或凝膠具有受控制不透明度以便在改變光學路徑的長度下強化或改變一信號。本發明的進一步槪念可添加一皮重切換功能（tare switch function)以感知該裝置是否處於操作狀態。可使用這種皮重切換功能以便在未使用該裝置的任何時候提供一無效輸出以及選用的控制閂鎖信號。這種策略可扮演著用以補償起因於諸如溫度變化或是該裝置相對於重力的定向變化之類因素產生之零點漂移的角色。這種策略也能使該主動式控制把手總成出現振動以回應在沒有使用者之手的阻泥效應下的環境機械激動狀態的任何傾向變得無害。 -20- 1293423 根據本發明的進一步槪念，可藉由電容式觸壓感知器元件、機械式切換元件或是設計成用以偵測不存在手動信號 -之狀況的軟體運算法則完成該皮重切換功能。可將皮重切換器裝設於例如手掌靠座、手腕靠座或是該裝置的主動式控制把手上。根據本發明的進一步槪念，可透過一個或更多個彈性元件例如透過一用以支撐該主動式控制把手的彈簧與一皮重切換元件形成電氣連接。根據本發明的進一步槪念，該皮重切換功能可扮演著用 φ 以量測起因於使用者的手及前臂加到例如搖桿上之力量的角色。本實施例中，可由一初始信號代表起因於重量產生的力量，而由一後續信號代表該重量加上刻意的操作員輸入。能藉由硬體或軟體施行的皮重功能元件可造成重量組件 ~ 受到忽視或「去皮」。於是前述策略允許操作員在傳輸或使 - 用搖桿的輸出信號之前舒適地將其手或前臂的重量放到該搖桿上。依這種方式，該搖桿會先運作以量測使用者之手或前臂重量的效應，隨後再運作以轉換操作員刻意的輸入 · 。從稱重功能到轉換器功能的躍遷可純粹藉由使用適當時間延遲的軟體完成或是藉由各種型式的實體皮重開關。例如，可結合計時功能使用一種通用全抓型電容式觸壓感知器以允許對使用者的手進行一秒鐘的稱重，之後可機械地將信號上所出現的任何進一步變化解讀爲刻意的操作員指令。當作另一實例，可由操作員依意志按下指控式開關以便在任意時刻將該皮重功能設爲零。 -21- 1293423 可使用各種策略使由本發明裝置所產生的信號具有最大的可用性。爲了控制電腦繪圖的目的，非常有利的是可使用軟體解讀操作員的意圖，而不單是將信號所產生的位移轉換成諸如實體模型或是所操縱相機之觀測點之類物體的速率。根據本發明的一實施例，可爲受控制的虛擬物體指定一虛擬質量、重心位置及有關六個軸的慣性動量。然後可來自本發明裝置的信號轉換成作用於該虛擬質量上的有. 效力量。依這種方式，可很容易地取得平滑而可預測的運動。根據本發明的進一步槪念，比例/積分/微分策略的使用方式是使所選擇的係數最接近滿足操作員的意圖。根據本發明的另一槪念，能以軟體偏移X，y和Z軸的原點使之落在使用者手腕的自然樞軸點上，雖則可使該物理裝置保持落在能由使用者的手或手指抓住的地點上。根據本發明的進一步槪念，可旋轉X，y和Z軸的定向以適合使用者。根據本發明的進一步槪念’可使用軟體而不理會操作員產生的信號以防止從屬平臺或是裝設於這種平臺上的裝置出現皺折、碰撞或是其他不必要定位問題。根據本發明的另一槪念，可轉換該裝置的座標以對應動悲變化型座標系統或是替代型座標系統。例如，可依即時或跟隨移動機器的方式施行座標轉換。根據本發明的另一槪念，可轉換該多軸搖桿的座標以控制建築或伐木機械裝置或是諸如螺旋葉片、裝塡籃、堆高機鑽孔機、路面破壞器及操控器之類配件。 -22- 1293423 根據本速率感知以完成即對角上獲極爲昂貴位置感知筒的六角根據本座平臺及發動機端有了這種量測其位根據本種六角臆根據本臺上的公器的延伸根據本備轉換器供電的動式產生器置。較佳上的電腦器之間傳發明的進一步槪念，可將諸如MEMS加速計及角器之類感知器連接到控制機械裝置的各個部分上時的座標轉換作業。這種應用中，可在慣用的絕致更高準確度，而不再需要定位量測裝置且可能。根據本發明的這種控制策略，對原始未配備有器建築設備及具有六個絕對位置感知器且總價極艙盖（Stewart平臺）而言特別具吸引力。發明的進一步槪念，一種六角艙蓋可在每一個基 ί/έ屬平臺的數個位置（例如三個）以及靠近每一個點、支柱或環節上配備有加速計或速率感知器。結構，可取得充分資訊而能立即且不需要積分下置、速度及加速度。發明的進一步槪念，可結合習知建築設備使用一蓋當作操縱機臺。發明的進一步槪念，可利用其個別基座及從屬平及母轉換器將六角艙蓋建造成一種標準器具轉換裝置。發明的進一步槪念，一種多軸例如六角艙蓋式設可套用有由習知單一回路液力系統或其他電力源力控制模組。該動力控制模組可結合有液力驅動以推動伺服閥門、電氣發動機或其他相關電子裝的是可藉由落在信號傳輸路徑之任意一端或兩端使控制信號依無線方式在此中揭示的搖桿與轉換送。根據本發明的進一步槪念，可藉由例如無線 -23 - 1293423 網路依無線方式連接諸如MEMS加速計及角速率感知器之類的必要感知器。根據本發明的進一步槪念，可使諸如MEMS加速計及角速率感知器之類落在離散點上的感知器增設有角度位置感知器及線性位置感知器。According to another concept of the present invention, a fiber optic waveguide can be used to deliver light from a plurality of detection points to a single photodetector. According to another concept of the present invention, a fiber waveguide can be used to deliver light from a single photoemitter to a plurality of radiation points. In accordance with further complications of the present invention, a time-of-flight specification can be used to measure the variable optical distance between the various optical emitters and detectors of the present invention. Such fly-time measurements can be performed by @known optical distance measuring circuits and optical converters. According to a further complication of the present invention, a unique optical delay line can be provided in a manner of multiplying the distance between -19 and 1293423 for the optical time-of-flight signal, for example, in series with six lights (distance measurement). This strategy can facilitate the use of a single photodetector path and can simultaneously facilitate the use of a single photoemitter. According to a further complication of the present invention, a multi-axis interferometer position measuring device can be used for the purpose of accurately obtaining multi-axis measurement at the same time. A direct (not affected by the deflection of the perceptron platform) reference light path can be applied to, for example, six photosensors from a commonly preferred coherent light source. According to a further complication of the present invention, an optoelectronic emitter, a reference optical path, and each photodetector can all be included in a single-piece optical/electrical package combination. In accordance with further complications of the present invention, an embodiment of the present invention can be constructed to pass light through a liquid or gel from a path of a photoemitter through a mirror to a photodetector. This strategy can be used, for example, to minimize unnecessary reflections or to remove water or dust from the optical path. According to a further complication of the present invention, the liquid or gel can be made to have a controlled opacity to enhance or change a signal by varying the length of the optical path. A further commemoration of the present invention may add a tare switch function to sense if the device is in an operational state. This tare switching function can be used to provide an invalid output and optional control latch signal whenever the device is not in use. This strategy can act to compensate for the zero drift caused by factors such as temperature changes or directional changes in the device relative to gravity. This strategy also enables the active control handle assembly to vibrate in response to any tendency to be environmentally irritated without the mud-resistance effect of the user's hand. -20- 1293423 According to a further complication of the present invention, the tare weight can be accomplished by a capacitive touch sensor element, a mechanical switching element, or a software algorithm designed to detect the absence of a manual signal. Switch function. The tare switch can be mounted, for example, on the palm rest, the wrist rest or the active control handle of the device. According to a further complication of the present invention, an electrical connection can be made to a tare switching element via one or more resilient members, such as through a spring for supporting the active control handle. According to a further complication of the present invention, the tare switching function can act to measure the effect of the user's hand and forearm being applied to, for example, the rocker by φ. In this embodiment, an initial signal can be used to represent the force resulting from the weight, and a subsequent signal represents the weight plus a deliberate operator input. The tare function that can be performed by hardware or software can cause weight components to be neglected or "skinned". The foregoing strategy then allows the operator to comfortably place the weight of his or her forearm onto the rocker before transmitting or using the output signal of the rocker. In this way, the joystick will operate first to measure the effect of the user's hand or forearm weight, and then operate to convert the operator's deliberate input. The transition from the weighing function to the converter function can be done purely by software using appropriate time delays or by various types of solid tare switches. For example, a universal full-capacity capacitive touch sensor can be used in conjunction with the timing function to allow the user's hand to be weighed for one second, after which any further changes appearing on the signal can be mechanically interpreted as deliberate. Operator instructions. As another example, the operator can press the alleged switch as desired to set the tare function to zero at any time. -21-1293423 Various strategies can be used to maximize the availability of signals produced by the apparatus of the present invention. In order to control the purpose of computer graphics, it is highly advantageous to use software to interpret the operator's intent, rather than simply converting the displacement produced by the signal into an object such as a solid model or an observation point of the camera being manipulated. According to an embodiment of the invention, a virtual mass, a center of gravity position, and a moment of inertia about the six axes can be assigned to the controlled virtual object. The signal from the apparatus of the present invention can then be converted to an amount of effectiveness that acts on the virtual mass. In this way, smooth and predictable motion can be easily achieved. According to a further complication of the present invention, the proportional/integral/differential strategy is used in such a way that the selected coefficients are closest to satisfying the operator's intent. According to another aspect of the present invention, the origin of the X, y, and Z axes of the software can be offset to the natural pivot point of the user's wrist, although the physical device can be held by the user. The hand or finger grabs the spot. According to a further complication of the present invention, the orientation of the X, y and Z axes can be rotated to suit the user. Further commemoration according to the present invention can use software to ignore the signals generated by the operator to prevent wrinkles, collisions or other unnecessary positioning problems from the slave platform or the device mounted on such a platform. According to another concept of the present invention, the coordinates of the device can be converted to correspond to a tactilely varying coordinate system or an alternative coordinate system. For example, coordinate transformation can be performed in a manner that is instantaneous or following the movement of the machine. According to another concept of the present invention, the coordinates of the multi-axis rocker can be converted to control a building or logging mechanism or a device such as a spiral blade, a basket, a stacker, a road breaker, and a manipulator. Accessories. -22- 1293423 According to this rate sensing to complete the diagonally extremely expensive position sensing cylinder of the hexagon according to the platform and the engine end has this measurement according to the type of hexagonal 臆 according to the extension of the instrument on the table The dynamic generator is powered by the standby converter. Further inventions between the preferred computers can be used to connect coordinate sensors such as MEMS accelerometers and corners to coordinate conversion operations when controlling various parts of the mechanism. In such an application, it is possible to achieve higher accuracy in the conventional use, and it is no longer necessary to position the measuring device and possibly. This control strategy in accordance with the present invention is particularly attractive for original unequipped building equipment and with a total price pole cover (Stewart platform) with six absolute position sensors. A further commemoration of the invention is that a hex hatch can be equipped with accelerometers or rate sensors at several locations (e.g., three) of each base/slab platform and near each point, post or link. The structure provides sufficient information to be immediately and without the need for integral, speed and acceleration. A further commemoration of the invention can be used as a control machine in conjunction with conventional construction equipment. A further commemoration of the invention is that the hex hatch can be constructed as a standard appliance conversion device using its individual base and slave flat and female converters. A further commemoration of the invention is that a multi-axis, such as a hex hatch cover, can be used with conventional single-loop hydraulic systems or other power source control modules. The power control module can be combined with a hydraulic drive to push a servo valve, an electric motor or other related electronic device to enable the control signal to be disclosed herein wirelessly by falling on either or both ends of the signal transmission path. Rocker and transfer. According to a further complication of the present invention, the necessary perceptrons such as MEMS accelerometers and angular rate perceptrons can be wirelessly connected by, for example, the Wireless-23-1293423 network. According to a further complication of the present invention, an angle position sensor and a linear position sensor can be added to a sensor such as a MEMS accelerometer and an angular rate sensor that falls on discrete points.

根據本發明的進一步槪念，機器觀測爲基礎的感知裝置可依分離方式使用或是結合有前述落在離散點上的感知器。這種結構容許有極高的準確度而排除了對高精確度機構及昂貴之絕對位置編碼器的需求。運動的機器觀測控制可在運動封包內需要高區域準確度的部分使用具有有限視野的高解析度光學元件，而結合具有較低準確度的廣角視覺設備以便進行座標轉換作業。可由前述諸如MEM S加速計及角速率感知器之類落在離散點上的感知器或是習知的角度及位移感知器以設置或增設有座標轉換目的下的幾何結構。According to a further complication of the present invention, the machine-observation-based sensing device can be used in a separate manner or in combination with the aforementioned perceptrons that fall on discrete points. This configuration allows for extremely high accuracy and eliminates the need for high precision mechanisms and expensive absolute position encoders. Motion machine observation control uses high-resolution optics with limited field of view in portions of the motion envelope that require high area accuracy, combined with low-angle vision equipment with lower accuracy for coordinate conversion operations. The geometry under the coordinates of the coordinates can be set or added by the aforementioned perceptrons such as MEM S accelerometers and angular rate perceptrons or discrete angle and displacement perceptrons.

根據本發明的進一步槪念，可使用機器視覺以便在該裝置之座標系統受到控制下定出受控制機器的現況以達成爲搖桿之座標系統進行即時對齊的目的。根據本發明的進一步槪念，可使用機器視覺系統以同時將各影像提供給操作員以便進行遠隔控制，而同時提供經機器解讀的資訊以便在搖桿與受控制裝置之間施行即時座標轉換。可使用一個或更多個機器視覺系統以同時將各視頻資訊提供給人力操作員或是座標轉換控制器。根據本發明的另一槪念，可允許相對於落在從屬移動平臺之座標系統以及諸如固定式工作物件或是建築計劃元件 -24- 1293423 之類其他座標系統之內任何特定之必要點上對座標轉換進 ' 行控制。可使有用的暫時性從屬平臺之座標原點用的特定 y 點實例包含木螺鑽或鑽床的頂端、在叉尖頂之間的中間點、在鋼樑末端之螺栓孔圖形、由一相機所追踪或觀察到的物件、在C AT掃描資料集或電腦模型內，如所關切區域之物件之類。可相對於諸如裝塡器或堆高機之類設備上連接有多軸或六角艙蓋式操縱器的部分、設備操作員或者甚至是用以支撐該設備的固定式架構或地面之類各種固定式座標系統之一對從屬平臺的運動進行控制。 g 根據本發明的進一步槪念，可使用操作員眼睛機器視覺偵測以允許操作員隨時指派新的座標原點、座標定向或運動限制。這種目視指派策略允許多軸操縱器的操作員指派例如一種結構性桁樑的一端保持受到限制而使另一端對齊 _ 以便在搖桿控制下進行螺栓閂鎖。這允許操作員在不必關 - 心因桁樑的另一端造成破壞下專注於螺釘孔的對齊。根據本發明的另一槪念，可選擇性地限制該從屬平臺沿著所選軸的運動。可藉由使用應用規格的限制暫時將運動 ® 的自由度限制從6變爲更低的自由度，以達成更大的準確度及應用性。這在下列應用上是很重要的，例如以五軸或六軸控制器選定對齊狀態（尖頂位置及鑽孔定向）並在那之後於鑽孔期間固定其鑽孔軸的鑽孔作業，或是最好以六軸控制器完成其叉型臂之定位及對齊但必要的是進行直接向前跟著直接向上的運動以推高負載的堆高機作業之類的應用0 -25- 1293423 根據本發明的進一步槪念，可由操作員使用受控制設備或裝載量的觸控屏幕繪圖表現法以便依繪圖方式選擇座標系統的原點及/或定向。根據本發明的另一槪念，該機械操縱器的操作員能夠將結構樑柱的一個端點指派爲一軸的原點，其方式是例如藉由將樑柱端點三次放到相同的地點上但是使樑柱之軸落在個不同的定向上。In accordance with a further complication of the present invention, machine vision can be used to determine the current state of the controlled machine under control of the coordinate system of the device for immediate alignment of the coordinate system of the rocker. In accordance with further complications of the present invention, a machine vision system can be used to simultaneously provide images to an operator for remote control while providing machine-interpreted information for performing instant coordinate conversion between the joystick and the controlled device. One or more machine vision systems can be used to simultaneously provide each video information to a human operator or a coordinate conversion controller. Another complication in accordance with the present invention may allow for any particular necessary point within the coordinate system of the slave mobile platform and other coordinate systems such as stationary work items or building plan components -24-1223423. The coordinates are converted into 'line control. A specific y-point example for a coordinate origin of a useful temporary slave platform includes a top of a wood-drill or drill press, an intermediate point between the tops of the forks, a bolt hole pattern at the end of the steel beam, tracked by a camera Or observed objects, in a C AT scan data set or computer model, such as objects in areas of concern. It can be fixed relative to a part of a device such as a mounter or a stacker with a multi-axis or hex hatch manipulator, a device operator or even a fixed structure or floor to support the device. One of the coordinate systems controls the motion of the slave platform. g In accordance with further complications of the present invention, operator eye machine vision detection can be used to allow an operator to assign a new coordinate origin, coordinate orientation, or motion limit at any time. This visual assignment strategy allows the operator of the multi-axis manipulator to assign, for example, one end of a structural truss to remain constrained and the other end aligned _ for bolting under rocker control. This allows the operator to focus on the alignment of the screw holes without having to close the heart due to damage caused by the other end of the beam. According to another concept of the present invention, the movement of the slave platform along the selected axis can be selectively limited. You can temporarily change the freedom limit of Motion ® from 6 to a lower degree of freedom by using the limits of the application specifications to achieve greater accuracy and applicability. This is important in applications such as selecting the alignment state (spider position and bore orientation) with a five- or six-axis controller and then fixing the drilling axis for drilling during drilling, or Preferably, the positioning and alignment of the fork arms is accomplished with a six-axis controller, but it is necessary to perform an application such as a stacker operation that directly moves forward and upwards to push the load upwards. 0 - 25 - 1293423 According to the present invention A further commemoration can be made by the operator using a controlled device or a loaded touch screen representation to select the origin and/or orientation of the coordinate system in a graphical manner. According to another aspect of the present invention, an operator of the mechanical manipulator can assign an end point of a structural beam to an origin of a shaft by, for example, placing the end of the beam three times at the same location. But the shaft of the beam is placed in a different orientation.

根據本發明的另一槪念，操作員可於輸入裝置之座標系統、從屬平臺之座標系統或是電腦模型之從屬平臺中任意一種裝置內選定X，y和Z軸的原點使之偏移特定距離，亦即呈不相交的且傾斜特定角度亦即呈非直角的。According to another concept of the present invention, the operator can select the origin of the X, y, and Z axes in any one of the coordinate system of the input device, the coordinate system of the slave platform, or the slave platform of the computer model. A certain distance, that is, disjoint and inclined at a specific angle, is non-orthogonal.

根據本發明的進一步槪念，爲了準確地計算出具固定架構的座標値，可使用裝設有從屬平臺的傾斜感知器以直接量測兩個軸在該工具與重力座標之間的旋轉。替代地，可使用諸如雷射式距離計量器之類裝設有從屬平臺的感知器以便在例如使鑽孔機與該表面呈稍微垂直目的下定出一平坦表面的定向。根據本發明的進一步槪念，可使用軟體碼以便對起因於平移軸與旋轉軸之間和線圈型彈簧恢復元件呈共軸的線圈型彈簧不對稱性所產生的任何非刻意耦合現象進行補償。本發明的各種可用以強化其應用性或是對容易使用有貢獻的額外實施例將說明如下：本發明之一實施例所提供的一種多軸搖桿，可由操作員的手掌抓住其基座並由無名指及小指支持住，同時可由操 -26· 1293423 ί乍Λ的姆指 '食指及中指操縱其主動式控制把手。這種結構允I午手腕及手臂在例如走動、爲其他人呈現資訊或是執行建築工作時具有自由度。According to a further complication of the present invention, in order to accurately calculate the coordinate 具 with the fixed frame, a tilt sensor equipped with a slave platform can be used to directly measure the rotation of the two axes between the tool and the gravity coordinate. Alternatively, a sensor with a slave platform, such as a laser distance gauge, can be used to define the orientation of a flat surface, for example, to make the drill machine slightly perpendicular to the surface. In accordance with a further complication of the present invention, a software code can be used to compensate for any non-deliberate coupling phenomena resulting from the asymmetry of the coil springs resulting from the coaxiality between the translational axis and the rotary axis and the coil spring recovery elements. Various additional embodiments of the present invention that may be used to enhance its applicability or contribute to ease of use will be described as follows: One embodiment of the present invention provides a multi-axis rocker that can be grasped by the operator's palm Supported by the ring finger and the little finger, and the active control handle can be manipulated by the thumb and the middle finger of the -26·1293423 ί乍Λ. This structure allows I and my wrists and arms to have freedom, for example, when walking, presenting information to others, or performing construction work.

根據本發明的進一步槪念，可由習知的電腦滑鼠扮演著本發明之六軸輸入裝置的基座角色。這種結構中，該基座部分可由使用者的手掌加以控制且可扮演著提供有兩個自由度的習知電腦滑鼠角色，而本發明的多軸輸入裝置則提供了額外的六個自由度且可由使用者的姆指、食指及中指作獨立的控制。這種結構可提供有例如八個自由度。According to a further commemoration of the present invention, a conventional computer mouse can be used as the pedestal character of the six-axis input device of the present invention. In this configuration, the base portion can be controlled by the palm of the user and can function as a conventional computer mouse that provides two degrees of freedom, while the multi-axis input device of the present invention provides an additional six freedoms. It can be independently controlled by the user's thumb, index finger and middle finger. This structure can be provided with, for example, eight degrees of freedom.

根據本發明的進一步槪念，電腦滑鼠可配備有例如一額外的光學轉換器係落在從習知x_y軸滑鼠運動轉換器之位置偏移出的點上，因此提供有整體而言對該偏移轉換器與繞滑鼠之垂直軸的旋轉運動之間的差分運動具靈敏度的額外滑鼠軸。依這種方式，可使用扭轉運動以產生另一額外的或是例如第三輸出軸。這種結構可提供有例如九個自由度。可更符合人類環境改造學的方式以具有「***」或「遊戲搖桿」型控制把手的滑鼠完成繞其垂直軸的扭轉運動，它的使用可使手腕端點與其橈骨及尺骨呈垂直對齊。使用者的手腕可依這種定向旋轉大槪9 0度，較之使用者的手抓住習知滑鼠時或許可達到的3 0度。本實施例中「***」或「遊戲搖桿」型控制把手的進一步優點是也可由小指及無名指牢牢地抵住使用者的手掌而空出使用者的姆指、食指及中指以啓動按鈕及/或附屬的（小型）搖桿。可使這種控制把手最佳化以便使用者能夠只以小指及無名指牢牢地抵 -27- 1293423 住使用者的手掌而舒適又穩固地抓住此控制把手。本發明的數種轉換器裝置比習知設計的轉換器裝置更適合建造足夠小的搖桿以便只用食指、中指及姆指操作且足夠小以便連接到第一搖桿或滑鼠上。某些允許進行必要之大範圍運動之習知搖桿的設計可能在以強固形式進行微型化上顯得特別困難。In accordance with a further complication of the present invention, the computer mouse can be equipped with, for example, an additional optical converter that is offset from the position of the conventional x_y-axis mouse motion converter, thus providing overall The differential movement between the offset transducer and the rotational motion about the vertical axis of the mouse is an additional mouse axis with sensitivity. In this manner, a torsional motion can be used to create another additional or, for example, a third output shaft. This structure can provide, for example, nine degrees of freedom. It can be more in line with the ergonomics of the human body. The mouse with a "pistol" or "game rocker" type control handle performs a twisting motion about its vertical axis. Its use can make the end of the wrist vertically aligned with its tibia and ulna. . The user's wrist can be rotated more than 90 degrees in this orientation, compared to the 30 degrees allowed by the user's hand when grasping the conventional mouse. A further advantage of the "pistol" or "game rocker" type control handle in this embodiment is that the thumb and the ring finger can be firmly pressed against the user's palm to free the user's thumb, forefinger and middle finger to activate the button and / or attached (small) rocker. This control handle can be optimized so that the user can grasp the control handle comfortably and firmly with only the little finger and the ring finger firmly against the palm of the user. Several converter devices of the present invention are more suitable than conventionally designed converter devices to construct a rocker that is small enough to operate with only the index, middle and thumb fingers and small enough to be coupled to the first rocker or mouse. Some designs of conventional rockers that allow for the necessary wide range of motions can be particularly difficult to miniaturize in a strong form.

根據本發明的進一步槪念，可在相互偏移開的數個地點上設置有如美國專利申請案第US 2002/0 1 04 9 5 7 A1號文件中所說明的姆指操作型轉換器以便提供額外的自由度。根據本發明的進一步槪念，可使用諸如此中所說明或是具有捲軸輪之類三軸滑鼠的三個自由度以便在實體的電腦輔助設計模型中挑選各元件，而所連接的六軸裝置則可提供額外的六個自由度以操縱藉由前三個軸選出的元件。According to a further complication of the present invention, a thumb-operated converter as described in U.S. Patent Application Serial No. US 2002/0 1 04 9 5 A1 can be provided at a plurality of locations offset from one another to provide Additional degrees of freedom. According to a further complication of the present invention, three degrees of freedom, such as those described herein or with a three-axis mouse, such as a reel wheel, can be used to select components in a physical computer-aided design model, and the connected six axes The device provides an additional six degrees of freedom to manipulate the components selected by the first three axes.

根據本發明的進一步槪念，可將具有六個自由度的手指及姆指操作型裝置裝設於具有六個自由度的掌持式輸入裝置內以提供一種能夠只以一隻手同時控制1 2個軸的裝置。可使用這種組合以便例如在控制一操縱器懸臂的同時得以控制其支撐車輛。使用這種裝置能以雙手同時爲24個軸提供控制。根據本發明的進一步槪念，可將具有六個自由度的手指操作型輸入裝置附加到任何數目的諸如飛行控制桿、飛行控制偏轉線圈、方向盤、舵輪、搖桿、控制槓桿及控制短索之類除此之外屬習知設計的控制裝置。這種策略能有利於可連接到基座或車輛上而需要或受益 -28 - 1293423 於同時進行多軸控制的多軸操縱器或工具。本發明又一實施例可以是一種供四肢麻痺患者使用的嘴巴、顎骨或頭部操作型控制器，其中這類應用的習知設計顯得太笨重。根據本發明的另一槪念，整個裝置可以是一種手持而可攜式裝置，且可相對於對使用者的手或手指而言保持固定的基座部分操作該主動式控制把手，如是允許只以一隻手支持並使用該裝置。替代地，可藉由諸如繃帶或手套之類裝置將基座的一部分牢牢地固定於使用者的手腕或手掌上。甚至較佳的是可藉由無線裝置爲這種手持式裝置進行信號傳輸。用於這種手持式結構的座標系統可以是一種相對於該裝置落在使用者手內之固定部分的座標系統，或是相對於由某些諸如無線電信號、雷射信號、陀螺儀信號、磁性定向及重力定向之類軌範的組合定出的外部座標系統。這種可攜式裝置可結合有諸如定向感知器、加速計及陀螺儀之類的其他裝置。根據本發明的進一步槪念，將上述「手持式」結構裝設於手腕或前臂上允許結合有鉸鏈以便暫時將該主動式控制把手盪出操作員之手的動線之外。根據本發明的又一槪念，可使六軸感知器總成座落在兩個把手之間’使得兩個把手的相對運動能產生對應信號。該把手可以是例如類似於結合新力公司之！>1&7^^丨〇11@或是微軟公司之X-Box®使用之雙手型遊戲落地架的兩個半邊裝置。 -29- 1293423 根據本發明的另一槪念，可使該裝置具有足夠小的尺寸 &結合於電腦鍵盤、手持式電腦或是另一種控制把手或裝置之內。司*在配載有例如絕緣冬季手套時，以極慎重的手部運動操作建築設備的操作搖桿。這種狀況下，手指操作型微細 IS @ S動式搖桿可起因於壓倒性的振動及機械裝置運動以及缺乏微細的指尖觸覺反饋作用而變得不切實際。據此，本：發明的數種槪念及實施例強調了對更大運動範圍的需求如下：根據本發明的一槪念，可藉由能將感知器基座連接其上的一個或更多個彈性元件爲該主動式控制把手提供經強化的運動範圍。根據本發明的進一步槪念，可建造各彈性元件以使各軸之間任何非刻意形成的耦合作用最小化。這可例如藉由將具有限運動範圍之多軸搖桿（根據本發明、習知或未來設計的）的基座固定於第一裝設區塊上，其可於此第一裝設區塊上固定有三個或更多個有彈性且一般而言呈平行之桿柱的上邊端點。各彈性桿柱的下邊端點則係固定於第二裝設區塊上。無論該第一及第二裝設區塊在水平平面內的偏轉狀態爲兩者都傾向於保持相互平行。換句話說，因此可在各水平旋轉軸沒有非刻意或不必要的耦合作用下提供進行水平平移的彈性。可將該第二裝設區塊裝設於一對具有偏移但是一般而言呈平行的葉片型彈簧上。可相對於操作員爲該一般而言呈平行的葉片型彈簧上的另一端點進行固定。 -30- 1293423 該葉片型彈簧總成可在全部三個軸上提供扭轉堅實度同時允許該搖桿控制把手進行明顯的Z-軸運動。根據本發明的進一步槪念，可藉由一種彈性風箱保護該轉換器裝置及其他可動零件不致受到破壞或污染。根據本發明的進一步槪念，可設計各風箱使其繞各風箱對稱軸的運動呈現出明顯的扭轉順從度，一般而言這種現象不會出現在使用習知風箱的例子裡。根據本發明的進一步槪念，可在平衡受風箱保護之空腔內壓力目的下設置一第二風箱（是否連接於該可動機構上皆可）。這種槪念對在未起因於除此之外必要的排氣作用而造成壓力差或污染下有利於進行Z-軸運動而言是特別重要的。根據本發明的另一槪念，可設置一腕靠使之能隨著該主動式控制.把手移動或依與之相關的方式移動但是可依與該主動式控制把手分開的方式支撐使用者手臂的重力及加速度負擔。依這種方式，可必要地支撐使用者手臂以減其疲乏度同時允許進行大範圍的運動，這在諸如操作建築設備之類高振動環境中是必要的。例如可藉由使用和腕靠有關的分開裝塡單元完成對使用者手臂之瞬時重量的量測作以下將要說明各種可增高本發明裝置之應用性的額外修正及改良型式：根據本發明的進一步槪念，可將一種根據本發明的多軸轉換器附加到除此之外屬習知設計的Stewart平臺或等效 -31- 1293423 裝置上’使得該多軸轉換器可產生操作員啓動力量/位移信號’同時底下Stewart平臺或等效裝置將力量及位置的反饋供應給操作員。較之由該多軸轉換器本身所提供的位移，這種裝置也可用來提供加大的位移。根據本發明的另一槪念，可使用光纖波導以便在轉換器總成之內發射並接收光，這可例如用以從轉換器附近將電力元件排除掉’以便用於諸如對所用具吊桶之卡車式起重吊桿或機器手臂進行控制以維護高壓電源線之類。對極小型多軸位置轉換器的建造而言可將本發明裝置連接有光纖的版本應用在微型機器人、小尺度電氣及機械裝置以及微生物及醫學之類的應用上。根據本發明的另一槪念，可藉由將參考質量連接到可動面鏡總成上將本發明的轉換器元件當作六軸加速計或運動感知器使用。根據本發明的另一槪念，可使用本發明的位移轉換器元件當作一般用途之多軸位移量測裝置。根據本發明的進一步槪念，可設置一雜訊抵銷元件以降低來自環境振動的雜訊。例如，可使用裝設於裝置基座上的加速計以抵銷諸如因車輛振動造成的信號之類假性信號。可應用本發明的各種槪念以降低成本並製作更輕巧的習知實施例。例如，結合Hilton等人提出的光轉換器電路及黑點補償裝置使用本發明的面鏡元件可有利於單一電路板或單件式光轉換器的使用。此實例中，可使各面鏡爲靜止的而黑點補償裝置爲可動的或者使各面鏡爲可動的而黑點 -32- 1293423 補償裝置爲靜止的。替代地，可以光纖或光導元件取代各面鏡以逆轉各光徑方向或使光從單一光源分散到具有適合定向及幾何形狀的光徑上。According to a further commemoration of the present invention, a finger and a thumb-operated device having six degrees of freedom can be installed in a palm-type input device having six degrees of freedom to provide a control capable of simultaneously controlling with only one hand. 2 axis device. This combination can be used to control the support of the vehicle, for example while controlling a manipulator cantilever. With this device, 24 axes can be controlled simultaneously with both hands. According to a further complication of the present invention, a finger-operated input device having six degrees of freedom can be attached to any number of such as a flight control lever, a flight control deflection yoke, a steering wheel, a steering wheel, a rocker, a control lever, and a control sling. In addition to this, the class is a conventionally designed control device. This strategy can be beneficial to a multi-axis manipulator or tool that can be connected to a pedestal or vehicle and needs or benefits -28 - 1293423 for simultaneous multi-axis control. Yet another embodiment of the present invention may be a mouth, sacral or head operated controller for use in patients with quadriplegia, where the conventional design of such applications appears to be cumbersome. According to another concept of the present invention, the entire device can be a hand-held and portable device, and the active control handle can be operated relative to a base portion that remains fixed to the user's hand or finger, such as to allow only Support and use the device with one hand. Alternatively, a portion of the base can be securely attached to the wrist or palm of the user by means such as a bandage or glove. It is even preferred that signal transmission can be performed for such a handheld device by means of a wireless device. The coordinate system for such a hand-held configuration may be a coordinate system that is fixed relative to the device in a fixed portion of the user's hand, or relative to signals such as radio signals, laser signals, gyroscope signals, magnetic An external coordinate system defined by a combination of orientation and gravity orientation. Such portable devices can incorporate other devices such as orientation sensors, accelerometers, and gyroscopes. In accordance with a further complication of the present invention, attaching the "handheld" structure to the wrist or forearm allows for the attachment of a hinge to temporarily sway the active control handle out of the operator's hand. According to yet another concept of the present invention, the six-axis sensor assembly can be seated between the two handles such that the relative motion of the two handles produces a corresponding signal. The handle can be, for example, similar to the combination of Sony Corporation! >1&7^^丨〇11@ or is a two-half device for the two-handed game floor stand used by Microsoft's X-Box®. -29- 1293423 Another complication in accordance with the present invention allows the device to be of sufficiently small size & combined with a computer keyboard, a handheld computer or another control handle or device. Division* operates the rocker for construction equipment with very careful hand movements when carrying, for example, insulated winter gloves. In this situation, the finger-operated micro IS @ S dynamic rocker can be impractical due to overwhelming vibrations and mechanical movements, as well as the lack of fine fingertip tactile feedback. Accordingly, several embodiments and embodiments of the invention emphasize the need for a larger range of motion as follows: According to one aspect of the present invention, one or more can be connected to the base of the sensor by means of The elastic elements provide an enhanced range of motion for the active control handle. In accordance with further complications of the present invention, the various resilient elements can be constructed to minimize any unintentional coupling between the axes. This can be fixed to the first mounting block by, for example, a pedestal of a multi-axis rocker (designed according to the invention, conventional or future) having a limited range of motion, which can be used in the first mounting block The upper end points of three or more resilient and generally parallel poles are fixed thereto. The lower end of each elastic pole is fixed to the second mounting block. Regardless of the deflection state of the first and second mounting blocks in the horizontal plane, both tend to remain parallel to each other. In other words, it is thus possible to provide elasticity for horizontal translation without unintentional or unnecessary coupling of the horizontal axes of rotation. The second mounting block can be mounted on a pair of blade springs that are offset but generally parallel. The other end point of the blade-type spring, which is generally parallel, can be fixed relative to the operator. -30- 1293423 The vane-type spring assembly provides torsional firmness on all three axes while allowing the rocker to control the handle for significant Z-axis motion. According to a further complication of the present invention, the transducer device and other movable parts can be protected from damage or contamination by an elastic bellows. According to a further commemoration of the present invention, each of the bellows can be designed to exhibit significant torsional compliance around the axis of symmetry of the bellows, which is generally not present in the example of using a conventional bellows. According to a further complication of the present invention, a second windbox (which is connectable to the movable mechanism) can be provided for balancing the pressure in the cavity protected by the bellows. This commemoration is particularly important for facilitating Z-axis motion without causing pressure differentials or contamination due to the necessary exhaust action. According to another aspect of the present invention, a wrist rest can be provided to be movable in accordance with the active control. The handle is moved or in a manner related thereto, but the user arm can be supported in a manner separate from the active control handle. The gravity and acceleration burden. In this manner, the user's arm can be necessarily supported to reduce its fatigue while allowing for a wide range of motions, which is necessary in high vibration environments such as operating building equipment. For example, the measurement of the instantaneous weight of the user's arm can be accomplished by using a separate mounting unit associated with the wristrest. Additional modifications and improvements that would enhance the applicability of the device of the present invention are described below: Further in accordance with the present invention Congratulations, a multi-axis converter according to the present invention can be attached to a Stewart platform or equivalent -31-1293423 device of other known designs to make the multi-axis converter generate operator start-up force/ The displacement signal 'at the same time the Stewart platform or equivalent provides feedback to the operator on the force and position. This device can also be used to provide increased displacement compared to the displacement provided by the multi-axis converter itself. According to another concept of the present invention, a fiber optic waveguide can be used to emit and receive light within the converter assembly, which can be used, for example, to remove power components from the vicinity of the converter for use, such as for a bucket Truck-type lifting booms or robotic arms are controlled to maintain high-voltage power lines and the like. For the construction of very small multi-axis position transducers, the version of the device to which the device is attached can be used in applications such as micro-robots, small-scale electrical and mechanical devices, and micro-organisms and medicine. According to another concept of the present invention, the transducer element of the present invention can be used as a six-axis accelerometer or motion sensor by attaching a reference mass to the movable mirror assembly. According to another concept of the present invention, the displacement transducer component of the present invention can be used as a multi-axis displacement measuring device for general use. According to a further complication of the present invention, a noise canceling component can be provided to reduce noise from environmental vibrations. For example, an accelerometer mounted on the base of the device can be used to counteract false signals such as signals due to vehicle vibration. Various concepts of the present invention can be applied to reduce costs and to make lighter, more conventional embodiments. For example, the use of the mirror elements of the present invention in conjunction with the optical converter circuit and the black point compensation device proposed by Hilton et al. can facilitate the use of a single circuit board or a single-piece optical converter. In this example, the mirrors can be made stationary while the black point compensating device is movable or the mirrors are movable and the black dots -32-1293423 compensating means are stationary. Alternatively, the mirrors may be replaced by optical or light guiding elements to reverse the direction of the respective light paths or to disperse light from a single source to an optical path having a suitable orientation and geometry.

本發明的進一步實施例可將複數個（例如六個）諸如霍爾效應轉換器或是巨磁效應（GME)轉換器之類的磁通量感知器結合到在相對於一磁通量結構（例如可藉由單一磁鐵建造）的多個（例如六個）自由度上可動的單一印刷電路板之上。該實施例可藉由通量傳導用磁性控制把手或其上可沿著任何必要方向提供一圍繞各磁通量感知器之通量路徑（用於外部強加之磁場）的一部分遮蔽各磁通量感知器使之不受環境磁場的影響。例如，可使用鐵磁性磁極片以引導磁通量’其方式是在磁通量感知器上建立很容易量測得的磁通量梯度’因此變得可相對於各偵測器偵測出各通量路徑的位移。例如，在每一個磁通量路徑可攔截兩個磁通量偵測器下沿著三個路徑引導該通量。可相對於各通量路徑爲各磁通量感知器進行定位及定向，使得其運S力靈敏軸落在可使其磁通量和具有最大磁通量偵測器靈敏之軸的向量積相對於位移之微分爲最大的方向上。替代地，可依類似方式使用諸如在力量轉換器上結合有微型磁鐵的MEM裝置之類磁通量梯度型偵測器，其中可相對於感知器靈敏軸的定向爲通量密度的二次微分進行定向並使之最佳化。根據本發明的又一槪念，可依電氣方式從輸出信號中將線路頻率雜訊濾掉。 - 33- 1293423 根據本發明的又一槪念’可在有或沒有分開電阻器下於電路板上設置有額外的迴路電路以便爲懸吊有彈簧的總成提供磁性阻尼作用。這種阻尼作用在諸如建築設備應用之類振動傾向的環境內是很有用的。本發明的進一步實施例可使用彈性體或彈性體結構以量測例如一控制把手的偏轉作用。依更簡單的形式’可使這種實施例包括一單一導電彈性體結構及連接其上的相關電氣端子。較佳的是該導電彈性體具有離子導電性，這種性質會造成平滑而有用的應變阻抗特徵，相反地，塡充有導電粒子之彈性體則呈現出比較沒有用的應變阻抗特徵。根據本發明的進一步槪念，可依Stewart平臺或其功能性等效結構的形狀建造單片式導電彈性體。根據本發明的進一步槪念，可依Stewart平臺或其功能性等效結構的通用形狀建造多段式導電彈性體。替代地，使用習知（像非導電性）彈性體可變形結構以含有諸如電解溶液之類的介電流體或導電流體。該介電流體或導電流體可造成浸漬其內之複數個電極間的電關隨著在該可變形結構出現形變下改變其內含有該流體之一個或多個1空腔的形狀而變化。在使用前述任意一種彈性體結構的例子裡’起因於該彈性體一般而言較之金屬或半導體應變計量器的材料具有更高的伸長度，故可使其計量係數比習知應變計量器的計量係數高很多。根據本發明的進一步槪念，可依Stewart平臺或其功能性等效結構的形狀建造一彈性體內含有導電或介電流體的單一空腔。較佳的是使這種空腔的器壁沿著數個正交方向旋 -34- 1293423 繞，以允許在六個自由度上出現形變且在不同的軸中存在有相對的均勻堅實度。根據本發明的進一步槪念，可依Stewart平臺或其功能性等效結構的形狀建造含有導電或介電流體的多個空腔。根據本發明的進一步槪念，可設置一可變形的彈性體結構’其建造方式是使之連接有複數個單軸位移轉換器。這種結構可以是非常低廉且有利於依簡單的零反動力的方式裝設有低廉的位移轉換器。根據本發明的進一步槪念，可依Stewart平臺或其功能性等效結構設置複數個空腔，其中可將各空腔連接到一壓力轉換器裝置。根據本發明的進一步槪念，可於彈性體結構內設置複數個堅實器，其中堅實器將應變傳遞至如MEMS裝置或應變計之轉換器裝置。根據本發明的進一步槪念，本發明中各種符合人類環境改造學的配置可結合視訊或其他非接觸型位置感知器以取代此中揭示的感知器裝置一起使用。例如，可使用如第3 5 a 到3 5 g圖所示之1 2軸搖桿以提供用於各操作員的調和介面，同時例如可藉由一個或更多個視訊照相機完成各控制把手位置及/或手部位置的量測。對某些藉由視訊量測以便解讀具完全自由形式之手部姿勢的策略應用而言這種配置是優良的。根據本發明的進一步槪念，可依串聯方式裝設諸如那些包括複數個膨脹型空腔或發動機之類的多個發動式感知機臺以產生具有很多自由度之蛇形機器裝置。 -35- 1293423 可由很多上述多軸搖桿產生必需相對於x，y及z軸依非線性方式轉換成位置及旋轉偏轉量的例如六個類比信號。可使用很多替代方法及運算法則以從具有多軸搖桿的轉換器導出具有必要應用性的信號。以下將要說明一種用以導出有用信號的通用方法的實例。Further embodiments of the present invention may incorporate a plurality (eg, six) of magnetic flux perceptrons, such as Hall effect converters or giant magnetic effect (GME) converters, in relation to a magnetic flux structure (eg, by Multiple (eg, six) degrees of freedom on a single printed circuit board that can be moved on a single magnet. This embodiment can shield the magnetic flux sensor by flux conduction with a magnetic control handle or a portion of the flux path (for externally applied magnetic field) that provides a flux path around each flux sensor in any necessary direction. Not affected by environmental magnetic fields. For example, a ferromagnetic pole piece can be used to direct the magnetic flux 'by establishing a readily measurable flux gradient on the flux sensor' so that the displacement of each flux path can be detected relative to each detector. For example, the flux can be directed along three paths under each flux path intercepting two flux detectors. The magnetic flux sensor can be positioned and oriented relative to each flux path such that its S-sensitive axis falls on the maximum of the vector product of the magnetic flux and the axis with the maximum magnetic flux detector sensitivity relative to the displacement. In the direction. Alternatively, a flux gradient type detector such as a MEM device incorporating a micromagnet on a power converter can be used in a similar manner, wherein the orientation of the perceptron sensitive axis can be oriented for the second derivative of the flux density. And make it optimal. According to yet another aspect of the present invention, line frequency noise can be filtered out from the output signal in an electrical manner. - 33- 1293423 Another complication in accordance with the present invention can be provided with additional loop circuitry on the board with or without separate resistors to provide magnetic damping for the spring-suspended assembly. This damping is useful in environments with vibrational tendencies such as construction equipment applications. A further embodiment of the invention may use an elastomer or elastomeric structure to measure, for example, the deflection of a control handle. In a simpler form, this embodiment can include a single electrically conductive elastomer structure and associated electrical terminals attached thereto. Preferably, the electrically conductive elastomer has ionic conductivity which imparts a smooth and useful strain resistance characteristic. Conversely, an elastomer filled with electrically conductive particles exhibits a relatively ineffective strain resistance characteristic. According to a further complication of the present invention, a monolithic electrically conductive elastomer can be constructed in accordance with the shape of the Stewart platform or its functionally equivalent structure. According to a further complication of the present invention, a multi-segment conductive elastomer can be constructed in accordance with the general shape of the Stewart platform or its functionally equivalent structure. Alternatively, a conventional (like non-conductive) elastomer deformable structure is used to contain a dielectric fluid such as an electrolytic solution or a conductive fluid. The dielectric fluid or electrically conductive fluid can cause the electrical switching between the plurality of electrodes impregnated therein to vary as the shape of the one or more 1 cavities containing the fluid within the deformation of the deformable structure. In the case of using any of the foregoing elastomeric structures, 'the elastomer is generally higher in elongation than the material of the metal or semiconductor strain gauge, so that the metering coefficient can be made higher than that of the conventional strain gauge. The measurement factor is much higher. According to a further complication of the present invention, a single cavity containing an electrically conductive or dielectric fluid can be constructed in accordance with the shape of the Stewart platform or its functionally equivalent structure. Preferably, the walls of such cavities are wound in a number of orthogonal directions - 34 - 1293423 to allow for deformation in six degrees of freedom and relative uniform firmness in different axes. According to a further complication of the present invention, a plurality of cavities containing conductive or dielectric fluid bodies can be constructed in accordance with the shape of the Stewart platform or its functionally equivalent structure. According to a further complication of the present invention, a deformable elastomeric structure can be provided which is constructed in such a manner as to be coupled to a plurality of single-axis displacement transducers. This structure can be very inexpensive and facilitates the installation of an inexpensive displacement transducer in a simple zero-reaction manner. According to a further complication of the present invention, a plurality of cavities can be provided in accordance with the Stewart platform or its functionally equivalent structure, wherein the cavities can be connected to a pressure transducer device. According to a further complication of the present invention, a plurality of solids can be placed within the elastomeric structure, wherein the solids transfer strain to a transducer device such as a MEMS device or strain gauge. In accordance with further complications of the present invention, various ergonomic configurations of the present invention can be used in conjunction with video or other non-contact position sensors to replace the sensor devices disclosed herein. For example, a 12-axis rocker as shown in Figures 35a to 3g can be used to provide a blending interface for each operator, while the position of each control handle can be accomplished, for example, by one or more video cameras. And/or measurement of the hand position. This configuration is excellent for some strategic applications that rely on video measurements to interpret hand gestures with completely free forms. According to a further complication of the present invention, a plurality of launching sensing stations, such as those comprising a plurality of inflated cavities or engines, can be installed in series to produce a serpentine machine having a plurality of degrees of freedom. -35- 1293423 A plurality of the above-described multi-axis rockers can be used to generate, for example, six analog signals that must be converted into position and rotational deflection amounts in a non-linear manner with respect to the x, y, and z axes. Many alternative methods and algorithms can be used to derive signals with the necessary applicability from a converter with a multi-axis rocker. An example of a general method for deriving a useful signal will be described below.

該轉換可以是多機臺的，且基本上係由線性對角化及非線性標度及校正構成。可使用立方多項式轉換以便達成從信號到輸出的非線性映射模型。具有六個輸入變數之完整立方多項式共有6*4Λ6 = 24576個係數且其計算成本太高而變得不實用。更好的轉換可由趨近式線性轉換構成的以達成進乎對角的輸出且跟著爲上達總羃次爲3(例如1, X, y， xA2，x*y，yA2，χΛ3, xA2*y，yA3)的各項施行多項式轉換。這對線性對角化轉換而言需要6 * 6 = 3 6個係數且對非線性立方部分而言需要5 04個係數皆屬計算上可行的。可在每一個乘積單元上完成使用6個係數的初始預轉換以描述各單獨感知器內的製程變化。可根據使用者的喜好明確標示出用以爲輸出進行重新縮放平移量、重新縮放旋轉量及中心對準（皮重計量法）需要1 + 1 + 6 = 8個係數。對任何特定原型設計而言，可依下列方式計算出3 6個預轉換係數以及5 0 4個非線性轉換係數：可於6 _立方格線內的正、零及負的位置上對每一個軸進行取樣而在中心及各極端位置上產生3a6 = 72 9個取樣點（例如中心、前方、前方向上、前方向左扭轉及俯衝扭轉等）。可使用最小平方解以套用m 3 6個線性轉換係數使輸出達成最佳的對角化。使用 -36- 1293423 這類係數可爲樣本資料進行線性轉換以產生大槪線性的資料組。然後再次使用例如線性最小平方解套用5 〇 4個非線性轉換係數。The conversion can be multi-machine and consists essentially of linear diagonalization and non-linear scaling and correction. A cubic polynomial transformation can be used to achieve a nonlinear mapping model from signal to output. A complete cubic polynomial with six input variables has a total of 6*4Λ6 = 24576 coefficients and its computational cost is too high to become impractical. A better conversion can be made up of a nearly linear transformation to achieve a diagonal output followed by a total of 3 (eg 1, X, y, xA2, x*y, yA2, χΛ3, xA2*y , yA3) performs polynomial conversion. This requires 6 * 6 = 362 coefficients for linear diagonal transformation and 5 04 coefficients for nonlinear cubics is computationally feasible. An initial pre-conversion using 6 coefficients can be done on each product unit to describe process variations within each individual sensor. It can be clearly marked according to the user's preference. Rescaling the amount of translation for the output, rescaling the amount of rotation and centering (tare measurement) requires 1 + 1 + 6 = 8 coefficients. For any particular prototyping, 36 pre-conversion coefficients and 504 non-linear conversion coefficients can be calculated in the following ways: for each of the positive, zero, and negative positions within the 6 _ cubic grid The shaft is sampled to produce 3a6 = 72 9 sampling points (eg center, front, forward up, forward left torsion, and subduction torsion) at the center and at various extreme positions. The least squares solution can be used to apply m 3 6 linear conversion coefficients to achieve optimal diagonalization of the output. Use -36-1293423 for such coefficients to linearly convert sample data to produce a large linear group. Then, for example, a linear least squares solution is used to apply 5 〇 4 non-linear conversion coefficients.

一旦已對設計原型進行校準，可在每一個乘積單元上使用相同的3 6個預轉換係數以及相同的5 04個非線性轉換係數’但是可在第一次使用或可能在販售之前完成對6個感知器縮放係數的一次校準。每一個使用者可依偏好明確指出例如單一平移靈敏度係數及單一旋轉靈敏度係數。在初次使用且可能遍及每一次使用該裝置時，可利用6個係數爲輸出進行中心對準（皮重計量法）以描述溫度、定向或使用者之手的重量等之上的次要變化。 (四）貫施方式一種多軸輸入轉換器裝置可包括：一具有至少五個輸入端的元件，可相對於至少五個參考座標系統進行輸入；一反射元件，係用以回應來自能放射出均等地入射到反射元件上的輻射源；以及至少一個反射輻射偵測器，係用以回應來自該反射元件的輻射。此中廣義地使用「反射」一詞以包含該輻射的折射作用。參照第1 a (平面圖）、〗b (截面立視圖）、1 c (切開透視圖）、1 d (立視圖）及1 e (剖面圖）圖，其中顯示的是一種根據本發明較佳實施例之六軸搖桿。主動式控制把手1可結合有反射性刻面2 a、2 b、2 c、2 d、2 e及 2 f。可使各反射性刻面或反射器對齊使得每一個反射性刻面或反射器都能將來自光源或輻射源4(可以是發光二極體）的光反射到落在某一特定位置上的光電偵測元件或其他反 -37- 1293423Once the design prototype has been calibrated, the same 36 pre-conversion coefficients and the same 5 04 non-linear conversion factors can be used on each product unit' but can be completed before the first use or possibly before sale. One calibration of the six perceptron scaling factors. Each user can explicitly indicate, for example, a single translation sensitivity coefficient and a single rotation sensitivity coefficient. At the initial use and possibly throughout each use of the device, six coefficients can be used to center-align the output (tare metering) to account for minor changes in temperature, orientation, or the weight of the user's hand, and the like. (4) A multi-axis input transducer device may include: an element having at least five input terminals for input with respect to at least five reference coordinate systems; and a reflective element for responding to equal emission a radiation source incident on the reflective element; and at least one reflected radiation detector responsive to radiation from the reflective element. The term "reflection" is used broadly to encompass the refraction of the radiation. Referring to Figures 1 a (plan view), b (section elevation view), 1 c (cut perspective view), 1 d (vertical view), and 1 e (cross-sectional view), a preferred embodiment in accordance with the present invention is shown. A six-axis rocker. The active control handle 1 can incorporate reflective facets 2 a, 2 b, 2 c, 2 d, 2 e and 2 f. The reflective facets or reflectors can be aligned such that each reflective facet or reflector can reflect light from the source or source 4 (which can be a light-emitting diode) to a particular location. Photodetection element or other anti-37-1293423

射輻射感知器。該光電偵測元件可以是光電二極體、光電電晶體、光電電阻器或其他適合的光偵測裝置，或是用以將光引導到另一位置上之諸如A S I C (應用特有之積體電路晶片）之類偵測裝置上的光纖埠。可藉由諸如線圈型彈簧1 0 之類恢復元件將該主動式控制把手1支持於定位，該線圈型彈簧1 0可依有角度方式由凹陷1 1定位於該主動式控制把手內以及由凹陷1 2定位於該基座3內。可使用諸如光擋板6之類裝置以防止各偵測器5 a、5 b、5 c、5 d、5 e及5 f受到光源4的直接照射。也可建造光擋板6使之可於例如焊接期間輔助該光源4且或許可輔助各光電偵測器5a、5b、Radiation sensor. The photodetecting element can be a photodiode, a phototransistor, a photo resistor or other suitable photodetecting device, or an ASIC (application-specific integrated circuit) for guiding light to another location. A fiber optic device on a detection device such as a wafer. The active control handle 1 can be supported for positioning by a restoring element such as a coil spring 10 that can be positioned in the active control handle by the recess 1 1 in an angular manner and by the recess 1 2 is positioned in the base 3. A device such as a light barrier 6 can be used to prevent direct detection of the respective detectors 5a, 5b, 5c, 5d, 5e and 5f by the light source 4. A light baffle 6 can also be constructed to assist the light source 4 during, for example, soldering and to assist in the respective photodetectors 5a, 5b,

5 c、5 d、5 e及5 f進行定位及定向。可使用該光擋板6以藉由螺釘7保持印刷電路板1 3。可設置諸如螺釘8或插針之類保持裝置以限制該控制把手1的歷程，或許使得該控制把手1的最大歷程維持落在諸如於該控制把手1內結合有各反射器元件之光電偵測器5 a、5 b、5 c、5 d、5 e及5 f以及光源4之類光學元件的量測範圍內，且或許使得該最大歷程維持落在諸如彈簧1 〇之類恢復裝置的彈性範圍之內且落在各可動與靜止組件之間的各種機械淨空之內。可藉由諸如塗層或軸套之類的靜摩擦減低元件及/或能量吸收元件使該保持裝置8與相關插座9之間的接觸特徵最佳化。參照第la和Id圖，光徑14可以不落在徑向平面內而是取代地跟隨著可藉由各種面鏡刻面的位置及定向受到控制的路徑。藉由這種配置，可由該光徑到六個光電偵測器的長度及對齊獨特地定義出該主動式控制把手在X，y，ζ，Θχ, -38- 1293423 0y及之類自由度上的位置。一般而言，亮度會隨著有效光徑離的平方反比而改變。可在任意面鏡刻面沿著該面鏡刻面表面之鉛垂軸的運動上使亮度相對於面鏡刻面位置的靈敏度變得最大。垂直於該面鏡刻面的軸可包括一虛擬的八面體式六角艙蓋或「Stewart平臺」。沿著垂直於第一軸之任意軸的運動不致對光徑長度產生任何效應。極端的運動當然會使面鏡刻面完全移出該光徑，但是這種極端的運動是不必要的且事實上可由機械阻擋器加以防止。繞垂直於該面鏡刻面之軸的角度運動不致對光徑長度產生任何效應。繞任何落在該面鏡片段平面內之軸的角度運動可在僅忽略光徑距離上的二階效應下只於該光徑的反射點內造成橫向平移。可藉由光源的相關透鏡元件、光電偵測器及/或藉由各反射性刻面的曲度使對應於該主動式控制把手之歸零位置的有效光徑距離最佳化爲設計變數。例如，可在比對應於實體光徑的距離更靠近的位置上產生光源的虛擬影像以便在具有給定變化的面鏡刻面運動下獲致更大的亮度變化。也可藉由使用各透鏡元件以調整因光源照射所產生的空間分布以及光電偵測器在光靈敏度上的空間分布。同時可有利地使用各發射器、面鏡及偵測器的對齊變化以產生代表各面鏡刻面位置的光電偵測器信號。假如來自發射器的任何特定光徑偏落於面鏡邊緣或偵測器總成邊緣上’則該光徑與邊緣的任何相對運動可在所量測的光強度上產生明顯的變化。 -39- 1293423 可將前述討論的功能及幾何形狀均等地應用於指定實施例上，其中可藉由第1圖實施例中標示爲4的單一光電偵測器依序量測出如第1圖所示之複數個光發射器5 a、5 b、 5 c、5 d、5 e及5 f的光強度。該實施例中例如可由圓形圖案圈出各光發射器以使吾人能夠量測出各單獨光強度且因此量測出其光徑距離。可使用單一光電偵測器以利單一類比對數位轉換器的使用並依與複數個光發射器之照射同步的方式施行時間倍增作用。5 c, 5 d, 5 e and 5 f for positioning and orientation. The light baffle 6 can be used to hold the printed circuit board 13 by means of screws 7. A retaining device such as a screw 8 or a pin may be provided to limit the history of the control handle 1, perhaps causing the maximum history of the control handle 1 to remain in a photodetection such as that incorporated in the control handle 1 with various reflector elements Within the measurement range of the optical elements such as 5 a, 5 b, 5 c, 5 d, 5 e and 5 f and the light source 4, and perhaps the maximum history is maintained to fall on the elasticity of the recovery device such as the spring 1 〇 Within the range and within the various mechanical clearances between the movable and stationary components. The contact features between the retaining device 8 and the associated socket 9 can be optimized by static friction reducing elements such as coatings or bushings and/or energy absorbing elements. Referring to Figures 1a and 1d, the optical path 14 may not fall within the radial plane but instead follow a path that is controlled by the position and orientation of the various facet facets. With this configuration, the active control handle can be uniquely defined by the length to the length and alignment of the six photodetectors to X, y, ζ, Θχ, -38-1293423 0y and the like. s position. In general, the brightness will vary with the inverse square of the effective path diameter. The sensitivity of the brightness to the facet facet of the mask can be maximized in the motion of the facet of the facet along the surface of the facet of the facet of the facet. The axis perpendicular to the facet of the facet may include a virtual octahedral hex hatch or "Stewart platform". Movement along any axis perpendicular to the first axis does not have any effect on the length of the optical path. Extreme motion will of course cause the facet facet to move completely out of the path, but this extreme motion is unnecessary and can in fact be prevented by mechanical stoppers. An angular movement about an axis perpendicular to the facet of the face mirror does not have any effect on the length of the path. The angular motion about any axis that falls within the plane of the mirror segment can cause lateral translation only within the reflection point of the optical path with a second-order effect that ignores only the optical path distance. The effective optical path distance corresponding to the zeroing position of the active control handle can be optimized as a design variable by the associated lens element of the light source, the photodetector, and/or by the curvature of each reflective facet. For example, a virtual image of the source can be produced at a location closer than the distance corresponding to the physical path of the light to achieve a greater change in brightness under facet facet motion with a given change. It is also possible to adjust the spatial distribution caused by the illumination of the light source and the spatial distribution of the photodetector in terms of light sensitivity by using the respective lens elements. At the same time, alignment changes of the various emitters, mirrors, and detectors can be advantageously utilized to produce photodetector signals representative of the facet positions of the various mirrors. Any relative motion of the optical path to the edge can produce a significant change in the measured light intensity if any particular optical path from the emitter is offset on the edge of the mirror or on the edge of the detector assembly. -39- 1293423 The functions and geometries discussed above can be equally applied to a given embodiment, wherein a single photodetector labeled 4 in the embodiment of Figure 1 can be sequentially measured as shown in FIG. The light intensities of the plurality of light emitters 5a, 5b, 5c, 5d, 5e, and 5f are shown. In this embodiment, for example, each of the light emitters can be circled by a circular pattern to enable us to measure the individual light intensities and thus the optical path distance. A single photodetector can be used to facilitate the use of a single analog-to-digital converter and time multiplication in a manner synchronized with the illumination of a plurality of light emitters.

參照第3圖，其中顯示的是結合有多種可能的替代電氣裝置之一圓柱座標投影圖示。如第3圖所示之光學元件可以是如第la、lb、lc、Id、le及If圖所示的相同光學元件。可依實體方式使各光電偵測器5 a、5 b、5 c、5 d、5 e及 5 f圍繞光電發射器4分布成如第3圖右手邊所示的六角形陣列，但是可在簡潔目的下將之直接定位在每一個光電偵測器後方。面鏡刻面2 a可將來自光電發射器4的光反射到光電偵測器5b上。面鏡刻面2b可將來自光電發射器4的光反射到光電偵測器5 a上。可針對總共六個光徑重複這種圖案，並以其長度定義出主動式控制把手的準確位置及定向以及其在六個自由度上的面鏡刻面。如圖所示依電氣方式將線圈型彈簧10(實體上用以支撐如第3圖左手邊所示之主動式控制把手1 )連接到控制把手1及觸控式偵測電路 1 5上。假如必要的話該控制把手1可結合有一分離的電容觸控式切換元件，或是使用諸如面鏡刻面2 a上的塗層之類面鏡塗層以完成該電容觸控式切換功能。此中使用「主動式控制把手」一詞意指由多軸輸入裝置上使用者相對於 -40- 1293423 其參考座標系統抓住並移動的部分。如圖所示，係將各光電偵測器5 a、5 b、5 c、5 d、5 e和5 f的輸出端連接到各放大器 18a、18b、18c、18d、18e 和 18f 及電阻器 19a、19b、 19c、I9d、19e和19f上。如圖所示，係將各放大器的輸出端連接到一可程式規劃的介面控制器（P I C ®) 1 6上且各信號可由此裝置走向諸如電腦或機器人之類的信號接收裝置1 7 上。如圖所示，六個自由度上的軸係標示於第3圖頂部。Referring to Figure 3, there is shown a cylindrical coordinate projection of one of a variety of possible alternative electrical devices. The optical element as shown in Fig. 3 may be the same optical element as shown in the first, lb, lc, id, le, and If diagrams. The photodetectors 5 a, 5 b, 5 c, 5 d, 5 e and 5 f can be distributed around the photoemitter 4 in a physical manner to form a hexagonal array as shown on the right hand side of FIG. 3, but For the sake of simplicity, it is positioned directly behind each photodetector. The facet facet 2a reflects the light from the photoemitter 4 onto the photodetector 5b. The facet facet 2b reflects the light from the photoemitter 4 onto the photodetector 5a. This pattern can be repeated for a total of six optical paths, and its length defines the exact position and orientation of the active control handle and its facet facet in six degrees of freedom. The coil spring 10 (physically supporting the active control handle 1 as shown on the left-hand side of Fig. 3) is electrically connected to the control handle 1 and the touch detection circuit 15 as shown. If desired, the control handle 1 can incorporate a separate capacitive touch switching element or a mirror coating such as a coating on the facet face 2a to accomplish the capacitive touch switching function. The term "active control handle" is used herein to mean the portion of the multi-axis input device that is grasped and moved by the user relative to the reference coordinate system of -40-1293423. As shown, the output terminals of the photodetectors 5a, 5b, 5c, 5d, 5e, and 5f are connected to the amplifiers 18a, 18b, 18c, 18d, 18e, and 18f and the resistors. 19a, 19b, 19c, I9d, 19e and 19f. As shown, the outputs of the amplifiers are connected to a programmable interface controller (P I C ® ) 16 and the signals can be routed to a signal receiving device 17 such as a computer or robot. As shown, the shaftings in six degrees of freedom are indicated at the top of Figure 3.

現在參照第4圖，雖則第1 a、1 b、1 c、1 d、1 e、2及3 圖中顯示的是平面式面鏡刻面，然而可有利地使用如第4 圖所示之曲面式刻面以便在特殊應用上獲致更大的靈敏度及解析度。可藉由面鏡刻面2a使來自發射器4(隱藏於第4 圖的正面圖示中）的光聚焦以在離開光電偵測器5 b —距離 L處形成該發射器4的影像。爲求簡潔，並未於第4圖中標示出該發射器4與偵測器5 b之間的光。Referring now to Figure 4, although the first a, 1 b, 1 c, 1 d, 1 e, 2, and 3 figures show planar facet facets, it is advantageous to use as shown in Fig. 4. Curved facets for greater sensitivity and resolution in special applications. Light from the emitter 4 (hidden in the front view of Fig. 4) can be focused by the facet facet 2a to form an image of the emitter 4 at a distance L from the photodetector 5b. For the sake of brevity, the light between the emitter 4 and the detector 5b is not indicated in Figure 4.

現在參照第5圖，其中顯示的是結合有截斷式面鏡刻面 2a、2b、2c、2d、2e及2f的面鏡總成及主動式控制把手1 。撞擊到各面鏡刻面的光可抵達各光電偵測器5a、5b、5c 、5 d、5 e和5 f。撞擊到光吸收表面4 1的一部分則無法抵達這類偵測器。因此這種配置對各面鏡刻面2a、2b、2c、 2d、2e及2f邊緣的相對運動而言是靈敏的。現在參照第6圖，其中顯示的單件式光電轉換器套裝組合係包括：一外盒44 ;光電偵測器42 a、42b、42 c、42 d、 42e及42f ; —光電發射器43 ;及電氣連接結構45。這種單件式轉換器會比印刷電路板裝設式轉換器更強固，且因 -41- 1293423 此不致起因於製造期間的處理作業或是起因於例如掉落地板上的高g力量出現光學失準的問題。也可有利地使用這種單件式套裝組合以進行硏磨沖洗並因此移除了當作多數分離式光電轉換器組件之標準製造器件的各準直透鏡。雖則第6圖中未標示，然而也可建造這種單件式套裝組合以支持用以支撐該主動式控制把手的彈簧。現在參照第7圖，可爲各偵測器4 6 a、4 6 b、4 6 c、4 6 d、 4 6 e及4 6 f進行定位使得各光徑1 4偏落於其邊緣之旁。各光徑1 4起因於該主動式控制把手1之運動所產生垂直於其邊緣的運動可因此造成亮度上的變化。參照第8 a (平面圖）、8 b (截面立視圖）、8 c (切開透視圖）、8 d ( 視圖）及8e(剖面圖）圖》其中顯不的是一*種根據本發明較佳實施例之六軸搖桿。本身係如第9圖所示之主動式控制把手部分1 a可結合有反射性刻面2a、2b、2c、2d 、2e及2f。較佳的是用以支持主動式控制把手部分！ b的主動式控制把手部分lc具有呈低硬度計量（其蕭氏（Sh〇re) 硬度A<4 0)的彈性體。這種軟性控制把手部分1 a可設置有防滑表面以便在最小抓取力下與操作員的指尖作可靠的結合。起因於結合有明顯厚度的低硬度該控制把手的順應性可降低操作員手指上的接觸應力且因此有助於防止減低血液循環。該控制把手部分1 b可具有標準的〇形-環形狀。該控制把手部分1 c可在底部部分上設置有孔洞。該外部孔洞可設置有預定量額的淨空以遠離空間層2 1。可由孔洞22 (使用時可將索環列入考量）和空間層2 1的相對直徑定義出 -42- 1293423Referring now to Figure 5, there is shown a mirror assembly and active control handle 1 incorporating truncated mask facets 2a, 2b, 2c, 2d, 2e and 2f. Light striking the facet of each facet can reach each of the photodetectors 5a, 5b, 5c, 5d, 5e, and 5f. A portion of the light absorbing surface 41 is impeded to reach such a detector. This configuration is therefore sensitive to the relative motion of the faces of the facet faces 2a, 2b, 2c, 2d, 2e and 2f. Referring now to Figure 6, the single-piece opto-electrical converter kit combination shown therein comprises: an outer casing 44; photodetectors 42 a, 42b, 42 c, 42 d, 42e and 42f; - a photo-emitter 43; And an electrical connection structure 45. This single-piece converter will be more robust than a printed circuit board-mounted converter, and -41-1293423 will not cause processing during manufacturing or optical high-g forces such as falling off the floor. The problem of inaccuracy. It is also advantageous to use this one-piece kit combination for honing rinsing and thus removing the collimating lenses that are standard manufacturing devices for most discrete optoelectronic converter assemblies. Although not shown in Figure 6, it is also possible to construct such a one-piece kit combination to support a spring for supporting the active control handle. Referring now to Figure 7, the detectors 4 6 a, 4 6 b, 4 6 c, 4 6 d, 4 6 e, and 4 6 f can be positioned such that the optical paths 14 are offset to the edges thereof. . Each of the optical paths 14 caused by the movement of the active control handle 1 to produce a motion perpendicular to its edge may thus cause a change in brightness. Referring to the 8th (plan), 8b (section elevation), 8c (cut perspective), 8d (view) and 8e (cross-sectional) drawings, it is preferred that one is preferred according to the present invention. The six-axis rocker of the embodiment. The active control handle portion 1a, as shown in Fig. 9, can be combined with reflective facets 2a, 2b, 2c, 2d, 2e and 2f. It is better to support the active control handle part! The active control handle portion lc of b has an elastomer of low hardness measurement (its Sh〇re hardness A < 40). The soft control handle portion 1a can be provided with a non-slip surface for reliable engagement with the operator's fingertips with minimal grip. The compliance of the control handle due to the low hardness combined with the significant thickness reduces the contact stress on the operator's fingers and thus helps to prevent blood circulation from being reduced. The control handle portion 1 b can have a standard dome-ring shape. The control handle portion 1c may be provided with a hole in the bottom portion. The outer aperture may be provided with a predetermined amount of clearance to move away from the space layer 2 1 . The hole 22 (which can be considered in use) and the relative diameter of the space layer 2 1 are defined as -42-1293423

該主動式控制把手在水平平面內的運動範圍。該控制把手部分1 c與基座3之間以及該控制把手部分1 C與電路板之間的垂直淨空可提供預疋星額的垂直歷程。如是可將該主動式控制把手總成限制於該歷程在六個自由度上預定容許範圍。可藉由該控制把手部分1 a內的彈簧支持用凹槽4 7 將該控制把手部分1 a固定於彈簧1 〇上。並轉而藉由凹槽 4 8將彈簧1 〇固定於該單件式轉換器套裝組合2丨上。該單件式轉換器套裝組合2 1可結合一能沿著徑向向外延伸的電路板1 3以接合該空間層2 1及螺釘2 3。替代地，可使用額外分離片以裝設該轉換器套裝組合並用以接合某些諸如該空間層2 1及螺釘2 3之類的裝設裝置。The active control handles the range of motion of the handle in a horizontal plane. The vertical clearance between the control handle portion 1c and the base 3 and between the control handle portion 1 C and the circuit board provides a vertical history of the pre-stars. The active control handle assembly can be limited to a predetermined allowable range of six degrees of freedom for the journey. The control handle portion 1 a can be fixed to the spring 1 藉 by the spring support recess 4 7 in the control handle portion 1 a. The spring 1 〇 is then fixed to the one-piece converter set assembly 2 by means of a recess 48. The one-piece converter kit combination 21 can incorporate a circuit board 13 that can extend radially outward to engage the space layer 21 and the screw 2 3 . Alternatively, additional separators may be used to mount the converter kit combination and to engage certain mounting devices such as the space layer 21 and the screw 2 3 .

現在參照第1 0 a和1 Ob圖，顯示的是一種根據本發明實施例的傳統「搖桿」型主動式控制把手的強化運動範圍，其中係依截面方式顯示出保護性及壓力補償風箱。轉換器 2 5係類似於如第8 a、8 b、8 c、8 d和8 e圖所示的轉換器。必需使該轉換器作有限範圍的運動，特別是假如該轉換器係含藏於主動式控制把手2 4內時。如圖所示的配置以便沿著下列三個軸提供具有額外範圍的平移運動：依固定方式將葉形彈簧2 9和3 0裝設於裝設區塊2 8上。可使名義上具有與裝設區塊2 8相同之高度的連接區塊3 5在未繞Θχ軸作運動下沿著Ζ -軸向上或向下偏轉。可將裝設區塊3 6連接到複數個樑3 1，3 2，3 3和3 4上，而這些樑則轉而連接到該連接區塊3 5上。可選擇各樑3 1，3 2，3 3和3 4繞Ζ -軸的慣性動量以便在繞Ζ -軸的扭力上提供預定程度的堅實度。名義 -43- 1293423Referring now to the 10a and 1B diagrams, there is shown a reinforced range of motion of a conventional "rocker" type active control handle according to an embodiment of the present invention, wherein the protective and pressure compensating bellows are shown in cross section. . The converter 2 5 is similar to the converter shown in Figures 8a, 8b, 8c, 8d and 8e. It is necessary to make the converter perform a limited range of motion, especially if the converter is contained within the active control handle 24. The configuration is shown to provide an additional range of translational motion along the following three axes: the leaf springs 29 and 30 are mounted to the mounting block 28 in a fixed manner. It is possible to deflect the connecting block 35, which nominally has the same height as the mounting block 28, along the Ζ-axis up or down without moving around the yoke axis. The mounting block 36 can be connected to a plurality of beams 3 1, 3 2, 3 3 and 3 4 which are in turn connected to the connecting block 35. The moments of inertia of the beams 3 1, 3 2, 3 3 and 3 4 around the Ζ-axis can be selected to provide a predetermined degree of firmness in the torsion of the Ζ-axis. Nominal -43- 1293423

上各樑31，32，33和34在連接區塊35及裝設區塊36兩者上的間隔是相同的。因此裝設區塊3 6的水平偏轉不會造成該主動式控制把手產生繞Θ X或¢) y軸的扭轉作用。必要時可調整各種裝設點上各彈性元件名義上相等的間隔以在各種旋轉軸及平移軸上達成控制量額的耦合作用。風箱2 6係類似於習知設計中使用的風箱，除了其上設置有額外的皺折以提供繞Θ z軸的順應性之外。風箱2 7可對外殻3 7內起因於風箱26之Z-軸運動所出現之空氣容積變化作出補償。較佳的是使風箱2 7連接到連接區塊3 5上以致可直接由手驅動該風箱27的運動，因此該風箱27直到可能由足夠的空氣壓力差分造成該風箱2 7突然出現運動爲止都不致落後’該風箱27的運動可轉而使風箱26突然出現非刻意的運動’並因此使轉換器2 5突然出現運動且因此造成假性信號。該轉換器2 5的小尺寸有利於控制把手24的使用，其中該控制把手24是足夠小的故即使當操作員以姆指及食指發動標準的遊戲型搖桿鈕或觸發器時也允許有可靠的抓握。參照第Π a、1 1 b、1 1 c和11 d圖，可藉由（非磁性）大頭釘 55及螺帽54將永久磁鐵53支持在（磁性）彈簧式控制把手 56與（磁性）磁極片52之間。可將（非磁性）彈簧1〇的下邊端點固定在（非磁性）彈簧平臺5 1 (成形可與彈簧1 〇接合的形狀）上。可將諸如霍爾效應感知器50a、50b、50c、5 0d 、5 0 e及5 0 f之類的六個磁通感知器固定在印刷電路板；[3 上’並進行定位使得可由彈簧懸吊總成（包括磁性控制把手 -44- 1293423The spacing of the upper beams 31, 32, 33 and 34 on both the connection block 35 and the mounting block 36 is the same. Therefore, the horizontal deflection of the mounting block 36 does not cause the active control handle to produce a twisting action about the y-axis or the y-axis. If necessary, the nominally equal spacing of the elastic elements at the various mounting points can be adjusted to achieve a controlled amount of coupling across the various rotating and translational axes. The bellows 2 6 is similar to the bellows used in conventional designs except that additional wrinkles are provided thereon to provide compliance with the z-axis. The bellows 2 7 compensates for changes in the volume of air within the outer casing 37 that result from the Z-axis movement of the bellows 26. Preferably, the bellows 27 is connected to the connecting block 35 so that the movement of the bellows 27 can be directly driven by the hand, so that the bellows 27 is suddenly caused by a sufficient difference in air pressure. There is no lag behind the appearance of the movement 'the movement of the bellows 27 can turn abruptly unintentional movement of the bellows 26' and thus cause the converter 25 to suddenly move and thus cause a false signal. The small size of the transducer 25 facilitates control of the use of the handle 24, wherein the control handle 24 is sufficiently small to allow even when the operator activates a standard game rocker button or trigger with the thumb and forefinger Reliable grip. Referring to the figures a, 1 1 b, 1 1 c and 11 d, the permanent magnet 53 can be supported by the (magnetic) spring type control handle 56 and the (magnetic) magnetic pole by the (non-magnetic) tack 55 and the nut 54. Between the sheets 52. The lower end of the (non-magnetic) spring 1 固定 can be fixed to the (non-magnetic) spring platform 5 1 (shaped to engage the spring 1 〇). Six flux sensores, such as Hall effect sensors 50a, 50b, 50c, 50d, 50e, and 50f, can be attached to the printed circuit board; [3] and positioned so that it can be suspended by the spring Hanging assembly (including magnetic control handle -44-1293423

1、彈簧式控制把手5 6 '大頭釘5 5、螺帽5 4及磁極片5 2) 沿著任意平移軸或是繞任意旋轉軸的位移從結合成組的磁通感知器50a、50b、50c、50d、50e及50f產生獨特的輸出信號。磁極片5 2可設置有三個磁極5 2 a (落在磁通感知器 50a與50b之間）、52b(落在磁通感知器50e與50f之間）及 5 2 c (落在磁通感知器5 0 c與5 0 d之間）。可依相對於Z -軸有角度的方式將落在其歸零位置上的各磁極準確地定位在其個別的磁通感知器之間。於立視圖中，係將每一個磁極定位在由各磁通感知器內各磁性回應型元件之位置定義出的平面上方。依這種方式，可由每一個磁通感知器之區域磁通量及具最大靈敏之軸的常數積產生獨特地代表該彈簧懸吊總成之位置的信號圖案。可由具最大靈敏度（單獨磁通感知器之信號內相對於個別磁極之位置變化的最大改變）的六個向量在空間中定義出類似於六角艙蓋或Stewart平臺的形狀。可爲空間層2 1及磁極片5 2塑形以將該彈簧裝設型總成的歷程限制於水平平面內或繞Z-軸旋轉。可依使大頭釘5 5的端點與印刷電路板1 3接合的方式限制該彈簧裝設型總成（沿著Z-軸的）向下運動。可依使磁極片52與彈簧式平臺5 1接合的方式限制該彈簧裝設型總成的向上運動。當然可使各磁極片5 2、空間層2 1、電路板1 3及彈簧式平臺5 1的接觸表面適當地覆蓋有無磨損衝擊吸收性材料。其完成方式可例如藉由爲磁極片5 2施行橡膠塗層並結合連接到電路板1 3頂部的耐隆磨損平板使用平滑的橡樹子螺帽當作螺帽5 4。可將諸如軟橡膠套筒之類的舒適控制把 -45- 1293423 手材料塗覆於控制把手1外側。較佳的是使每一個磁通感知器都是一種諸如由Allegro Microsystems公司製造其型號爲3 5 0 3比値計的線性霍爾效應感知器之類的積體電路，其中包含有放大器以利後續的信號處理。可藉由諸如由 Microchip公司製造的類比對數位轉換板或可程式規劃的介面晶片（PIC®)之類無數已知方法之一完成其信號處理作業。選擇性地，可將一去高斯線圈加到總成上以降低任何不必要的習知磁化作用。1. Spring-type control handle 5 6 'Tack 5 5 , nut 5 4 and pole piece 5 2) The magnetic flux sensor 50a, 50b combined into a group along any displacement axis or displacement around any rotation axis, 50c, 50d, 50e and 50f produce unique output signals. The pole piece 52 may be provided with three magnetic poles 5 2 a (falling between the flux sensor 50a and 50b), 52b (falling between the flux sensor 50e and 50f) and 5 2 c (falling in the magnetic flux sensing) Between 5 0 c and 5 0 d). The poles that fall on their return to zero position can be accurately positioned between their individual flux sensors in an angular manner relative to the Z-axis. In the vertical view, each pole is positioned above the plane defined by the position of each of the magnetic response elements in each flux sensor. In this manner, the signal pattern uniquely representing the position of the spring suspension assembly can be generated by the constant magnetic flux of each flux sensor and the constant product of the axis with the most sensitive axis. Six shapes similar to the hex hatch or Stewart platform can be defined in space by six vectors with maximum sensitivity (the largest change in position within the signal of the individual flux sensor relative to the individual poles). The space layer 2 1 and the pole piece 52 can be shaped to limit the history of the spring-mounted assembly to a horizontal plane or to rotate about the Z-axis. The downward movement of the spring-mounted assembly (along the Z-axis) can be restricted in such a manner that the end of the tack 5 5 engages the printed circuit board 13. The upward movement of the spring-mounted assembly can be restricted in such a manner that the pole piece 52 engages the spring-loaded platform 51. It is a matter of course that the contact surfaces of the respective pole piece 52, the space layer 2, the circuit board 13 and the spring type platform 5 1 are appropriately covered with a wear-free impact absorbing material. This can be accomplished by, for example, applying a rubber coating to the pole piece 52 and incorporating a smooth oak nut as the nut 5 4 in conjunction with the endurance wear plate attached to the top of the circuit board 13. A comfort control such as a soft rubber sleeve can be applied to the outside of the control handle 1 with a -45-1293423 hand material. Preferably, each flux sensor is an integrated circuit such as a linear Hall effect sensor manufactured by Allegro Microsystems, Model No. 3 5 3 3, which includes an amplifier to facilitate Subsequent signal processing. Signal processing operations can be accomplished by one of a myriad of known methods such as analog-to-digital converter boards or programmable interface chips (PIC®) manufactured by Microchip. Alternatively, a de-Gaussian coil can be added to the assembly to reduce any unnecessary conventional magnetization.

參照第1 2圖，係用以顯示在沒有磁性控制把手下之磁通路徑的平面圖示。參照第1 3圖，係用以顯示在具有磁性控制把手下之磁通路徑的平面圖示。參照第1 3 a圖，係用以顯示該磁通路徑5 7的立視圖。可透過該控制把手使用回復磁通路徑以允許將通量帶到離各磁極更遠處而造成更好的機械淨空以及更大的運動範圍及更符合人類環境改造學。Referring to Fig. 12, there is shown a plan view showing the magnetic flux path without the magnetic control handle. Referring to Fig. 13 is a plan view showing a magnetic flux path under a magnetically controlled handle. Referring to Figure 13a, an elevational view of the flux path 57 is shown. The return flux path can be used through the control handle to allow the flux to be brought further away from the poles resulting in better mechanical clearance and greater range of motion and more in line with ergonomics.

參照第14圖，顯示的是一種具有磁通感知器50a、50b、 5〇c、50d、50e及50f的電路板13。可設置阻尼電路58和 5 9以扮演著類似於旋轉式電動機器中阻尼繞組（A m 〇 r t i s s e u r) 的功能。可於阻尼電路5 8和5 9內選擇性地設置分離式電阻器。參照第1 5 a到1 5 e圖，可將控制把手1連接到彈性體感知元件6 0上。應予注意的是「上邊」及「下邊」等詞只用以說明各附圖且明確地無意用以限制有關本發明的任何揭示內容或申請專利範圍。此中說明的各種多軸輸入裝置皆可依相對於 -46- 1293423 重力的任何定向操作。Referring to Fig. 14, there is shown a circuit board 13 having flux sensor 50a, 50b, 5〇c, 50d, 50e and 50f. Damping circuits 58 and 59 can be provided to function like a damper winding (A m 〇 r t i s s e u r) in a rotary electric machine. A separate resistor can be selectively provided in the damper circuits 58 and 59. Referring to Figures 15a to 15e, the control handle 1 can be attached to the elastomer sensing element 60. It should be noted that the terms "upper" and "lower" are used to describe each of the drawings and are not intended to limit any disclosure or scope of application of the invention. The various multi-axis input devices described herein can operate in any orientation relative to the gravity of -46-1293423.

可將彈性體感知元件6 0的下邊端點（可以是呈游離導電 1生之導電彈性體元件）固定於支柱6 3上，而該支柱6 3則係固定於基座部分64上。可使感知元件60的上邊端點套用有各電氣端子6丨a、6丨b和6 1 c。可使彈性體感知元件6 0 的下邊端點套用有各電氣端子62a、62b和62c。可將各電氣端子用於使控制把手1及支柱63與彈性體感知元件60 作機械連接。可使用下邊印刷電路板6 7及上邊印刷電路板 6 6以利與彈性體感知元件6 〇作電氣連接。可藉由固定器 6 8將上邊電路板6 6固定在彈性體感知元件6 0上，且可藉由固定器69使之固定在控制把手1上。可藉由固定器65 將電路板6 2箝夾在支柱6 3與彈性體感知元件6 0之間。固定器65也可扮演著使支柱63連接到基座部分64上的角色。參照第1 6圖，可建造上邊電路板6 6使之有利以複數個固定器6 9與控制把手1作連接。再次參照第1 5 a到1 5 d圖，較佳的是使各電氣端子6 1 a和6 1 b和6 1 c以1 2 0 °角均等地間隔開。同時較佳的是使各電氣端子62a、62b和62c以 i 2 0。角均等地間隔開，並使之與各上邊電氣端子偏移6 0 ° 角。依這種方式，結合有各種電氣端子的電氣導電性彈性體感知元件60可扮演著如第17圖所示之可變電阻電路的功能。吾人應該注意的是第1 7圖係用以顯示一種三維電路的平面表現法，可將之當作如第1 5 a到1 5 e圖所示之彈性體感知元件60沿著與各電氣端子61a、61b和61c及62a 、62b和62c相交之圓形或六角圖案切開的截面圖示。再 •47- 1293423The lower end of the elastomer sensing element 60 (which may be a conductive elastomer element of free conductivity) may be attached to the post 63, and the post 63 is secured to the base portion 64. The upper end of the sensing element 60 can be used with electrical terminals 6丨a, 6丨b and 61c. The lower end of the elastomer sensing element 60 can be used with electrical terminals 62a, 62b and 62c. Each of the electrical terminals can be used to mechanically connect the control handle 1 and the post 63 to the elastomeric sensing element 60. The lower printed circuit board 67 and the upper printed circuit board 6 6 can be used to facilitate electrical connection with the elastomeric sensing element 6. The upper circuit board 66 can be fixed to the elastic sensing element 60 by means of a holder 6, and can be fixed to the control handle 1 by means of a holder 69. The circuit board 6 2 can be clamped between the post 63 and the elastomer sensing element 60 by a holder 65. The retainer 65 can also function to connect the post 63 to the base portion 64. Referring to Figure 16, the upper circuit board 66 can be constructed to facilitate connection of the plurality of holders 6 9 to the control handle 1. Referring again to Figures 15a through 15d, it is preferred that the electrical terminals 6 1 a and 6 1 b and 6 1 c are equally spaced at an angle of 120 °. At the same time, it is preferable to make each of the electrical terminals 62a, 62b and 62c i 2 0. The corners are equally spaced and offset from the upper electrical terminals by an angle of 60°. In this manner, the electrically conductive elastic sensing element 60 incorporating various electrical terminals can function as a variable resistance circuit as shown in Fig. 17. It should be noted that the 17th figure is used to show the planar representation of a three-dimensional circuit, which can be regarded as the elastic sensing element 60 along with the electrical terminals as shown in Figures 15a to 15e. A cross-sectional illustration of a circular or hexagonal pattern cut by intersecting 61a, 61b and 61c and 62a, 62b and 62c. Again •47-1293423

次參照第1 7圖，例如以可變電阻器7 0 a代表各電氣端子 6 1 a與62a之間可隨著彈性體感知元件60的變形而改變的可變電阻。該三維電路可具有S t e w a r t平臺之發動機幾何的一般形狀。重要的是，可將彈性體感知元件6 0之偏轉作用的六個自由度獨特地表爲各電氣端子61a、61b、61c及62a 、62b和62c之間的電阻式電氣特徵。彈性體感知元件60 可由數種範圍廣泛的各式材料製成。本發明的某一實施例中，該彈性體可以是一種將金屬鹽類溶解於聚合物內的固態溶液，如同授予Chiang等人之美國專利第5,8 9 8,0 5 7號、第 6,063,499 號、第 6，111，〇51 號或第 6，184,331 號文件中所說明的或是可購自Mearthane Products公司的產品。在將金屬鹽類溶解於聚合物內形成固態溶液的例子裡，較佳的是使其電氣激發信號具有交替的極性。以下稱這種彈性體爲具有電離導電性的。例如可使用如第4 5圖所示的三相交流電源。替代地’該彈性體感知元件6 0可以是一種諸如由2丨口061*1丨14^53：^]*公司開發的聚苯胺（？八11丨）之類的「內累導電性聚合物」或是這類聚合物的混煉物。替代地，可使用具有導電性塡充物的聚合物，但是起因於其非調和性且經常呈現出非線性應變阻抗特徵故並非較佳選擇。參照第1 8 a、1 8 b、1 8 c和1 8 d圖，係用以顯示一種根據本發明另一實施例之彈性體感知元件6 0的各種示意圖，其中係將各上邊電氣端子標示爲61a、61b和61c而各下邊電氣端子標示爲6 2 a、6 2 b和6 2 c。本實施例係起因於已降低或排除穿過如第17圖所示之等效電阻71a、71b、71c、72a -48- 1293423 ' 7 2b和7 2c的電流而優於如第15a到15e圖所示之實施例。除此之外，可藉由控制彈性體「接腳」7〇a、7 0b、70c、 7 0 d、7 0 e和7 0 f的形狀和角度快速地調整沿著各軸的機械堅實度。參照第1 8 e圖，顯示的是一種代表性等效電路，其中可變電阻7 0 a到7 0 f代表的是第1 8 a到1 8 d圖中具有相同符號的「接腳」電阻。Referring to Fig. 17, for example, a variable resistor 7 0 a represents a variable resistor which is changeable between the respective electrical terminals 6 1 a and 62a as the elastomer sensing element 60 is deformed. The three-dimensional circuit can have the general shape of the engine geometry of the S t e w a r t platform. Importantly, the six degrees of freedom of the deflection of the elastomeric sensing element 60 can be uniquely represented as a resistive electrical characteristic between the electrical terminals 61a, 61b, 61c and 62a, 62b and 62c. The elastomeric sensing element 60 can be made from a wide variety of materials. In one embodiment of the invention, the elastomer may be a solid solution in which a metal salt is dissolved in a polymer, as in U.S. Patent Nos. 5,8,8,058, 6,063,499 to Chiang et al. No. 6,111, 〇51 or 6,184,331 or a product available from Mearthane Products. In the case of dissolving metal salts in a polymer to form a solid solution, it is preferred to have their electrical excitation signals have alternating polarities. Hereinafter, such an elastomer is said to have ionization conductivity. For example, a three-phase AC power source as shown in Fig. 45 can be used. Alternatively, the elastomeric sensing element 60 may be a "inner conductive polymer such as polyaniline (?811) developed by the company 2 丨 061*1丨14^53:^]* Or a mixture of such polymers. Alternatively, a polymer having a conductive chelating agent can be used, but it is not preferred because it is non-harmonic and often exhibits a nonlinear strain resistance characteristic. Referring to Figures 18a, 1 8b, 1 8c, and 8 8 d, there are shown various schematic views of an elastomer sensing element 60 in accordance with another embodiment of the present invention, wherein the upper electrical terminals are labeled The lower electrical terminals for 61a, 61b, and 61c are labeled 6 2 a, 6 2 b, and 6 2 c. This embodiment is superior to the patterns as shown in Figs. 15a to 15e because the currents passing through the equivalent resistances 71a, 71b, 71c, 72a - 48 - 1293423 ' 7 2b and 7 2c as shown in Fig. 17 have been reduced or eliminated. The illustrated embodiment. In addition, the mechanical firmness along each axis can be quickly adjusted by controlling the shape and angle of the elastomer "pins" 7〇a, 70b, 70c, 70d, 70e, and 70f. . Referring to Figure 18E, a representative equivalent circuit is shown, in which the variable resistors 7 0 a to 7 0 f represent the "pin" resistors having the same sign in the 1 8 a to 18 d pictures. .

參照弟19a、19b、19c和19d圖’係用以顯示—種根據本發明的又一實施例，其中係以複數個分離式彈性體感知元件75a、75b、75c、75d、75e和75f取代前述附圖的單 —彈性體感知元件60。可由各電氣端子72a到72 f及73 a 到73f將彈性體感知元件固定到上邊電路板66及下邊電路板67上。可依其他附圖所示的方式將上邊電路板66及下邊電路板6 7固定到控制把手、支柱或基座部分上。可選擇各分離式感知元件的尺寸及形狀以使堅實度特徵、強度以及沿著每一個軸之環境改造學感覺最佳化。Referring to the drawings 19a, 19b, 19c, and 19d, 'for display', a further embodiment in accordance with the present invention in which a plurality of separate elastomeric sensing elements 75a, 75b, 75c, 75d, 75e and 75f are substituted for the foregoing Single-elastic sensing element 60 of the drawing. The elastic sensing element can be fixed to the upper circuit board 66 and the lower circuit board 67 by the respective electrical terminals 72a to 72f and 73a to 73f. The upper circuit board 66 and the lower circuit board 67 can be secured to the control handle, post or base portion in the manner shown in the other figures. The size and shape of each discrete sensing element can be selected to optimize firmness characteristics, strength, and environmental refinement feel along each axis.

參照第1 9e圖，係用以顯示一種對應於如第i 9a到i 9d 圖所示之複數個彈性體感知元件的代表性等效電路。參照第2 0 a和2 0 b圖，分別係用以顯示根據本發明另一實施例的平面圖及截面圖，其中係將含有以下簡稱爲「電解質」之導電液體或凝膠的空腔設置於可形變彈性體結構 7 7之內。以下係將含有電離導電液體的可形變元件稱爲可形變液體元件。以下係將含有電離導電凝膠的可形變元件稱爲可形變凝膠元件。可藉由伸長、縮短、稀釋、窄化、 -49- 1293423 電極蔭化作用使這類可形變元件相對於其電阻產生形變。可設置複數個電氣端子81a、81b、81c、82a、82b和82c 以連接各適當電路以便沿著各軸量測其電阻。較佳的是使各上邊電氣端子8 1 a、8 1 b和8 1 c以1 2 0。角均等地間隔開，且較佳的是使之與各下邊電氣端子82a、8 2b和82c偏移6(Γ 角’其中各下邊電氣端子也是以1 2 0。角均等地間隔開。可藉由欺入物7 8使於彈性體結構7 7的外緣沿著徑向產生堅實化。可使用外罩80以遮蔽各電氣端子8la、8U和81c 。可使用支持益7 9將彈性體結構7 7固定到支柱6 3上。現在爹照桌2 1 a到2 1 f圖，分別係用以顯示根據本發明另貫施例的平面®及截面圖，其中設置有複數個諸如長形橡膠水管8 3之類各含電解質的分離式彈性體元件。可由水管夾84牛牛地固定住電極82和83。可由裝設平臺85 和8 6爲各電極8 2和8 3定位並用以傳送施加其上的各種力量。各裝設平臺85和86相互間的偏轉作用可在各電氣端子8 1和8 2之間造成獨特的電氣阻抗圖案。任意一彈性體元件8 3的伸張作用都能在各電極與具窄小截面的電解質之間造成更長的距離且因此造成了更高的電阻。較佳的是可結合標準的調幅偵測電路以具有交替極性之激發信號完成該電阻的量測。現在參照第22圖，係用以顯示根據本發明又一實施例沿著六角形路徑切開的截面圖。製造及組合的各種階段可標示如下：可在使插針8 8落在定位下鑄造出彈性體結構8 7 。拔除插針8 8留下空腔8 9。將電極塞入該彈性體結構8 7 -50- 1293423 的底部。然後使空腔8 9塡充有電解質9 2。然後塞入各上邊電極93而將電解質92密封到空腔89內。可由各電氣連 ί 妾，結構9 4完成本實施例中各感知元件部分的組合。 ί見#參照第2 3圖，顯示的是六個感知元件總成中其結構司*胃ί共比如第2 2圖所示之實施例更高之靈敏度的兩個感知元件總成。較之該彈性體結構8 7的高度各上邊電極9 5 與Τ邊電極96之間名義上的距離是很小的，這可在該彈性體結構8 7的給定偏轉下造成電極間隔產生較大的相對變化。Referring to Figure 19e, a representative equivalent circuit corresponding to a plurality of elastomeric sensing elements as shown in Figures i9a through i9d is shown. Referring to FIGS. 20a and 20b, respectively, a plan view and a cross-sectional view showing a cavity containing a conductive liquid or gel referred to as "electrolyte" hereinafter are provided in accordance with another embodiment of the present invention. The deformable elastomer structure is within 7 7 . The deformable element containing the ionized conductive liquid is hereinafter referred to as a deformable liquid element. The deformable element containing the ionized conductive gel is hereinafter referred to as a deformable gel element. Such deformable elements can be deformed relative to their electrical resistance by elongation, shortening, dilution, narrowing, and -49-1293423 electrode shading. A plurality of electrical terminals 81a, 81b, 81c, 82a, 82b, and 82c may be provided to connect the appropriate circuits to measure their resistance along each axis. Preferably, the upper side electrical terminals 8 1 a, 8 1 b and 8 1 c are made 1 2 0. The corners are evenly spaced apart, and preferably offset from each of the lower side electrical terminals 82a, 8 2b and 82c by 6 (the corners of each of the lower electrical terminals are also equally spaced by 1 2 0. The angle can be borrowed. The outer edge of the elastomeric structure 7 7 is solidified in the radial direction by the intrusion 7. The outer cover 80 can be used to shield the electrical terminals 81a, 8U and 81c. The elastomeric structure 7 can be used using the support 7 9 7 is fixed to the pillars 63. Now, the tables 2 1 a to 2 1 f are respectively used to show the plane ® and the sectional view according to another embodiment of the present invention, in which a plurality of rubber hoses such as long rubber pipes are provided. Separate elastomeric elements containing electrolytes such as 8 3. The electrodes 82 and 83 may be held by water pipe clamps 84. The electrodes 8 2 and 8 3 may be positioned by the mounting platforms 85 and 86 for transfer and application thereon. Various forces. The deflection between the mounting platforms 85 and 86 creates a unique electrical impedance pattern between the electrical terminals 8 1 and 8 2. The stretching of any elastomeric member 8 3 can be applied to each electrode. Causes a longer distance between the electrolyte with a narrow cross section and thus Higher resistance. Preferably, the measurement of the resistance can be accomplished with an excitation signal having alternating polarity in combination with a standard amplitude modulation detection circuit. Referring now to Figure 22, there is shown another embodiment along the basis of the present invention. A cross-sectional view of the hexagonal path cut. The various stages of manufacture and assembly can be labeled as follows: The elastomeric structure 8 can be cast while the pin 8 8 is placed in position. The pin 8 8 is removed to leave the cavity 89. The electrode is inserted into the bottom of the elastomeric structure 8 7 - 50 - 1293423. The cavity 8 9 is then filled with electrolyte 9 2 and then plugged into each of the upper electrodes 93 to seal the electrolyte 92 into the cavity 89. Electrical connection 结构结构, structure 9 4 complete the combination of the sensing element parts in this embodiment. ί See # refer to Figure 2 3, showing the structure of the six sensing component assemblies * stomach 共 a total of 2 2 The embodiment shown has a higher sensitivity of the two sensing element assemblies. The nominal distance between the upper electrode 9 5 and the edge electrode 96 is small compared to the height of the elastomeric structure 87. Between the electrodes can be caused by a given deflection of the elastomeric structure 87 A greater relative change.

現在參照第24圖，所顯示的實施例要求只將單一電極總成9 7塞入該彈性體結構8 7的每一個空腔內。本實施例可依更簡單的方式製造且更不受到於組合期間進入空腔內之小量空氣的影響。Referring now to Figure 24, the illustrated embodiment requires that only a single electrode assembly 9 7 be inserted into each of the elastomeric structures 87. This embodiment can be made in a simpler manner and is less affected by the small amount of air entering the cavity during assembly.

現在參照第25a、25b和25c圖，顯示的是本發明的另一實施例，其中可形變彈性體結構丨〇〇可含有複數個內部堅實元件9 9，這些內部堅實元件係用以沿著所選擇的軸使該彈性體結構1 0 0的應變耦合到更容易由諸如由印刷電路板應變計量器或是一個或更多個MEMS力量感知器構成的陣列之類小型裝置9 8量測得的應變上。現在參照第2 6圖，係用以顯示一種根據本發明另一實施例的局部示意圖，其中可透過塡充有流體的通路1 0 2使各堅實元件9 9耦合於壓力感知裝置1 0 1。參照第2 7圖，係用以顯示一種根據本發明另一實施例的截面圖，其中設置有可形變彈性體結構7 7以便依樞軸旋轉方式將位移量測裝置1 0 3連接到共同空腔1 0 5內的位置1 0 4 -51- 1293423 上。堅實性嵌入物78可在可形變彈性體結構77的外緣上相提供徑向堅實度。較佳的是，可依Stewart平臺的幾何形狀 ’ 設置六個量測裝置1 〇 3。現在參照第2 8圖，係用以顯示一種根據本發明另一實施例的局部截面圖，其中係將各位移量測裝置1 0 3套人彈个生體結構1 〇〇的分離空腔內。現在參照第2 9圖，係用以顯示一種根據本發明另一實施例的局部截面圖’其中係將g者如可變電感或差分轉換器之類的位移量測裝置安裝於一可形變彈性體結構的單獨空腔 φ 內。如圖所示之實施例可進一步爲每一個單獨轉換器1 〇 3 提供單一鑄造式球形椅1 04。第29圖的局部截面圖顯示了較佳數量爲六個的轉換器1 0 3中依S t e w a 1· t平臺之結構定向的兩個轉換器。可使轉換器總成丨〇 3的球體部分〗〇 6座落於彈性主體1 00的鑄造式球形椅1 04內。變壓器核心〗〇 5 ' 的特色是使其球體外徑可在線圈總成內滑動。桿柱部分：! 〇 7 可使球體部分1 0 6與變壓器核心1 〇 5連接在一起。現在參照第3 0圖，彈性體結構1 0 0內線圈型彈簧1 〇 8的 β 電感可隨著彈性體結構1 〇〇出現形變並改變其長度而改變。可量測其電感變動以建立該彈性體結構1 00之已形變形狀的電子表現法。參照第3 1圖，彈性體結構！〇〇的特色爲該線圈或線圈型彈簧1 〇 8內設置有膨脹型空腔8 9。可藉由配件1 〇 9及水管 1 1 0使各膨脹型空腔8 9連接到外部壓縮流體或氣體源上。較佳的是可於彈性體結構1〇〇內依Stewart平臺結構設置數 -52- 1293423 量爲六的膨脹型空腔8 9。藉由本實施例可建造一種力量反， r 饋或「haptic」型搖桿。由六個如圖所示之兩種元件構成的組合可稱爲具有發動機的「機臺」。藉由依端點對端點方式裝設有多個獨立操作型「機臺」，可在具有極大彈性及控制性下建造一種機械型蛇形裝置。這種多機臺裝置對例如用於醫療應用的導尿管操縱而言是很有用的。較佳的是可藉由結合有諸如MEM S閥門總成之類的單一壓力岐管施行這種多機臺裝置的控制，且較佳的是可由單一數位資料排流爲這種MEMS閥門總成進行定址及發動。依這種方式，可 φ 沿著落在類似於脊椎動物之脊椎骨的結構內延伸式多機臺發動機的中心配置一種結合有單一資料排流的單一加壓氣體管線。現在參照第32a到3 2d圖，顯示的是本發明的另一實施例，其中係結合塡充有凝膠的腕靠1 1 1和數値鍵盤1 1 2以 ~ 使用塡充有電解質的可形變彈性體結構77 (相似於在第20a 、2 0b圖所示者）。可使該可形變彈性體結構77的對稱軸從鉛垂方向傾斜出來以允許使用者的手處於舒適而放鬆的位胃置。正常情況下可使基座部分64的底部64a平坦地靜置於諸如書桌之類的水平表面上。現在參照第3 3圖，顯示的是本發明的另一實施例，其中係藉由多軸感知元件Π 5將遊戲控制器1 1 6的左半邊1 1 3 連接到遊戲控制器1 1 6的右半邊1 1 4。藉由本實施例，可保留雙手型遊戲控制器的所有傳統特性而同時添加了例如六個額外的自由度。 -53- 1293423 現在參照第3 4圖，顯示的是一種根據本發明另一實施例的腕戴式裝置，其中係藉由手帶丨丨7和腕帶i〗8使基座部分119牢牢地固定於使用者的手120上。可透過感知器部分1 2 1使主動式控制把手1連接到該基座部分！！ 9上。現在參照第35a到35g及36a和36b圖，顯示的是一種根據本發明另一實施例之裝置模型的照片，其中可藉由一隻手快速地控制十二個自由度。可藉由一感知裝置（未標示）使指尖操作式控制把手1 2 2連接到手持式控制把手1 2 3上。較佳的是該指尖操作式控制把手1 22的直徑大槪爲1到 1 1 /2英吋以有利於使本發明中所揭示的感知裝置達成新奇位準的輕巧度。可將用於量測手持式控制把手之輸入的額外感知裝置定位在手持式控制把手1 2 3上或是將之定位在連接用聯結器1 24之上或之內，或者藉由例如視訊量測裝置之類外部裝置達成。現在參照第3 7 a、3 7 b、3 7 c、3 8 a、3 8 b和3 8 c圖，顯示的是一種根據本發明另一實施例之裝置模型的照片，其中可使用手持式固定控制把手1 2 5以穩定使用者的手同時可藉由使用者的姆指、食指及中指操縱多個例如六個自由度。現在參照第3 9圖，顯示的是根據本發明某一實施例中多種替代電路實例之一。參照第4 0 a圖，係用以顯示一種根據本發明實施例之彈性體感知元件的透視圖。現在參照第40b圖，係用以顯示如第40a圖所示之感知元件的截面圖。 -54- 1293423 現在參照第4 1圖，係用以顯示一種根據本發明實施例結 _ 合有複數個導電型彈性體抗張構件之裝置的正視圖。 ’ 現在參照第42圖，係用以顯示根據本發明某一實施例中數種代表性電路之一。現在參照第4 3圖，係用以顯示根據本發明另一類實施例中數種代表性電路之一。現在參照第44圖，係用以顯示一種根據本發明某一實施例之可變形彈性體感知元件內具有Stewart平臺幾乎形狀而塡充有電解質之空腔的實例示意圖。 φ 現在參照第45圖，係用以顯示一種對應於如第44圖所示實施例之裝置的電路圖。現在參照第4 6圖，係用以顯示一種根據本發明某一實施例之裝置的截面圖。 ’ 現在參照第4 7圖，顯示的是一種電氣信號的施行實例， - 其中係將表爲A，B和C的電壓加到如第1 5 a到1 5 e圖所示實施例中表爲6 1 a，6 1 b和6 1 c的一組端子上。例如可藉由量測可在如第l5a到15e圖示所示實施例中表爲62a，62b ^ 和6 2 c的一組端子上得到的電壓d、E和F施行的電壓及相位角而獲致六個自由度上的位置資訊。現在參照第4 8圖，顯示的是一種可結合如第4 6圖所示之實施例使用之印刷電路板配置。現在參照第4 9 a、4 9 b、4 9 c和4 9 d圖，所顯示搖桿的特色爲其上裝设有膠襯墊腕靠1 1 1的基座6 4允許使用者舒適地箱制基座64使之於操縱搖桿期間穩穩地抵住諸如書 -55- 1293423Referring now to Figures 25a, 25b and 25c, another embodiment of the present invention is shown in which the deformable elastomeric structure can contain a plurality of internal solid elements 9 9 which are used to The selected shaft couples the strain of the elastomeric structure 100 to a smaller device that is more easily measured by an array such as an array of printed circuit board strain gauges or one or more MEMS power sensors. On the strain. Referring now to Figure 26, there is shown a partial schematic view of another embodiment of the present invention in which solid elements 9 9 are coupled to pressure sensing device 110 by a fluid-filled passage 102. Referring to Figure 27, there is shown a cross-sectional view of another embodiment of the present invention in which a deformable elastomeric structure 7 is provided for pivotally connecting the displacement measuring device 103 to a common space. The position in the cavity 1 0 5 is 1 0 4 -51-1293423. The solid insert 78 provides radial firmness on the outer edge of the deformable elastomeric structure 77. Preferably, six measuring devices 1 〇 3 are provided in accordance with the geometry of the Stewart platform. Referring now to Figure 28, there is shown a partial cross-sectional view of a different embodiment of the present invention in which a plurality of displacement measuring devices are placed in a separate cavity of a living body structure 1 〇〇 . Referring now to Figure 29, there is shown a partial cross-sectional view of another embodiment of the present invention in which a displacement measuring device such as a variable inductance or differential converter is mounted to a deformable device. The individual cavity φ of the elastomer structure. The illustrated embodiment can further provide a single cast spherical seat 104 for each individual converter 1 〇 3 . A partial cross-sectional view of Fig. 29 shows a preferred number of six transducers 1 0 3 oriented in accordance with the structure of the S t e w a 1 t platform. The spherical portion of the converter assembly 丨〇 3 can be placed in the cast spherical seat 104 of the elastic body 100. The transformer core 〇 5 ' features a spherical outer diameter that slides within the coil assembly. Pole section: ! 〇 7 The ball part 1 0 6 can be connected to the transformer core 1 〇 5. Referring now to Fig. 30, the β inductance of the coil type spring 1 〇 8 in the elastomer structure 1000 can be changed as the elastomer structure 1 形 deforms and changes its length. The inductance variation can be measured to establish an electronic representation of the deformed shape of the elastomer structure 100. Refer to Figure 31 for the elastomer structure! The feature of the 〇为 is that the coil or coil type spring 1 〇 8 is provided with an inflated cavity 8.9. Each of the expansion cavities 8 9 can be connected to an external source of compressed fluid or gas by means of fittings 1 〇 9 and water tubes 1 10 . Preferably, an expansion cavity 8.9 having a number of -52 to 1293423 is provided in the elastomer structure 1 in accordance with the Stewart platform structure. With this embodiment, a force counter, r feed or "haptic" type rocker can be constructed. A combination of six elements as shown in the figure can be referred to as a "machine" having an engine. By installing a plurality of independently operated "machines" in an end-to-end mode, a mechanical serpentine device can be constructed with great flexibility and controllability. Such multi-machine devices are useful for catheter manipulation, e.g., for medical applications. Preferably, the control of the multi-machine apparatus can be performed by a single pressure manifold incorporating a valve assembly such as a MEM S, and preferably a single digital data can be drained into the MEMS valve assembly. Address and launch. In this manner, a single pressurized gas line incorporating a single data drain can be placed along the center of the multi-stage engine that extends within a vertebrate-like vertebra. Referring now to Figures 32a through 3d, another embodiment of the present invention is shown in which a gel-attached wrist rest 1 1 1 and a digital keyboard 1 1 2 are used to use an electrolyte filled with Deformed elastomeric structure 77 (similar to those shown in Figures 20a, 20b). The axis of symmetry of the deformable elastomeric structure 77 can be tilted out of the vertical direction to allow the user's hand to be in a comfortable and relaxed position. The bottom portion 64a of the base portion 64 can be normally placed flat on a horizontal surface such as a desk. Referring now to Figure 3, there is shown another embodiment of the present invention in which the left half 1 1 3 of the game controller 1 16 is coupled to the game controller 1 16 by a multi-axis sensing element Π 5 The right half is 1 1 4 . With the present embodiment, all of the conventional features of the two-handed game controller can be retained while adding, for example, six additional degrees of freedom. Referring now to FIG. 4, there is shown a wrist-worn device according to another embodiment of the present invention, wherein the base portion 119 is secured by the hand strap 7 and the wristband i8. The ground is fixed to the user's hand 120. The active control handle 1 can be connected to the base portion through the sensor portion 1 2 1! ! 9 on. Referring now to Figures 35a through 35g and Figures 36a and 36b, there is shown a photograph of a device model in accordance with another embodiment of the present invention in which twelve degrees of freedom can be quickly controlled by one hand. The fingertip operated control handle 1 2 2 can be coupled to the hand held control handle 1 2 3 by a sensing device (not labeled). Preferably, the fingertip operated control handle 1 22 has a diameter of from 1 to 1 1/2 ft. to facilitate the lightness of the sensing device disclosed in the present invention to achieve a novel level. An additional sensing device for measuring the input of the hand-held control handle can be positioned on or in the hand-held control handle 1 2 3 or by, for example, a video volume An external device such as a measuring device is reached. Referring now to the figures 3 7 a, 3 7 b, 3 7 c, 3 8 a, 3 8 b and 3 8 c, a photograph of a device model according to another embodiment of the present invention is shown, wherein a hand-held type can be used The control handle 1 2 5 is fixed to stabilize the user's hand while a plurality of, for example, six degrees of freedom can be manipulated by the user's thumb, forefinger and middle finger. Referring now to Figure 39, there is shown one of many alternative circuit examples in accordance with an embodiment of the present invention. Referring to Figure 40a, there is shown a perspective view of an elastomeric sensing element in accordance with an embodiment of the present invention. Referring now to Figure 40b, there is shown a cross-sectional view of the sensing element as shown in Figure 40a. -54- 1293423 Referring now to Figure 4, there is shown a front elevational view of an apparatus incorporating a plurality of electrically conductive elastomer tensile members in accordance with an embodiment of the present invention. Referring now to Figure 42, there is shown one of several representative circuits in accordance with an embodiment of the present invention. Referring now to Figure 4 3, there is shown one of several representative circuits in accordance with another embodiment of the present invention. Referring now to Figure 44, there is shown an exemplary view of a cavity having a Stewart platform having almost the shape of a deformable elastomeric sensing element in accordance with an embodiment of the present invention. φ Referring now to Fig. 45, there is shown a circuit diagram corresponding to the apparatus of the embodiment shown in Fig. 44. Referring now to Figure 4, there is shown a cross-sectional view of a device in accordance with an embodiment of the present invention. ' Referring now to Figure 47, an example of the implementation of an electrical signal is shown, - where the voltages of Tables A, B and C are added to the embodiment shown in Figures 15a to 15e. 6 1 a, 6 1 b and 6 1 c on a set of terminals. For example, the voltage and phase angles that can be applied to the voltages d, E, and F obtained at a set of terminals 62a, 62b^, and 6 2 c in the embodiment shown in FIGS. 15a to 15e can be measured. Get location information on six degrees of freedom. Referring now to Figure 48, there is shown a printed circuit board configuration that can be used in conjunction with the embodiment shown in Figure 46. Referring now to Figures 4 9 a, 4 9 b, 4 9 c, and 49 d, the rocker is shown to have a base 6 4 with a rubberized wrist rest 1 1 1 to allow the user to comfortably The box base 64 is steadily resisted during manipulation of the rocker such as the book -55-1293423

桌之類的支撐表面。使支柱63連接到基座64上並進行塑造以防止下邊控制把手部分1 b出現過量的旋轉或水平運動。據此成形該下邊控制把手部分1 b以允許它繞支柱6 3 進行必要但是不過量的運動。該下邊控制把手部分1 b的運動會在向下方向上受到基座64的限制且在向上方向上受到支柱6 3的限制。膜片2可沿著數個方向迴旋以便在六個自由度上提供彈性並爲光學元件提供保護使之不受灰塵及昆蟲的影響。彈簧1 〇可爲控制把手部分1 a和1 b提供恢復力並藉由孔洞1 〇a和1 Ob爲上邊控制把手1 a提供相對於光電發射器4和光電偵測器5的定位。也可藉由彈簧1 0爲下邊控制把手1 b提供相對於支柱63的定位。如圖所示彈簧 1 0具有三向對稱。彈簧1 0可具有任何數目的諸如二向對稱之類結構或者可建造成具有單一迴旋元件。上邊控制把手1 a的特色是具有吸收區1 c及反射區1 d的內部表面。可使發射器4直接瞄準在吸收區1 c與反射區1 d之間的邊界上。可使各光電偵測器5具有寬廣的視野並使每一個光電偵測器5都能回應來自數個光電發射器的反射光。假如一次爲一個光電發射器加能，則可依電氣方式使所有光電偵測器例如各光電二極體作並聯連接且使之連接於諸如 Microchip公司製造之PIC®裝置之類混合式積體電路的單一類比輸入通路上。可將這種裝置連同其他用以直接起動各光電發射器4或是用以從各光電偵測器5導出信號所需要的電子組件直接裝設於電路板1 3上。本實例中如第4 9 a， 49b，49c和49d圖所示之上邊控制把手la的直徑爲53毫 -56- 1293423 米。現在參照第5 0 a和5 0 b圖，顯示的是一種根據本發明某一實施例結合有單件式光電轉換器的裝置。可將支柱63連接到基座64上並成形以防止下邊控制把手部分1 b出現過量的旋轉或水平運動。據此成形該下邊控制把手部分1 b以允許它繞支柱6 3進行必要但是不過量的運動。該下邊控制把手邰分1 b的運動會在向下方向上受到基座6 4的限制且在向上方向上受到支柱6 3的限制。膜片2可沿著數個方向迴旋以便在六個自由度上提供彈性並爲光學元件提供保護 φ 使之不受灰塵及昆蟲的影響。彈簧1 〇可爲控制把手部分 1 a和1 b提供恢復力並藉由孔洞1 〇 a和} 〇 b爲上邊控制把手 1 a提供相對於光電發射器4和光電偵測器5的定位 '也可藉由彈簧1 0爲下邊控制把手1 b提供相對於支柱6 3的定位。如圖所示彈簧1 0具有三向對稱。彈簧1 〇可具有任可數 — 目的諸如二向對稱之類結構或者可建造成具有單一迴旋元件。上邊控制把手1 a的特色是具有吸收區1 c及反射區1 d 的內部表面。可使發射器4 4 c直接瞄準在吸收區1 c與反射 ® 區1 d之間的邊界上。可使各光電偵測器44b具有寬廣的視野並使每一個光電偵測器5都能回應來自數個光電發射器的反射光。第50a, 50b和50c圖係依比例繪製使得上邊控制把手1 a的直徑爲大槪4 0毫米，因此變得較佳的是可由使用者的姆指尖、食指尖及中指尖操作並保留使用者的其他手指可抓取諸如可連接到基座64上的滑鼠或搖桿之類的其他裝置。 -57- 1293423 現在參照第50c圖，顯示的是第50a和50b圖中的單件式光學轉換器4 4。單件式光學轉換器4 4包括一可以是印 · 刷電路板的基板44e，六個分離式光電發射器44c以及六個分離式光電偵測器4 4 b，每一個都可封裝於諸如環氧樹脂之類的透明媒介物內。可藉由以不透明媒介物圍繞該透明媒介物以防止光在各光電發射器與光電偵測器之間直接傳輸。可在例如以不透明媒介物44i進行過鑄造之前將反射性塗層塗覆到透明媒介物44h的外部表面上。各連接插針 44a可藉由例如USB之類的介面以便爲該裝置提供電力並 φ 從裝置上送出資料。可將混合信號式微控制器44d以及其他必要組件裝設於基板44e上並以樹脂系統44h及/或44i 進行封裝。依這種方式可製造出一種低成本的強固轉換器套裝組合。現在參照第 5 1 a、5 1 b、5 1 c、5 1 d、5 1 e、5 1 f 和 5 1 g 圖， ~ 顯示的是一種根據本發明的實施例，其中係將一六軸搖桿連接到三軸滑鼠64a上。可成形該滑鼠以允許使用者的手腕呈實質垂直因此允許滑鼠基座作更大範圍的z軸旋轉。 ® 如圖所示的形狀也有利於由使用者之無名指及小指穩固地抓住使滑鼠部分抵住使用者的手掌。使用者的手掌與彎曲手指之間的***可進一步強化牢固的緊握。直徑大槪4 0毫米的搖桿允許使用者以姆指、食指及中指操縱。滑鼠底部表面的特色爲具有兩組偏移式傳統光學滑鼠轉換器。雖則兩個位置上的一組轉換器只需要量測X軸的運動，然而每一組轉換器皆可量測出X和y軸的運動。爲了命名的目的 •58 - 1293423 ，使各組轉換器落在沿著平行於y軸方向的線段上。可從滑鼠上可在兩個X軸轉換器造成差分輸出的z軸扭轉作用導出第三滑鼠軸。如圖所示的裝置提供了九個自由度。也可圍繞該六軸搖桿基座周緣設置有按鈕。可在該裝置頂部加上一小型的十鍵式襯墊。Support surface such as a table. The post 63 is attached to the base 64 and plasticized to prevent excessive rotation or horizontal movement of the lower control handle portion 1b. The lower side control handle portion 1b is thereby formed to allow it to perform a necessary but excessive amount of movement about the strut 63. The movement of the lower side control handle portion 1b is restricted by the base 64 in the downward direction and by the support 63 in the upward direction. The diaphragm 2 can be rotated in several directions to provide elasticity in six degrees of freedom and to protect the optical element from dust and insects. The spring 1 提供 provides restoring force to the control handle portions 1 a and 1 b and provides positioning of the upper control handle 1 a with respect to the photoemitter 4 and the photodetector 5 by the holes 1 〇a and 1 Ob. The positioning of the handle 1b relative to the post 63 can also be provided by the spring 10 for the lower edge. The spring 10 has a three-way symmetry as shown. The spring 10 can have any number of structures such as two-way symmetry or can be constructed with a single gyro element. The upper control handle 1 a is characterized by an inner surface having an absorption zone 1 c and a reflection zone 1 d. The emitter 4 can be aimed directly at the boundary between the absorption zone 1c and the reflection zone 1d. Each of the photodetectors 5 can have a wide field of view and each photodetector 5 can respond to reflected light from a plurality of photoemitters. If a photo-emitter is energized at a time, all photodetectors, such as photodiodes, can be electrically connected in parallel and connected to a hybrid integrated circuit such as a PIC® device manufactured by Microchip. The single analogy is on the input path. Such a device can be directly mounted on the circuit board 13 along with other electronic components required to directly activate the respective photoemitters 4 or to derive signals from the respective photodetectors 5. In the present example, as shown in Figs. 49, 49b, 49c and 49d, the upper side control handle la has a diameter of 53 mil - 56 - 1293423 m. Referring now to Figures 50a and 5b, there is shown an apparatus incorporating a single piece optoelectronic converter in accordance with an embodiment of the present invention. The post 63 can be attached to the base 64 and shaped to prevent excessive rotation or horizontal movement of the lower control handle portion 1b. The lower side control handle portion 1b is thereby formed to allow it to perform necessary but excessive movement about the strut 63. The movement of the lower side control handle portion 1b is restricted by the base 64 in the downward direction and by the support 63 in the upward direction. The diaphragm 2 can be rotated in several directions to provide elasticity in six degrees of freedom and to provide protection to the optical element φ from dust and insects. The spring 1 提供 can provide restoring force for the control handle portions 1 a and 1 b and provide positioning of the upper control handle 1 a relative to the photo emitter 4 and the photodetector 5 by the holes 1 〇a and 〇 b The positioning of the handle 1b relative to the strut 63 can be provided by the spring 10 for the lower side. The spring 10 has a three-way symmetry as shown. The spring 1 〇 can have any number of purposes - such as a structure such as two-way symmetry or can be constructed with a single gyroscope element. The upper control handle 1a is characterized by an inner surface having an absorbing area 1c and a reflecting area 1d. The emitter 4 4 c can be aimed directly at the boundary between the absorption zone 1 c and the reflection ® zone 1 d. Each of the photodetectors 44b can have a wide field of view and each photodetector 5 can respond to reflected light from a plurality of photoemitters. The 50th, 50b, and 50c drawings are drawn in a ratio such that the upper control handle 1a has a diameter of more than 40 mm, and thus it is preferable to be operated and retained by the user's thumb, forefinger and middle finger tips. Other fingers of the person can grasp other devices such as a mouse or rocker that can be attached to the base 64. -57- 1293423 Referring now to Figure 50c, a one-piece optical converter 44 in Figures 50a and 50b is shown. The one-piece optical converter 44 includes a substrate 44e which may be a printed circuit board, six separate photoemitters 44c and six separate photodetectors 44b, each of which may be packaged in a ring such as a ring Within a transparent medium such as an oxygen resin. The transparent medium can be surrounded by an opaque medium to prevent direct transmission of light between each of the photoemitters and the photodetector. The reflective coating can be applied to the exterior surface of the transparent vehicle 44h prior to casting, for example, with the opaque medium 44i. Each of the connection pins 44a can be powered by the interface such as a USB to supply power to the device and φ to send data from the device. The mixed signal microcontroller 44d and other necessary components can be mounted on the substrate 44e and packaged in resin systems 44h and/or 44i. In this way, a low-cost combination of rugged converters can be made. Referring now to the 5th 1 a, 5 1 b, 5 1 c, 5 1 d, 5 1 e, 5 1 f, and 5 1 g diagrams, ~ shows an embodiment in accordance with the present invention in which a six-axis is used The rocker is connected to the three-axis mouse 64a. The mouse can be shaped to allow the user's wrist to be substantially vertical and thus allow the mouse base to make a wider range of z-axis rotations. The shape shown in the figure also facilitates the firm grip of the user's ring finger and little finger to hold the mouse part against the user's palm. The ridge between the user's palm and the curved finger further enhances the firm grip. A rocker with a diameter of 40 mm allows the user to manipulate with the thumb, index and middle fingers. The bottom surface of the mouse features a set of offset conventional optical mouse converters. Although a set of converters at two locations only need to measure the motion of the X-axis, each set of transducers can measure the motion of the X and y axes. For the purpose of naming • 58 - 1293423, each set of converters is placed on a line segment parallel to the y-axis direction. The third mouse axis can be derived from the z-axis torsion effect of the differential output of the two X-axis converters on the mouse. The device shown in the figure provides nine degrees of freedom. A button may also be provided around the circumference of the six-axis rocker base. A small ten-key pad can be added to the top of the unit.

現在參照第5 2圖，顯示的是另一種根據本發明的實施例，其中係由搖桿1控制用以控制一件建築設備1 3 1此例中爲裝塡機與可卸除工具1 3 3此例中爲裝塡籃之間空間關係的六角艙蓋轉接器1 2 6。可依類似方式控制諸如堆高機、多爪錨、起重吊桿、鋸刀、槌打機、鑽孔機、錐鑽機、割草機之類各種其他工具。可使用像視訊相機之類的機器構想式感知器1 3 0以便依機器方式定出連鎖裝置1 27相對於搖桿1的姿勢。也可使用機器構想式感知器〗3 〇以感知該六角艙蓋轉接器1 2 6的姿勢。也可藉由諸如視訊相機或是掃瞄式雷射光束之類機器構想式裝置解讀該六角艙蓋轉接器1 2 6的姿勢。例如可使用這種雷射光束以掃瞄六個抗壓構件上的反射性標籤。可使用反射信號的時序以定出該六角艙蓋轉接器1 26的姿勢。也可使用各種其他機器構想式策略。替代且連接地，可從諸如連接於六角艙蓋式抗壓構件上的MEMS (微型機電系統）裝置126c以及連接於128和132 上之MEMS裝置126b和126d之類分離式感知器歸納出其姿勢資訊。進一步可將MEMS裝置（可以是例如加速計或角速率感知器）127a和129a連接到一機器連鎖裝置的各種部位上。可依磁性方式連接這種裝置且較佳的是依無線方式 -59- 1293423 傳送資訊。附件A顯示的是一種以Μ E M S加速計資料爲基礎定出一機械元件之位置、角速度及角加速度的一般趨近法。可使用一般趨近法以定出諸如機器手臂、六角艙蓋及其組合之類多連式連鎖裝置的位置、角速度及角加速度。現在參照第5 3圖，顯示的是一種可結合如第5 2圖所示之實施例一起使用的局部性一般控制用配置。可由使用者以搖桿1控制從屬平臺1 3 2。可由電腦1 3 9使用機器構想式感知器130及/或分離式感知器127a，127b，126c和126d 之類連續地調整各座標以符合使用者的參考座標系統。也可使用習知的絕對角度及位置編碼器。可依水力方式使用可透過運動控制器1 3 4從水力發電機1 3 6接收到電力的水力閥式岐管1 3 7以控制六角艙蓋式抗壓構件1 2 6。也可由水力發電機1 3 6將電力供應到收發報機1 3 5上。收發報機 1 3 5可接收來自收發報機1 3 8的運動指令資料。這種策略可適用範圍廣泛的各式機器設備。這種設備不需要作永久性安裝且可適用於租用的建築設備。一般而言，該姿勢訂定系統只需要依充分合理的方式使該六角艙蓋的例如參考座標系統對齊操作員的參考座標系統便可。可依與控制系統無關的方式直接以操作員的視覺或聽覺作絕對位置的反饋。選擇性地，可使用（觸覺）搖桿以提供觸覺反饋。如同從前述說明很容易了解的是可依各種方式施行本發明的基本槪念。這同時涉及了多軸輸入的技術及裝置以兀成適當的方法。本發明中，揭示了多軸輸入技術當作將要 -60- 1293423 藉由各種已說明裝置達成的部分結果並當作應用固有的步驟。這不過就是依意圖及說明使用各裝置的自然結果。除此之外在揭示某些裝置時，吾人應該了解的是不僅完成了某些方法而且可依不同的方式達成。重要的是，如同先前的所有說明可理解的是這類事實都屬於本發明的揭示內容。Referring now to Figure 5, there is shown another embodiment in accordance with the present invention in which a rocker 1 is used to control a piece of construction equipment 1 3 1 in this example as a loading and unloading tool 1 3 3 In this example, the hex hatch adapter 1 2 6 is used to mount the space relationship between the baskets. Various other tools such as stackers, multi-claw anchors, lifting booms, saw blades, beaters, drills, cone drills, lawn mowers can be controlled in a similar manner. A machine-like perceptron 1100 such as a video camera can be used to mechanically determine the posture of the interlocking device 1 27 with respect to the rocker 1. You can also use the Machine Concept Sensor 33 感知 to sense the attitude of the hex hatch adapter 1 2 6 . The hex hatch adapter 1 2 6 can also be interpreted by a machine vision device such as a video camera or a scanned laser beam. For example, such a laser beam can be used to scan reflective labels on six compression members. The timing of the reflected signal can be used to determine the posture of the hexagonal hatch adapter 1 26. Various other machine concept strategies can also be used. Alternatively and in connection, the posture can be derived from a MEMS (Micro Electro Mechanical Systems) device 126c connected to a hexahedral pressure-resistant member and a separate sensor such as MEMS devices 126b and 126d connected to 128 and 132. News. Further, MEMS devices (which may be, for example, accelerometers or angular rate sensors) 127a and 129a may be coupled to various locations of a machine interlock. The device can be magnetically connected and preferably transmitted in a wireless manner -59-1293423. Annex A shows a general approach to determining the position, angular velocity and angular acceleration of a mechanical component based on the Μ E M S accelerometer data. A general approach can be used to determine the position, angular velocity, and angular acceleration of a multi-connected interlocking device such as a robotic arm, a hex hatch, and combinations thereof. Referring now to Figure 5 3, there is shown a partial general control configuration that can be used in conjunction with the embodiment shown in Figure 52. The slave platform 1 3 2 can be controlled by the user with the joystick 1. The coordinates can be continuously adjusted by the computer 139 using the machine vision sensor 130 and/or the separate sensors 127a, 127b, 126c and 126d to conform to the user's reference coordinate system. Conventional absolute angle and position encoders can also be used. It can be used in a hydraulic manner to control the hexagonal hatch pressure-resistant member 1 2 6 through the hydraulic controller 1 3 4 through the motion controller 1 3 4 to receive power from the hydro-generator 1 3 6 . Power can also be supplied to the transceiver 135 by the hydro generator 136. The transceiver 1 3 5 can receive the motion instruction data from the transceiver 138. This strategy can be applied to a wide range of machines. This equipment does not require permanent installation and is suitable for rental construction equipment. In general, the posture setting system only needs to align the hex hatch cover, e.g., the reference coordinate system, with the operator's reference coordinate system in a sufficiently sensible manner. The absolute position feedback can be directly taken by the operator's vision or hearing in a manner independent of the control system. Alternatively, a (tactile) rocker can be used to provide tactile feedback. As is readily apparent from the foregoing description, the basic concepts of the present invention can be implemented in various ways. This also involves techniques and devices for multi-axis input to achieve an appropriate method. In the present invention, the multi-axis input technique is disclosed as a step inherent in the application of the various illustrated devices by -60-1293423 and as an inherent step in the application. This is nothing more than the natural result of using each device according to the intention and description. In addition to revealing certain devices, what we should understand is that not only some methods are completed but also can be achieved in different ways. It is important that, as all previous descriptions are understood, such facts are within the disclosure of the present invention.

本發明中所包含的討論試圖扮演著基本說明的角色。讀者應該淸楚的是不需要以特定說明明確地所有可能的實施例且可依隱含方式說明多種替代實施例。尙未完全解釋的是本發明的真實特性或許並未明確地顯示如何將各器件或元件確實地表爲更廣泛的功能或是更多樣的替代或等效元件。再次，這類元件係隱含地包含於本發明的揭示內容中。在依裝置導向專有名詞說明本發明的同時，每一個元件都隱含地執行某一種功能。不僅已說明裝置包含了申請專利範圍中的各種裝置，而且包含了申請專利範圍中的各種方法及程序以強調本發明中每一個元件執行的功能。無意以本發明的說明或各專有名詞限制完整專利申請文件中所包含之本發明申請專利範圍的架構。吾人也應該了解的是可在不偏灕本發明所附申請專利範圍之精神及架構下作各種改變。這類改變也是隱含地包含於本發明的說明中。這類改變仍然落在本發明的架構內。廣義的揭示內容同時包含兩種明確顯示的實施例亦即各種明確的替代實施例，本發明的揭示內容包含了各種廣義的方法或程序且取決於用以支撐完整專利申請文件的申請專利範圍。吾人應該了解的是本發明係以暫時性歸檔文件爲 -61- 1293423 基礎完成這類語言轉換及廣義的申請專利範圍。本專利申請案係用以尋求對視爲申請人權利之申請專利範圍的廣義基礎的檢驗且其設計係用以獨立地產生一種涵蓋本發明中數種槪念當作整體系統的專利文件。The discussion contained in the present invention attempts to play the role of a basic explanation. It should be understood by the reader that it is not necessary to explicitly identify all possible embodiments, and that various alternative embodiments can be described in an implicit manner. It is not fully explained that the true nature of the invention may not be a clear indication of how the various components or components can be truly described as a broader function or a variety of alternative or equivalent components. Again, such elements are implicitly included in the disclosure of the present invention. While the present invention is described in terms of device-directed nouns, each component implicitly performs a certain function. It is to be understood that the device is not limited to the various devices in the scope of the application, and includes various methods and procedures in the scope of the claims to emphasize the function of each element in the invention. It is not intended to limit the architecture of the scope of the invention as claimed in the entire patent application. It is also to be understood that various changes may be made without departing from the spirit and scope of the invention. Such changes are also implicitly included in the description of the invention. Such changes still fall within the framework of the present invention. The broad disclosure includes both the clearly shown embodiments, that is, the various alternative embodiments. The disclosure of the present invention encompasses various broad methods or procedures and is dependent on the scope of the patent application to support the entire patent application. What we should understand is that the present invention accomplishes such language conversion and broad patent application scope on the basis of a temporary archive file of -61-1293423. This patent application is intended to seek a broad examination of the scope of the patent application that is considered to be the right of the applicant and is designed to independently produce a patent document that encompasses several complications of the present invention as a holistic system.

此外，可依各種方式達成本發明申請專利範圍各式元件中的每一種元件。吾人應該了解的是本發明的揭示內容可涵蓋每一個這類變型，只要是任何裝置實施例的變型、$ 法或程序貫施例或甚至只是這類兀件的變型。特別是，胃人應該了解的是有關本發明元件的揭示內容，即使只是其功能或結果是相同的也可由每一種元件一詞代表等效裝置或方法。應該考量的是在每一種元件或作用的說明中涵棄這種等效而更廣義或甚至更真實的名詞。可在必要時取代^ 這類名詞以明確地指出可涵蓋本發明的隱含廣義名詞。然而如同某一實例，吾人應該了解的是將所有動作表爲用以施行該動作的裝置或是用以造成該作用的元件。同樣地，吾人應該了解的是本發明所揭示的每一種實體元件都涵鸯了有利施行該實體元件之作用的揭示內容。關於最後一種槪念但是如同某一實例一般，相反地吾人應該了解的是「偵測裝置」或「偵測器」之揭示內容所涵蓋的偵測動作 (無論是否明確地討論到）是指「偵測動作」的有效揭示內容’吾人應該了解的是這種揭示內容涵蓋了「偵測器」甚至於「偵測裝置」的揭示內容。可理解的是在本發明的說明中明確地包含這種變換及替代性名詞。此中結合了本發明中所提及的專利文件、出版品及參考 -62- 1293423 文獻當作本專利申請案的參考文獻。除此之外，吾人應該了解的是此中使用的每一個名詞，除非本發明中依與這種解讀不一致的方式使用該名詞，可將傳統及常用字典的定我理解爲| □口有此中列爲爹考文獻之蘭登屋（r a n d 0 ιτι η 〇 u s e ) 公司印行之韋伯無刪減字典（第二版）中所含的所有定義、替代名詞及同義字。最後，附上列舉於將要結合於專利申請案、其他資訊聲明或是隨專利申請案送出之參考文獻淸單中的所有參考文獻；不過關於上述每一個名詞，可在這類結合於參考文獻中的資訊或聲明的範圍下認定爲與本發明不一致時淸楚地認定這類聲明不是本發明提出的聲明。因此’本發明的申請人應該理解至少提出下列申請：i) 如同此中揭不並說明的每一個輸入裝置；i i)所揭示並說明的相關方法；iii)每一個這類裝置及方法的類似、等效且甚至是明確的變型；iv)那些依所揭示並說明之方式完成所顯示之每一個功能的替代設計；V)那些依隱含了用以完成所Moreover, each of the various elements of the scope of the invention can be achieved in various ways. It should be understood that the disclosure of the present invention may cover each such variation as long as it is a variant of any device embodiment, a method or a program, or even a variant of such a component. In particular, it will be apparent to those of ordinary skill in the art that the disclosure of the elements of the present invention, even if the function or result is the same, may be represented by the equivalent of each element. It should be considered that this equivalent and more general or even more true nouns are excluded from the description of each element or function. Such nouns may be substituted as necessary to explicitly indicate implicit general terms that may encompass the invention. However, as with an example, it should be understood that all actions are represented as means for performing the action or as components for causing the action. Similarly, it should be understood that each of the physical elements disclosed in the present invention encompasses a disclosure that facilitates the functioning of the physical elements. Regarding the last kind of mourning, but like an example, on the contrary, what we should understand is that the detection action (whether explicitly discussed or not) covered by the disclosure of "detection device" or "detector" means " The effective disclosure of the "detection action" 'What we should understand is that this disclosure covers the disclosure of the "detector" or even the "detection device". It will be understood that such variations and alternative terms are explicitly included in the description of the invention. The patent documents, publications and references cited in the present specification are incorporated herein by reference. In addition, what we should understand is every noun used in this article. Unless the term is used in this way inconsistent with this interpretation, the traditional and commonly used dictionary can be understood as | All definitions, substitution nouns and synonyms contained in the Weber's non-deletion dictionary (second edition) published by the company rand 0 ιτι η 〇use are listed in the literature. Finally, attach all references listed in the list of references that will be incorporated into the patent application, other information statements or sent with the patent application; however, each of the above terms may be incorporated in the reference. In the event of any inconsistency with the present invention within the scope of the information or claims, it is expressly assumed that such statements are not statements of the present invention. Thus, applicants of the present invention should understand at least the following applications: i) each input device as described herein; ii) related methods disclosed and described; iii) similar to each such device and method , equivalent and even explicit variants; iv) alternative designs that perform each of the functions shown in a manner that is disclosed and illustrated; V) those implied to complete

揭示並說明的方式完成所顯示之每一個功能的各替代設計及方法；Vi)依分開而獨立發明的方式顯示的每一種特性、組件及步驟；Vii)因所揭示的各種系統或組件而強化的申請案；V i i i )由這類系統或組件製成的最終產品；i X )實質上可依如同以上說明並參照任意附設實例的方式施行的各方法及裝置；）〇由所揭示的每一個元件構成的各種組合及排列 ;xi)取決於所提出之每一個及每個獨立申請專利範圍或槪念的每一個潛在的獨立申請專利範圍或槪念；X i i)依如同遍及上述討論所說明的方式在電腦輔助下或在電腦上執行的 -63- 1293423 程序；Xiii)依如同遍及上述討論所說明的方式施行的可程式規s!j裝置，Xlv)含有編碼資料以管理包括可依如同遍及上述S寸SffiJ所說明之方式運作之裝置或元件之電腦的電腦可讚憶體；X v)依此中揭示並說明的方式建造的電腦；X v i) 依如同此中揭示並說明的方式施行的單獨或組合式子程式及程式；xvii)所揭示並說明的相關方法；xviii)每一個這類系統及方法的類似、等效且甚至是明確的變型；xix)那些依所揭示並說明之方式完成所顯示之每一個功能的替代設計；XX)那些依隱含了用以完成所揭示並說明的方式完成所顯示之每一個功能的各替代設計及方法；X x i)依分開而獨發明的方式顯不的每一種特性、組件及步驟；X x i i )由上述每一項構成的各種組合及排列。吾人也應該了解的是爲了實用的理由且爲了避免添加潛在的上百個申請專利項目，申請人最終提出只含初始附屬項目的申請專利範圍。吾人應該了解的是在新的相關法令下存在有必要程度的支援項目（包含但是不受限於歐洲專利協定條款123 (2)及美國專利法35 USC 132或其他這類法令）以容許添加在一個獨立申請專利項目或槪念下提出的各種附屬項目或是其他元素中的任意一種附屬項目當作在任何其他獨立申請專利項目或槪念下的附屬項目或元素。此外，假如或者當使用時過渡用詞「c 〇 m p 1· i s i n g」係且將根據對傳統申請專利項目的解讀以維持此中說明的「開放端」申請專利項目。因此，除非文中除此之外的要求，吾人應該了解的是試圖以「comprise」一字或是諸如「comprises」或「c 〇 m p r i s i n g」之類的變型暗示包含了已陳述兀素或步驟 -64- 1293423 或疋：由各兀素或步驟構成的集合但是不排除任何其他元素或步驟或是由各元素或步驟構成的集合。應該以最廣義形式解讀這類名詞以便爲申請人提供法律容許的最廣泛的保護範圍。可結合於任何時間提出的任何申請專利範圍當作本發明的部分說明’本發明的申請人明確地表達了保留樣利可使用全部或部分結合有這類內容的申請專利範圍當作額外說明’以支援任何或所有申請專利範圍或是其中的任何元件或組件；且本發明的申請人進一步明確地表達了保留權利可在必要時從各申請專利範圍的說明中移除全部或部分結合有這類內容的申請專利範圍反之亦然，以定義出本專利申請案或是其上的任何後續延展、分割或部分延展尋求保護的事項，或是用以取得任何降低依循費用的利益，或是用以順從專利法、法規、任何國家或條約的規定，並使這類結合內容在本專利申請案的待審期間保留包含本專利申請案的任何後續延展、分割或部分延展或是其上的任何再授權或延伸。此中結合了本發明中所提及的專利文件、出版品及參考文獻當作本專利申請案的參考文獻。明確地說，此中結中了 2 0 02年4月12日提出之美國專利申請案第6 0/3 72，2 16 號文件包含任何附圖及附加項目當作本專利申請案的參考文獻。如同表列，此中結合了本發明中所提及或包含的展示圖特別是展示圖A當作本專利申請案的參考文獻。除此之外，吾人應該了解的是此中使用的每一個名詞，除非本發明中依與這種解讀不一致的方式使用該名詞，可 -65- 1293423 將傳統及常用字典的定義理解爲結合有此中列爲參考文獻之蘭登屋（Random House)公司印行之韋伯無刪減字典（第二版）中所含的所有定義、替代名詞及同義字。最後，附上列舉於將要結合於專利申請案、其他資訊聲明或是隨專利申請案送出之參考文獻淸單中的所有參考文獻；不過關於上述每一個名詞，可在這類結合於參考文獻中的資訊或聲明的範圍下認定爲與本發明不一致時淸楚地認定這類聲明不是本發明提出的聲明。參考文獻淸單 I.美國專利文件文件編號授予曰期專利申請人分類副分類 2001/0055002 12/27/01 Endo 345 156 2001/0038380 11/08/01 Salcudean, et al. 345 161 Des. 358,143 05/09/95 Gombert, et al. D14 114 Des. 381,701 07/29/97 Salinas D21 48 D 440,971 04/24/01 Gombert D14 402 3,547,571 12/15/70 Angliker 8 41 3,839,220 10/01/74 Barchas 252 305 4,090,092 05/16/78 Serrano 307 116 4,136,291 01/23/79 Waldron 307 308 4,145,748 03/20/79 Eichelberger, et al. 364 862 4,158,216 06/12/79 Bigelow 361 280 4,233,522 11/11/80 Grummer, et al. 307 116 4,264,903 04/28/81 Bigelow 340 365 4,293,987 10/13/81 Gottbreht, et al. 29 25.42 4,304,976 12/08/81 Gottbreht, et al. 219 10.55 B 4,394,643 07/19/83 Williams 340 365 4,444,205 04/24/84 Jackson 128 782 4,505,049 03/19/85 Kuno et al. 33 333 4,536,746 08/20/85 Gobeli 340 365 4,550,617 11/05/85 Fraignier et al. 73 862.04 4,561,002 12/24/85 Chin 340 365 4,589,810 05/20/86 Heindl et al. 414 5 4,615,101 10/07/86 Edwards et al. 29 568 4,655,673 04/07/87 Hawkes 414 730 -66- 1293423 4,685,6780 08/11/87 Fredericksen 273 148 4,698,775 10/06/87 Koch et al. 364 478 4,748,433 05/31/88 Jackson, et al. 338 6 4,756,906 07/12/88 Sweeny 424 63 4,785,180 11/15/88 Dietrich et al. 250 231 4,811,608 03/14/89 Hilton 73 862.04 4,839,081 06/13/89 Church, et al. 252 108 4,853,498 08/01/89 Meadows, et al. 178 19 4,855,550 08/08/89 Schultz, et al. 200 600 4,876,524 10/24/89 Jenkins 338 2 4,880,348 11/14/89 Baker et al. 414 783 4,894,493 01/16/90 Smith, et al. 200 5 A 4,922,061 05/01/90 Meadows, et al. 178 19 4,949,026 08/14/90 Mead 318 649 5,079,005 01/07/92 Gupta 424 408 5,220,261 06/15/93 Kempas 318 567 5,222,400 06/29/93 Hilton 73 862.043 5,238,915 08/24/93 Fiiwa, et al. 512 4 5,260,629 11/09/93 Ioi et al. 318 568.19 5,274,423 12/21/93 Kim 315 560 5,276,294 01/04/94 Jalbert 187 121 5,280,265 01/18/94 Kramer, et al. 338 210 5,283,559 02/01/94 Kalendra, et al. 345 168 5,296,871 03/22/94 Paley 345 163 5,298,919 03/29/94 Chang 345 163 5,301,566 04/12/94 Tahmasebi, et al 74 479 5,320,835 06/14/94 Pahlck, et al. 424 64 5,329,276 07/12/94 Hirabayashi 340 870.31 5,392,658 02/28/95 Okada 73 862.043 5,421,213 06/06/95 Okada 73 862.043 5,439,919 08/08/95 Miyachi et al. 514 316 5,440,326 08/08/95 Quinn 345 156 5,446,481 08/29/95 Gillick, et al. 345 163 5,453,758 09/26/95 Sato 345 158 5,457,289 10/10/95 Huang, et al. 178 20 5,488,204 01/30/96 Mead, et al. 178 18 5,506,605 04/09/96 Paley 345 163 5,512,919 04/30/96 Araki 345 156 5,526,294 06/11/96 Ono, et al. 364 709.13 5,528,264 06/18/96 Kautzer, et al. 345 158 5,528,265 06/18/96 Harrison 345 158 5,537,311 07/16/96 Stevens 364 167.01 5,542,615 09/26/95 Hilton 73 862.043 -67- 1293423 5,548,306 08/20/96 Yates IV, et al. 345 174 5,589,828 12/31/96 Armstrong 341 20 5,591,924 01/07/97 Hilton 73 862.04 5,625,696 04/29/97 Fosgate 381 18 5,639,847 06/17/97 Chiang, et al. 528 71 5,650,597 07/22/97 Redmayne 178 19 5,687,080 11/11/97 Hoyt, et al. 364 190 5,706,027 01/06/98 Hilton, et al 345 156 5,729,249 03/17/98 Yasutake 345 173 5,749,577 05/12/88 Couch, et al. 273 148 5,767,839 06/16/98 Rosenberg 345 161 5,767,840 06/16/98 Selker 345 161 5,771,925 06/30/98 Lewandowski 137 552.7 5,786,997 07/28/98 Hoyt, et al. 364 190 5579〇,1〇7 08/04/98 Kassei·, et al. 345 174 5,798,748 08/25/98 Hilton, et al 345 156 5,805,140 09/08/98 Rosenberg, et al. 345 161 5,821,920 10/13/98 Rosenberg, et al. 345 156 5,828,813 10/27/98 Ohm 395 95 5,835,077 11/10/98 Dao, et al. 345 157 5,838,308 11/17/98 Knapp et al. 345 173 5,847,528 12/08/98 Hui, et al. 318 568.1 5,858,291 01/12/99 Li, et al. 264 105 5,880,718 03/09/99 Frindle, et al. 345 174 5,889,505 03/30/99 Toyama, et al. 345 156 5,898,057 04/27/99 Chiang, et al. 528 71 5,912,736 06/15/99 Marcuse, et al. 356 355 5,920,309 07/06/99 Bisset, et al. 345 173 5,923,318 07/13/99 Zhai, et al. 345 157 5,945,910 08/31/99 Gorra 340 573.1 5,959,863 09/28/99 Hoyt, et al. 364 190 5,993,854 11/30/99 Neddleman, et al. 424 466 6,033,309 03/07/00 Couch, et al. 463 38 6,063,499 05/16/00 Chiang, et al. 428 425.8 6,094,491 07/25/00 Frindle, et al. 381 119 6,106,875 08/22/00 Soper, et al. 426 89 6,111,051 08/29/00 Chiang, et al. 528 71 6,131,056 10/10/00 Bailey, et al. 701 13 6,147,040 11/14/00 van der Hagen 510 146 6,184,331 02/06/01 Chiang, et al. 528 71 6,236,301 05/22/01 Langford, et al. 338 6 6,270,783 08/07/01 Slavtcheff, et al. 424 402 6,271,828 08/07/01 Rosenburg, et al. 345 156 -68- 1293423 6,329,812 12/11/01 Sundin 324 207.16 6,343,242 01/29/02 Nomura et al. 700 245 6,392,546 05/21/02 Smith 340 573.1 6,474,915 B1 11/05/02 Wildenberg 409 201 II.外國專利文件Each of the alternative designs and methods for performing each of the functions shown is disclosed and described; Vi) each of the features, components, and steps shown in a separate and independently invented manner; Vii) enhanced by the various systems or components disclosed Application; V iii ) a final product made from such a system or component; i X ) substantially in accordance with the methods and apparatus as described above and with reference to any of the exemplified examples; Various combinations and permutations of one component; xi) each potential independent patent application scope or mourning depending on each and every independent patent application scope or mourning; X ii) as in the above discussion The method described in the computer-assisted or on-computer--63- 1293423 program; Xiii) is implemented as described in the above discussion, the programmable program s!j device, Xlv) contains coded data to manage including A computer that can be used as a computer or a component that operates in the manner described in the S-SffiJ above; X v) a computer built in the manner disclosed and described herein X vi) a separate or combined subroutine and program as disclosed and described herein; xvii) related methods disclosed and described; xviii) each such system and method is similar, equivalent and even Clear variations; xix) alternative designs that perform each of the functions shown in a manner that is disclosed and illustrated; XX) those that imply each of the functions displayed in a manner that is accomplished to accomplish the disclosed and illustrated manner. Alternative Designs and Methods; X xi) Each of the features, components, and steps that are apparent in a separate and invented manner; X xii ) various combinations and permutations of each of the above. What we should also understand is that for practical reasons and in order to avoid adding potentially hundreds of patent applications, the applicant ultimately proposes a patent application scope that only contains the initial subsidiary project. What we should understand is that there are necessary levels of support under the new relevant laws (including but not limited to the European Patent Agreement Clause 123 (2) and the US Patent Act 35 USC 132 or other such laws) to allow for An affiliated project or any other subsidiary project proposed under an independent patent application or any other element is considered as an affiliated project or element under any other independent patent application or commemoration. In addition, if or when used, the transitional word "c 〇 m p 1· i s i n g" will be used and the patent application will be interpreted in accordance with the interpretation of the traditional patent application to maintain the "open end" patent application described herein. Therefore, unless otherwise stated in the text, what we should understand is that the attempt to use the word "comprise" or a variant such as "comprises" or "c 〇mprising" implies that the stated element or step-64 is included. - 1293423 or 疋: A collection of individual elements or steps, but does not exclude any other elements or steps or a collection of elements or steps. Such nouns should be interpreted in the broadest form to provide the applicant with the broadest scope of protection permitted by law. The scope of any patent application, which may be incorporated by reference in its entirety, is hereby incorporated by reference in its entirety to the extent that the disclosure of the present disclosure expressly express the benefit of the benefit of the application. To support any or all of the claims or any elements or components therein; and the applicant of the present invention further expressly expresses that the reserved rights may be removed from all or part of the description of each patent application as necessary. The scope of the patent application for the content of the category is vice versa, to define the patent application or any subsequent extension, division or partial extension of the protection seeking, or to obtain any benefit to reduce the cost of the treatment, or to use To comply with the provisions of the patent laws, regulations, any country or treaty, and to retain such joint content during the pending trial of this patent application, including any subsequent extension, division or partial extension of the patent application or any Reauthorize or extend. The patent documents, publications and references mentioned in the present invention are incorporated herein by reference. In particular, the U.S. Patent Application Serial No. 60/3,72, filed on April 12, 2002, contains any drawings and additional items as a reference for this patent application. . As shown in the table, the drawings referred to or included in the present invention, in particular, the display of Figure A as a reference for this patent application. In addition, what we should understand is each noun used in this article. Unless the term is used in this way inconsistent with this interpretation, -65-1293423 All definitions, substitution nouns, and synonyms included in the Weber Uncut Dictionary (Second Edition) published by Random House Corporation, which is incorporated by reference. Finally, attach all references listed in the list of references that will be incorporated into the patent application, other information statements or sent with the patent application; however, each of the above terms may be incorporated in the reference. In the event of any inconsistency with the present invention within the scope of the information or claims, it is expressly assumed that such statements are not statements of the present invention. References 淸 I. 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D14 114 Des. 381,701 07/29/97 Salinas D21 48 D 440,971 04/24/01 Gombert D14 402 3,547,571 12/15/70 Angliker 8 41 3,839,220 10/01/74 Barchas 252 305 4,090,092 05/16/78 Serrano 307 116 4,136,291 01/23/79 Waldron 307 308 4,145,748 03/20/79 Eichelberger, et al. 364 862 4,158,216 06/12/79 Bigelow 361 280 4,233,522 11/11/80 Grummer, et al 307 116 4,264,903 04/28/81 Bigelow 340 365 4,293,987 10/13/81 Gottbreht, et al. 29 25.42 4,304,976 12/08/81 Gottbreht, et al. 219 10.55 B 4,394,643 07/19/83 Williams 340 365 4,444,205 04 /24/84 Jackson 128 782 4,505,049 03/19/85 Kuno et al. 33 333 4,536,746 08/20/85 Gobeli 340 365 4,550,617 11/05/85 Fraignier et al. 73 862.04 4,561,002 12/24/85 Chin 340 365 4,589,810 05/20/86 Heindl et al. 414 5 4,615,101 10/07/86 Edwa Rds et al. 29 568 4,655,673 04/07/87 Hawkes 414 730 -66- 1293423 4,685,6780 08/11/87 Fredericksen 273 148 4,698,775 10/06/87 Koch et al. 364 478 4,748,433 05/31/88 Jackson, Et al. 338 6 4,756,906 07/12/88 Sweeny 424 63 4,785,180 11/15/88 Dietrich et al. 250 231 4,811,608 03/14/89 Hilton 73 862.04 4,839,081 06/13/89 Church, et al. 252 108 4,853,498 08 /01/89 Meadows, et al. 178 19 4,855,550 08/08/89 Schultz, et al. 200 600 4,876,524 10/24/89 Jenkins 338 2 4,880,348 11/14/89 Baker et al. 414 783 4,894,493 01/16/ 90 Smith, et al. 200 5 A 4,922,061 05/01/90 Meadows, et al. 178 19 4,949,026 08/14/90 Mead 318 649 5,079,005 01/07/92 Gupta 424 408 5,220,261 06/15/93 Kempas 318 567 5,222,400 06/29/93 Hilton 73 862.043 5,238,915 08/24/93 Fiiwa, et al. 512 4 5,260,629 11/09/93 Ioi et al. 318 568.19 5,274,423 12/21/93 Kim 315 560 5,276,294 01/04/94 Jalbert 187 121 5,280,265 01/18/94 Kramer, et al. 338 210 5,283,559 02/01/94 Kalendra, et al. 345 168 5,296,871 03/22/94 Paley 34 5 163 5,298,919 03/29/94 Chang 345 163 5,301,566 04/12/94 Tahmasebi, et al 74 479 5,320,835 06/14/94 Pahlck, et al. 424 64 5,329,276 07/12/94 Hirabayashi 340 870.31 5,392,658 02/28/ 95 Okada 73 862.043 5,421,213 06/06/95 Okada 73 862.043 5,439,919 08/08/95 Miyachi et al. 514 316 5,440,326 08/08/95 Quinn 345 156 5,446,481 08/29/95 Gillick, et al. 345 163 5,453,758 09/ 26/95 Sato 345 158 5,457,289 10/10/95 Huang, et al. 178 20 5,488,204 01/30/96 Mead, et al. 178 18 5,506,605 04/09/96 Paley 345 163 5,512,919 04/30/96 Araki 345 156 5,526,294 06/11/96 Ono, et al. 364 709.13 5,528,264 06/18/96 Kautzer, et al. 345 158 5,528,265 06/18/96 Harrison 345 158 5,537,311 07/16/96 Stevens 364 167.01 5,542,615 09/26/95 Hilton 73 862.043 -67- 1293423 5,548,306 08/20/96 Yates IV, et al. 345 174 5,589,828 12/31/96 Armstrong 341 20 5,591,924 01/07/97 Hilton 73 862.04 5,625,696 04/29/97 Fosgate 381 18 5,639,847 06 /17/97 Chiang, et al. 528 71 5,650,597 07/22/97 Redmayne 178 19 5,687,08 0 11/11/97 Hoyt, et al. 364 190 5,706,027 01/06/98 Hilton, et al 345 156 5,729,249 03/17/98 Yasutake 345 173 5,749,577 05/12/88 Couch, et al. 273 148 5,767,839 06/ 16/98 Rosenberg 345 161 5,767,840 06/16/98 Selker 345 161 5,771,925 06/30/98 Lewandowski 137 552.7 5,786,997 07/28/98 Hoyt, et al. 364 190 5579〇,1〇7 08/04/98 Kassei· , et al. 345 174 5,798,748 08/25/98 Hilton, et al 345 156 5,805,140 09/08/98 Rosenberg, et al. 345 161 5,821,920 10/13/98 Rosenberg, et al. 345 156 5,828,813 10/27/98 Ohm 395 95 5,835,077 11/10/98 Dao, et al. 345 157 5,838,308 11/17/98 Knapp et al. 345 173 5,847,528 12/08/98 Hui, et al. 318 568.1 5,858,291 01/12/99 Li, et Al. 264 105 5,880,718 03/09/99 Frindle, et al. 345 174 5,889,505 03/30/99 Toyama, et al. 345 156 5,898,057 04/27/99 Chiang, et al. 528 71 5,912,736 06/15/99 Marcuse , et al. 356 355 5,920,309 07/06/99 Bisset, et al. 345 173 5,923,318 07/13/99 Zhai, et al. 345 157 5,945,910 08/31/99 Gorra 340 573.1 5,959,863 09/28/99 Ho Yt, et al. 364 190 5,993,854 11/30/99 Neddleman, et al. 424 466 6,033,309 03/07/00 Couch, et al. 463 38 6,063,499 05/16/00 Chiang, et al. 428 425.8 6,094,491 07/25 /00 Frindle, et al. 381 119 6,106,875 08/22/00 Soper, et al. 426 89 6,111,051 08/29/00 Chiang, et al. 528 71 6,131,056 10/10/00 Bailey, et al. 701 13 6,147,040 11 /14/00 van der Hagen 510 146 6,184,331 02/06/01 Chiang, et al. 528 71 6,236,301 05/22/01 Langford, et al. 338 6 6,270,783 08/07/01 Slavtcheff, et al. 424 402 6,271,828 08 /07/01 Rosenburg, et al. 345 156 -68- 1293423 6,329,812 12/11/01 Sundin 324 207.16 6,343,242 01/29/02 Nomura et al. 700 245 6,392,546 05/21/02 Smith 340 573.1 6,474,915 B1 11/05 /02 Wildenberg 409 201 II. Foreign Patent Documents

文件編號授予曰期國家分類副分類他國譯文有無 EP 0 054 306 16.12.81 歐洲 H03K 17 96 X EPO 125 895 Al 10.05.84 歐洲 B25 J 19 00 X EP 0 464 649 B1 26.06.91 歐洲 B25J9 04 X EPO 466 800 B1 06.04.90 歐洲 G01B21 00 X EPO 509 589 B1 29.01.97 歐洲 G06F3 033 EPO 516 862 Al 19.12.91 歐洲 G06F3 033 X EP 0 567 364 B1 06.04.93 歐洲 G06K 11 16 X EPO 706 838 B1 11.10.95 歐洲 B07C5 342 X EPO 720 293 Al 19.12.95 歐洲 H03K 17 96 X EPO 727 875 B1 15.01.96 歐洲 H03K17 96 EPO 744 0312 07.02.95 歐洲 G01P21 00 X EP 0 745 928 A2 04.12.96 歐洲 G06F3 033 EPO 917 291 A2 15.01.96 歐洲 H03K 17 96 EP0,382,464A3 08/16/90 歐洲 C11D 17 00 X EP 1,099,764A3 05/08/02 歐洲 C12Q 1 22 X JP2000 051,328A2 02/22/00 曰本 A61L2 18 X JP2001 282,931A2 】0/] 2/01 曰本 G06F 17 60 X JP55025,030A2 02/02/93 曰本 A61K7 48 X WO 00/02701 20.01.00 國際申請案 B23Q 1 25 WO 00/24053 27.04.00 國際申請案 H01L21 68 X WO 01/33540 10.05.01 國際申請案 G09G5 08 WO 02/37410 Al 10.05.02 國際申請案 G06K 11 08 X WO 02/37411 Al 06.11.00 國際申請案 G06IC 11 08 WO 99/40,172 08/12/99 美國 C11D 17 00 X III.其他文件(包含作者、標題、日期及相關頁數等) “3503: Ratiometric Linear hall-Effect Sensors”，httD：//wvvw.allcgiOmicro.com/sf/35Q3/indcx.htm, printed February 8, 2002, 2 pages u3503: RatioMetric, Linear, Hall-Effect Sensors^, Allegro Microsystems, Inc., 1999, 12 pages “3D Controller Shootout’’，http://vvww.iov-stick.net/articles/3dshootout.htm, printed February 22, 2002, 2 pages “6-axis joystick”，http:/八vwvv.miiltimania.com/tigereve/unreal/6axisi〇YStick.mg, printed February 22, 2002，1 page “Accurate Economical Optical Distance and Systems for Industry and Re”，http://www.aculux.com, printed March 1，2002, 1 page “Birdman’s Lair”，http://www.planethardware.com/spaceorb/main.html printed February 22, 2002, 3 pages -69- 1293423 “Conventions Used in Presenting Technical Data”，VishayTelefunken，pages 1-45 “Curriculum Vitae”, httD：//engine.chungbuk.ac.kr/-k\vieon£/pube.html, printed February 22, 2002, 5 pages “David Petchkins Custom Space Orb”，hUp://vvww.planethard\vare.coiTi/spaceorb/petchkins.htmK printed February 22, 2002, 7 pages uDesign for Automated Construction:, Howe, A. Scott, University of Michigan Doctoral Program in Architecture “Design of a six-axis input device for a robotic manipulation aid”, http://miide.stanford.cdu/Peoplc/vdl/publicat.ions/VIDQF/vidof.htmL printed February 22, 2002, 6 pages uDevelopment of Next-Generation Underwater Construction Machinery, Adachi, Shigeaki; Jun'ichi Akizono; Kazuhiro Shirai; Taketsugu Hirabayashi, Toshinari Tanaka, Port and Harbour Research Institute, Ministry of Transport Kanagawa, Japan “Device class Definition for Physical Interface Devices (PID) Version 1.0 9/8/99, 46 pages “Dual Force: Play station Analog Controller”，Mad Catz, Inc., 1999, 1 page “Electric Plastics”， htt:p:"ww\v. memagazine.org/backissiies/api-il98/features/plastics/plastics.html， printed December 14, 2001, 6 pages “Examination of Core Shroud Welds’’， Larsen, Jens; Hans Kristensen and Leif Jeppesen, httD：//wvvw.ndt.net/aiticle/ecndt98/nuclea.r/219/219.htm, 5/21/2002, 4 pages UF/T (force/torque) Sensor System55, Multi-Axis Sensors, httD：//www.ati-ia.com/axis.htm, 4/7/2002 “Fluid Power Research Consortium” Ohio State University, http：//wvvw.missouri.edu/-manringn/consoi1:ium/rescarch walking.htm, printed February 22, 2002 “GU @ Comdex - Damn This is Cool”，http://www.porazzo.com/old/About/IVIedia/Media “HS-CE Provides 3-Axis Measurements”，http://vvww.corrsvs-datron/hscc.htrn, printed March l, 2002, 2 pages “Human-Machine Interface of the Utar System55, Zalud, Lud^k; Honzik, Bohumil; Sole, Frantisek; llth DAAAM International Symposium, “Intelligent Manufacturing & Automation: Man - Machine - Nature” October 2000 “International Seminar on the Technology of the Inherently = Conductive Polymers”，http://209.51.194.07, printed December 14, 2001,11 pages “Les robots a mouvements spatiaux/Spatial robots”， http://www-s〇D-inria.fr/copin/ec|uipe/intTlet/Arclii/no(ie2.html, printed February 22, 2002, 32 pages “Mearthane Products Corporation - Business Machine Components”, http://wvvw.mearthane.com/machcomp..htm, printed December 14, 2001, 1 page “Mearthane Products Corporation 一 Conductive and Antistatic Urethanes”， http://www.mearthane.com/antistatic.htm. printed December 14, 2001, 2 page “Mearthane Products Corporation - Conductivity — Durethane”，http://www.mearthane.com/table.htm. printed December 14, 2001，1 page “Mearthane Products Corporation - Mearthane offers Conductive Urethane’’， http://www.meaithane.com/ncws5.htm, printed December 12, 2001, 2 pages “Metallic Properties of PAni blends: Thermo power”，http://vvvvw.zipperling,dc/Rcsearch/abstract/thcrmop.html, printed December 14, 2001, 1 page uMPLab: IDS v 5.5055 disk, Microchip Technology, Inc., 2001, 3 pages “Nanotechnology with Organic Metal”，http://w\v\v.zipperling.de/Content»Stan.en.htmK printed December 14, 2001, 2 pages “Optical Distance Sensor: Seiko Precision, Inc.”，http://www.sdko-p.co.ip/opt/oDt2e.html· printed March 1， 2002, 2 pages “Ormecon - A Conductive Polymer · An Organic Metal”， httD：//www.zipperling.de/Products/PAjii/u-sichte.htmL printed December 14, 2001, 3 pages “Package Outlines: Plastic SIP”, Allegro Microsystems, Inc” pages 29-30, 1999 “Power on the Prowl - These boots are made for walking and talking”，Popular Science, January 2002, 1 page -70- 1293423 “Precise 3-D Navigation of Construction Machine Platforms”，Kahmen & Giinther Retscher, Department of Applied and Engineering Geodesy, Vienna University of Technology, Austria, 5 pages “Press Release”，http://www.3dconnxion.com/press/20011022.html, printed November 26, 2001, 2 pages “Product Overview - Space Ball 4000”，http://mvw.3dconnxion·com/pi.oducts/4000/，printed November 26, 2001, 2 pages “Product Overview - Space Mouse Classic’’，http://www.3dconnxion.com/piOducts/Classic.htm, printed November 26, 2001, 2 pages “Product. Overview - SpaceMouse Plus”，http://www.3dconnxion.com/piOducts/plus.htm, printed November 26, 2001，2 pages “Publications”, www.cse.psu.edu, 9/28/2002, 2 pp. "Redundancy Resolutionof a Cartesian Space Operated Heavy IndustrialManipulator, Homegger, M.; A. Codourey, Institute of Robotics, Zurich, Switzerland, May 1998, 5 pages ''Search, Identify, and Destroy; A robotic Solution to Urban Warfare55, Dupuis, Captain Ray and Tremblay, Captain Dean, Land Forces Technical Staff Programme V, Royal Military College, Kingston, 15 June 2000 “The ServoRam”, 21 pp. uThe Steward-Gough Platform on General Geometry Can have 40 Real Postures55, P. Dietmailer; Institut fur Mechanik, Technische Universitat Graz, Austria, 1990 Kluwer Academic Publishers “Tools Used in Excavation’’，Tools of the trade, http://www.ufpo.org/excavation studd/tools of trade.htm, 5/21/2002, 6 pages “Toward Next-Generation Construction Machines”，Bostelman，Roger; James Albus，Bill Stone，American Nuclear Society 9th International Topical Meeting on Robotics and Remote Systems, Seattle, WA, March 4-8, 2001, 12 pages “Treillis articules/Tniss”，httD：//wwvv-sop.inria.fr/coprin/equipe/merlet/Archi/node3.htmL printed February 22, 2002, 2 pages “Turn on the Media Management Team”，http://vvww.turnonmedia.com/turnon/about/vvho.cfm, printed February 22, 2002, 2 pages “Varatouch Technology Center: R2 Technology”，http://wvvw.varatouch.com/peitech.htinl, printed February 22, 2002, 6 pages “Vishay Brands - Vishay Telefunken - Photo Darlington Transistors, Photo Schmitt Trigger”， http：//www.vishav.com/brands/telefLinken/lRDother.htmK printed March 1，2002 “Vishay Brands — Vishay Telefunken - Photo Detectors' http://vvww.vishav.com/brands/telefunken/dctectors.html, printed March 1，2002 “Ziba Design Wins Unprecedented Four Gold Design Excellence Awards’’，http://www.ziba.eom/pr/21 .him, printed February 23, 2002, 2 pages “Ziba Design，Inc. - Strategic Design Consultancy”, http://www.ziba.coni/homc.htm. printed February 23, 2002, 1 page_ 2000 Japan - USA Flexible Automation Conference, ^Kinematic Calibration of a Hexapod Machine Tool by Using Circular Test”，July 23-26, 2000, 4 pp. 500,000 Bobcat Skid-Steer Loaders and Counting - Worksaver Spring 2001 Brochure American Lung Association, ^Guidelines for the Prevention and Tratment of Influenza and the Common Cold?55, http://www.lungusa.org/diseases/c&fO2/cold.html, printed 08/20/02, 5 pages_ American Society for Microbiology，“America’s Dirty Little Secret - Our Hands”，2000, http://www.washup.org/pageQ3.htm, 6 pages (attachment 17 pages)_ American Society for Microbiology, “Replacement of Hand Washing by Hand Rub Improve Compliance of Health Care Workers With Hand Hygiene’’，http://www.asmusa.org/pcsrc/41icaac/39892.htm, printed 10/23/02, 2 pages Associated Press，“Hospital Infections Fourth Leading Cause of Death”, The Coioradoan，07/21/02, ρ· A3_ Associated Press, “Thousands Die Needlessly from Hospital Infections, Newspaper Reports”， http://archive.a[.org/cgi-bin/display.cgi?id=3db80ea31 a331 Mpqaweb 1P11018&doc=printd.. .,5, printed 10/24/02, 2 pages_ -71- 1293423Document No. Granted to the National Classification of the National Classification of Sub-nationals with or without EP 0 054 306 16.12.81 European H03K 17 96 X EPO 125 895 Al 10.05.84 European B25 J 19 00 X EP 0 464 649 B1 26.06.91 European B25J9 04 X EPO 466 800 B1 06.04.90 Europe G01B21 00 X EPO 509 589 B1 29.01.97 Europe G06F3 033 EPO 516 862 Al 19.12.91 Europe G06F3 033 X EP 0 567 364 B1 06.04.93 Europe G06K 11 16 X EPO 706 838 B1 11.10. 95 European B07C5 342 X EPO 720 293 Al 19.12.95 European H03K 17 96 X EPO 727 875 B1 15.01.96 European H03K17 96 EPO 744 0312 07.02.95 European G01P21 00 X EP 0 745 928 A2 04.12.96 European G06F3 033 EPO 917 291 A2 15.01.96 Europe H03K 17 96 EP0,382,464A3 08/16/90 Europe C11D 17 00 X EP 1,099,764A3 05/08/02 Europe C12Q 1 22 X JP2000 051,328A2 02/22/00 曰本 A61L2 18 X JP2001 282,931A2 】0/] 2/01 曰本G06F 17 60 X JP55025,030A2 02/02/93 曰本 A61K7 48 X WO 00/02701 20.01.00 International application B23Q 1 25 WO 00/24053 27.04.00 International application Case H01L21 68 X WO 01/33540 10.05.01 International application G09G5 08 WO 02/37410 Al 10.05.02 International application G06K 11 08 X WO 02/37411 Al 06.11.00 International application G06IC 11 08 WO 99/40,172 08/12/99 US C11D 17 00 X III. Other documents (including author, title, date and related pages, etc.) “3503: Ratiometric Linear hall-Effect Sensors”, httD://wvvw.allcgiOmicro.com/sf/35Q3/indcx.htm, printed February 8 , 2002, 2 pages u3503: RatioMetric, Linear, Hall-Effect Sensors^, Allegro Microsystems, Inc., 1999, 12 pages “3D Controller Shootout'', http://vvww.iov-stick.net/articles/3dshootout. Htm, printed February 22, 2002, 2 pages “6-axis joystick”, http:/eight vwvv.miiltimania.com/tigereve/unreal/6axisi〇YStick.mg, printed February 22, 2002,1 page “Accurate Economical Optical Distance And Systems for Industry and Re", http://www.aculux.com, printed March 1,2002, 1 page "Birdman's Lair", http://www.planethardware.com/spaceorb/main.html printed February 22, 2002, 3 pages -69- 1293423 "Conventions Used in Presenting Technical Data”, Vishay Telefunken, pages 1-45 “Curriculum Vitae”, httD://engine.chungbuk.ac.kr/-k\vieon£/pube.html, printed February 22, 2002, 5 pages “David Petchkins Custom Space Orb”, hUp://vvww.planethard\vare.coiTi/spaceorb/petchkins.htmK printed February 22, 2002, 7 pages uDesign for Automated Construction:, Howe, A. Scott, University of Michigan Doctoral Program in Architecture "Design of a six-axis input device for a robotic manipulation aid", http://miide.stanford.cdu/Peoplc/vdl/publicat.ions/VIDQF/vidof.htmL printed February 22, 2002, 6 pages uDevelopment of Next -Generation Underwater Construction Machinery, Adachi, Shigeaki; Jun'ichi Akizono; Kazuhiro Shirai; Taketsugu Hirabayashi, Toshinari Tanaka, Port and Harbour Research Institute, Ministry of Transport Kanagawa, Japan "Device class Definition for Physical Interface Devices (PID) Version 1.0 9 /8/99, 46 pages “Dual Force: Play station Analog Controller”, Mad Catz, Inc., 1999, 1 page “Electric Plastics”, htt:p:"ww\v. memagazine.org/backissiies/api-il98/features/plastics/plastics.html, printed December 14, 2001, 6 pages “Examination of Core Shroud Welds' ', Larsen, Jens; Hans Kristensen and Leif Jeppesen, httD://wvvw.ndt.net/aiticle/ecndt98/nuclea.r/219/219.htm, 5/21/2002, 4 pages UF/T (force/ Torque) Sensor System55, Multi-Axis Sensors, httD://www.ati-ia.com/axis.htm, 4/7/2002 “Fluid Power Research Consortium” Ohio State University, http://wvvw.missouri.edu /-manringn/consoi1:ium/rescarch walking.htm, printed February 22, 2002 “GU @ Comdex - Damn This is Cool”, http://www.porazzo.com/old/About/IVIedia/Media “HS-CE Provides 3-Axis Measurements", http://vvww.corrsvs-datron/hscc.htrn, printed March l, 2002, 2 pages "Human-Machine Interface of the Utar System55, Zalud, Lud^k; Honzik, Bohumil; Sole , Frantisek; llth DAAAM International Symposium, "Intelligent Manufacturing & Automation: Man - Machine - Nature" Octobe r 2000 “International Seminar on the Technology of the Inherently = Conductive Polymers”, http://209.51.194.07, printed December 14, 2001, 11 pages “Les robots a mouvements spatiaux/Spatial robots”, http://www-s 〇D-inria.fr/copin/ec|uipe/intTlet/Arclii/no(ie2.html, printed February 22, 2002, 32 pages “Mearthane Products Corporation - Business Machine Components”, http://wvvw.mearthane.com /machcomp..htm, printed December 14, 2001, 1 page "Mearthane Products Corporation A Conductive and Antistatic Urethanes", http://www.mearthane.com/antistatic.htm. printed December 14, 2001, 2 page "Mearthane Products Corporation - Conductivity - Durethane", http://www.mearthane.com/table.htm. printed December 14, 2001, 1 page "Mearthane Products Corporation - Mearthane offers Conductive Urethane'', http://www.meaithane.com /ncws5.htm, printed December 12, 2001, 2 pages “Metallic Properties of PAni blends: Thermo power”, http://vvvvw.zipperling,dc/Rcsearch/abst Rract/thcrmop.html, printed December 14, 2001, 1 page uMPLab: IDS v 5.5055 disk, Microchip Technology, Inc., 2001, 3 pages “Nanotechnology with Organic Metal”, http://w\v\v.zipperling. De/Content»Stan.en.htmK printed December 14, 2001, 2 pages “Optical Distance Sensor: Seiko Precision, Inc.”, http://www.sdko-p.co.ip/opt/oDt2e.html·print March 1, 2002, 2 pages “Ormecon - A Conductive Polymer · An Organic Metal”, httD://www.zipperling.de/Products/PAjii/u-sichte.htmL printed December 14, 2001, 3 pages “Package Outlines: Plastic SIP”, Allegro Microsystems, Inc” pages 29-30, 1999 “Power on the Prowl - These boots are made for walking and talking”, Popular Science, January 2002, 1 page -70- 1293423 “Precise 3-D Navigation of Construction Machine Platforms", Kahmen & Giinther Retscher, Department of Applied and Engineering Geodesy, Vienna University of Technology, Austria, 5 pages "Press Release", http://www.3dconnxion.com/press/20011022.html, Print November 26, 2001, 2 pages “Product Overview - Space Ball 4000”, http://mvw.3dconnxion·com/pi.oducts/4000/, printed November 26, 2001, 2 pages “Product Overview - Space Mouse Classic' ',http://www.3dconnxion.com/piOducts/Classic.htm, printed November 26, 2001, 2 pages “Product. Overview - SpaceMouse Plus”, http://www.3dconnxion.com/piOducts/plus.htm , printed November 26, 2001, 2 pages “Publications”, www.cse.psu.edu, 9/28/2002, 2 pp. "Redundancy Resolutionof a Cartesian Space Operated Heavy Industrial Manipulator, Homegger, M.; A. Codourey, Institute of Robotics, Zurich, Switzerland, May 1998, 5 pages ''Search, Identify, and Destroy; A robotic Solution to Urban Warfare 55, Dupuis, Captain Ray and Tremblay, Captain Dean, Land Forces Technical Staff Programme V, Royal Military College, Kingston, 15 June 2000 “The ServoRam”, 21 pp. uThe Steward-Gough Platform on General Geometry Can have 40 Real Postures55, P. Dietmailer; Institut fur Mechanik, Techn Ische Universitat Graz, Austria, 1990 Kluwer Academic Publishers “Tools Used in Excavation'',Tools of the trade, http://www.ufpo.org/excavation studd/tools of trade.htm, 5/21/2002, 6 pages "Toward Next-Generation Construction Machines", Bostelman, Roger; James Albus, Bill Stone, American Nuclear Society 9th International Topical Meeting on Robotics and Remote Systems, Seattle, WA, March 4-8, 2001, 12 pages "Treillis articules/Tniss ",httD://wwvv-sop.inria.fr/coprin/equipe/merlet/Archi/node3.htmL printed February 22, 2002, 2 pages "Turn on the Media Management Team", http://vvww.turnonmedia. Com/turnon/about/vvho.cfm, printed February 22, 2002, 2 pages “Varatouch Technology Center: R2 Technology”, http://wvvw.varatouch.com/peitech.htinl, printed February 22, 2002, 6 pages “ Vishay Brands - Vishay Telefunken - Photo Darlington Transistors, Photo Schmitt Trigger", http://www.vishav.com/brands/telefLinken/lRDother.htmK printed March 1,2002 "Vishay Brands — Vishay Telefunken - Photo Detectors' http://vvww.vishav.com/brands/telefunken/dctectors.html, printed March 1,2002 “Ziba Design Wins Unprecedented Four Gold Design Excellence Awards'', http://www. Ziba.eom/pr/21 .him, printed February 23, 2002, 2 pages “Ziba Design, Inc. - Strategic Design Consultancy”, http://www.ziba.coni/homc.htm. printed February 23, 2002, 1 page_ 2000 Japan - USA Flexible Automation Conference, ^Kinematic Calibration of a Hexapod Machine Tool by Using Circular Test",July 23-26, 2000, 4 pp. 500,000 Bobcat Skid-Steer Loaders and Counting - Worksaver Spring 2001 Brochure American Lung Association ^Guidelines for the Prevention and Tratment of Influenza and the Common Cold?55, http://www.lungusa.org/diseases/c&fO2/cold.html, printed 08/20/02, 5 pages_ American Society for Microbiology , "America's Dirty Little Secret - Our Hands", 2000, http://www.washup.org/pageQ3.htm, 6 pages (attachment 17 pages)_ American Society for Microb Iology,"Replacement of Hand Washing by Hand Rub Improve Compliance of Health Care Workers With Hand Hygiene'', http://www.asmusa.org/pcsrc/41icaac/39892.htm, printed 10/23/02, 2 pages Associated Press, "Hospital Infections Fourth Leading Cause of Death", The Coioradoan, 07/21/02, ρ· A3_ Associated Press, “Thousands Die Needlessly from Hospital Infections, Newspaper Reports”, http://archive.a[.org/ Cgi-bin/display.cgi?id=3db80ea31 a331 Mpqaweb 1P11018&doc=printd.. .,5, printed 10/24/02, 2 pages_ -71- 1293423

Associated Press, “Thousands Die Needlessly from Hospital Infections, Newspaper Reports”, http://archive.a[.org/cgi-bin/display.cgi?id=3db80ea31a331MpqaweblPl 1018&doc=printd...,,J printed 10/24/02, 2 pages_ Autolev Sample Problem: Stewart Platform (Hexapod)，“Stewart Platform Analysis”，9/20/2002, www.autolev.com, 4 pp. Bachrach, B.，“Diagonalizing Controller for a Superconducting six-axis Accelerator”，Proceedings of the 28th Conference on Decision and Control Dec 1990, pages 2785-2793 Bernstein, Jonathan, “An Overview of MEMS Inertial Sensing Technology’’，Sensors February 2003, pages 14-21 Bobcat, “Attachments for Loaders/Excavators”，8 pp. Bobcat, “Auger Attachments”，4 pp. Bobcat，“Brushcat Rotary Cutter Attachment”，2 pp. Bobcat, “Soil Conditioner Attachment’’，2 pp. Bobcat, “Tiller Attachment”，2 pp. Bobcat, 'Trencher Attachments,,? 2 pp. Bobcat, “V518 ~ V623 VersaHandler, Telescopic Tool Carrier”，6 pp. Bobcat, “Worksaver catalog”，2002, 40 pp. Bobcat，Melroe & Ingersoll-Rand, “Industrial Grapple Attachments”，2 pp. Bookmarks on Parallel Manipulators, “Web Sites Related to Parallel Robots”， 9/20/2002, wwwrobot.gmc.ulaval.ca, 3 pp. Boyce, JM, UMRSA Patients: Proven Methods to Treat Colonization and Infection55, Journal of Hospital Infections, 2001 Aug; 48 SupplA:S9-14_ Bruynunckx, Herman, et al., “Comments on ‘Closed Form Forward Kinematics Solution to a Class of Hexapod Robots”’，Copyrightl999,3 pp· Bush Hog Front End Loaders M346, M446, M546, M626 Operator^ Manual 50030231 Bush Hog Mounting Instructions for 24H49871 Grapple Attachment, February 1998 1 page Case, “Skid Steer Loaders’’，5/20/2002, www.casece.com. 2 pp. Center for Disease Control and Prevention, “An Ounce of Prevention: Being Sick Costs You A Lot?’’, http://www.cdc.gov/ncidod/op/, printed 11/01/02, p. 1_ Center for Disease Control and Prevention, “An Ounce of Prevention: Wash Your Hands Often”， http://www.cdc.gov/ncidod/op/handwashing.htm，printed 11/01/02, 2 pages_ Center for Disease Control and Prevention，‘‘An Ounce of Prevention: Routinely Clean and Disinfect Surfaces’’, http://www.cdc.gov/ncidod/op/cleaning.htm, printed 11/01/02., 2 pages_ Center for Disease Control and Prevention，“Child Health (Summary of Health Statistics for U_S. Children，1997)”， http://www.cdc.gov/nchs/fastats/children.htm, printed 09/06/02, 2 pages_ Center for Disease Control and Prevention, 4tCommon Cold55, http://www.cdc.gov/nchs/fastats/colds.htm, printed 08/20/02, 2 pages_ Center for Disease Control and Prevention，“Following Protective Practices to Reduce Disease and Injury’’，1997, http://www.cdc.gov/ncidod/hip/abc/practic6.htm, printed 10/2002, 2 pages_ Center for Disease Control and Prevention, ''Guideline for Handwashing and Hospital Environmental Control, 1985”, MMWR，June 24, 1988, Vol. 37/No.24, Updated: Section 4: Infective Waste & Section 6: Laundry, pp. 1-7 Center for Disease Control and Prevention, http://www.cdc.gov/nchs/fastats/flii.htm, printed 09/06/02, 1 page_ Center for Disease Control and Prevention, uWhat you should know about...Earache (Otitis Media) in the Child Care Setting,;, 1997, http://www.cdc.gov/ncidod/hip/abc/factsl2.htm, printed 09/06/02, 2 pages_ Center for Disease Control and Prevention, “Why is Handwashing Important?’’， 2000, http://www.cdc.gov/od/oc/media/pressrel/r2k03Q6c.htm, printed 10/17/02, 3 pages_ Chambers，H.，‘‘The Changing Epidemiology of Staphylococcus Aureus?’’，Emerging Infectious Diseases, Vol. 7, No. 2, March-April 2001, pp. 178-182_ Description of Sourcefiles，“EMC Source Code Documentation”, 9/20/2002, vvwvv.linuxcnc.org, 17 pp. -72- 1293423Associated Press, "Thousands Die Needlessly from Hospital Infections, Newspaper Reports", http://archive.a[.org/cgi-bin/display.cgi?id=3db80ea31a331MpqaweblPl 1018&doc=printd...,,J printed 10 /24/02, 2 pages_ Autolev Sample Problem: Stewart Platform (Hexapod), "Stewart Platform Analysis", 9/20/2002, www.autolev.com, 4 pp. Bachrach, B., "Diagonalizing Controller for a Superconducting six -axis Accelerator", Proceedings of the 28th Conference on Decision and Control Dec 1990, pages 2785-2793 Bernstein, Jonathan, "An Overview of MEMS Inertial Sensing Technology'', Sensors February 2003, pages 14-21 Bobcat, "Attachments for Loaders /Excavators", 8 pp. Bobcat, "Auger Attachments", 4 pp. Bobcat, "Brushcat Rotary Cutter Attachment", 2 pp. Bobcat, "Soil Conditioner Attachment'', 2 pp. Bobcat, "Tiller Attachment", 2 pp Bobcat, 'Trencher Attachments,,? 2 pp. Bobcat, “V518 ~ V623 VersaHandler, Telescopic Tool Carrier”, 6 pp. Bobcat, “Wor Ksaver catalog", 2002, 40 pp. Bobcat, Melroe & Ingersoll-Rand, "Industrial Grapple Attachments", 2 pp. Bookmarks on Parallel Manipulators, "Web Sites Related to Parallel Robots", 9/20/2002, wwwrobot.gmc .ulaval.ca, 3 pp. Boyce, JM, UMRSA Patients: Proven Methods to Treat Colonization and Infection55, Journal of Hospital Infections, 2001 Aug; 48 SupplA: S9-14_ Bruynunckx, Herman, et al., “Comments on 'Closed Form Forward Kinematics Solution to a Class of Hexapod Robots”',Copyrightl999,3 pp· Bush Hog Front End Loaders M346, M446, M546, M626 Operator^ Manual 50030231 Bush Hog Mounting Instructions for 24H49871 Grapple Attachment, February 1998 1 page Case, “ Skid Steer Loaders'', 5/20/2002, www.casece.com. 2 pp. Center for Disease Control and Prevention, “An Ounce of Prevention: Being Sick Costs You A Lot?”, http://www. Cdc.gov/ncidod/op/, printed 11/01/02, p. 1_ Center for Disease Control and Prevention, “An Ounce of Prevention: Wash Your Hands O Ften", http://www.cdc.gov/ncidod/op/handwashing.htm, printed 11/01/02, 2 pages_ Center for Disease Control and Prevention, ''An Ounce of Prevention: Routinely Clean and Disinfect Surfaces' ', http://www.cdc.gov/ncidod/op/cleaning.htm, printed 11/01/02., 2 pages_ Center for Disease Control and Prevention, “Child Health (Summary of Health Statistics for U_S. Children, 1997)", http://www.cdc.gov/nchs/fastats/children.htm, printed 09/06/02, 2 pages_ Center for Disease Control and Prevention, 4tCommon Cold55, http://www.cdc.gov /nchs/fastats/colds.htm, printed 08/20/02, 2 pages_ Center for Disease Control and Prevention, "Following Protective Practices to Reduce Disease and Injury'', 1997, http://www.cdc.gov/ncidod /hip/abc/practic6.htm, printed 10/2002, 2 pages_ Center for Disease Control and Prevention, ''Guideline for Handwashing and Hospital Environmental Control, 1985》, MMWR, June 24, 1988, Vol. 37/No.24 , Updated: Section 4: Infective Waste & Section 6 : Laundry, pp. 1-7 Center for Disease Control and Prevention, http://www.cdc.gov/nchs/fastats/flii.htm, printed 09/06/02, 1 page_ Center for Disease Control and Prevention, uWhat You should know about...Earache (Otitis Media) in the Child Care Setting,;, 1997, http://www.cdc.gov/ncidod/hip/abc/factsl2.htm, printed 09/06/02, 2 Pages_Center for Disease Control and Prevention, “Why is Handwashing Important?', 2000, http://www.cdc.gov/od/oc/media/pressrel/r2k03Q6c.htm, printed 10/17/02, 3 pages_ Chambers, H., ''The Changing Epidemiology of Staphylococcus Aureus?'', Emerging Infectious Diseases, Vol. 7, No. 2, March-April 2001, pp. 178-182_ Description of Sourcefiles, "EMC Source Code Documentation", 9/20/2002, vvwvv.linuxcnc.org, 17 pp. -72- 1293423

Enumerative Real Algebraic Geometry: The Stewart-Gough platform; http://vvww.maths.univ~renns 1 .fr/-raagQ 1 /survevs/ERAG/S3/3.html, 9/28/2002 3 pages Erickson，B，“Mayo Graduate School”，http://www.mavo.edu/faculty/cricksonjitm, printed March 1, 2002, 1 page Feather, A.5 et al.5 “‘Now Please Wash Your Hands’： the Handwashing Behavior of Final MBBS Candidates”, 2000, The Hospital Infection Society, 4 pages_ Girard, R., et al., ^Better Compliance and Better Tolerance in Relation to a Well-Conducted Introduction to Rub-In Hand Disinfection”，2001, The Hospital Infection Society, 12 pages_ Gloess, R., t4Hexapod Parallel Kinematics with Sub-Micrometer Accuracy5^ Actuator 2000, pages 293-295 Gopal Rao, G.，“Marketing Hand Hygiene in Hospitals -- A Case Study’’，2001，The Hospital Infection Society, 8 pages_ Haney, D., “Hospitals Abandon Soap and Water for Faster Alcohol Rinses” ， http://www.arizonarepublic.com/news/articles/0929cleanhancis29.html, printed 11/01/02 2 pages_ Harris, AD, “A Survey on Handwashing Practices and Opinions of Healthcare Workers’’，2000, PubMed: 10973750, 2 pages_ Harris, M., “The Space Orb Controller”，http://a1pha2.bmc.uu.se/markh/notes/iov/spaceorb.html printed February 22, 2002, 2 pages Herruzo-Cabrera, R., et al. “A New Alcohol Solution (N-duopropenide) for Hygienic (or Routine) Hand Disinfection is More Useful Than Classic Handwashing: In Vitro and In Vivo Studies in Burn and Other Intensive Care Units", Burns 2001 Nov;27(7):747-52, page_ Hirchmann, H., et al., uThe Influence of Hand Hygiene Prior to Insertion of Peripheral Venous Catheters on the Frequency of Complications”，2001, The Hospital Infection Society, 8 pages_ http://static.howstuffvvorks.com/gif/skid-steer-coupler.iDg 5/20/2002 Hydraulic Hammer, http://static.howstuffworks.com/gii7skid-steer-hvcirmjliohammer.gif，5/20/2002 Industrial Grapple Bucket, http://static.howstuffwQrks.com/gif/skid-steer-industrial-graDple-bucket.gif. 5/20/2002 lngersollRand，“VR‘530 TelescopicMaterialHandler’’，2001,4 pp· Ingersoll Rand，“VR-623 Telescopic Tool Carrier”，2001, 4 pp. Ingersoll-Rand，“VR-10044/VR-1056 Telescopic Material Handler”，2001，4 pp. Ingersoll-Rand, “VR-843 Telescopic Material Handlers”，1999, 8 pp. Innovation & Technology Transfer, Innovation Programme News, January 1997, A Boost for European Heavy Industry, http://wvvw.cordis.lu/itt/itt-en-97-1 /ip-news.htni, 05/21/2002, 5 pages Jackson, A., uThe Further Step Touch Control For Your Vibroplex ΕΚ-Γ,, Say you saw it in CQ, January 1986, pages 13-19 Ji，Ping，et al., “A Closed-Form Forward Kinematics Solution for the 6-6p Stewart Platform”，IEEE Transactions On Robotics and Automation, Vol. 17, No. 4, August 2001, pp 522-526. John Deere，“548G-111，648G-111，748G-111 Grapple Skidders”，2001 — 2006, 18 pp. John Deere, “644 H - Log Loader”，2000 - 2004, 6 pp. John Deere，“853 G - Feller-Bunchers”，2000 - 2010, 8 pp. Journal of Research of the National Institute of Standards and Technology，“News Briefs”，Vol. 102, No. 4, July - Aug. 1997, pp 499 - 522. JRSJ， “Special issue - The Theory of Telerobotics”， 9/20/2002, www.sanbi.co.jp/rsi/Conts/Vol 1 ΐ/Voll 1 6e.html. 3 pp. Kennedy, Kevin & Associates, “Your Experts in Machining and Machine Tools and T··.’’，9/20/2002, www.kkai.com. 20 pp. Kost，et al.，“Effects of Axial Stretching on the Resistively of Carbon Black Filled Silicone Rubber”，Polymer Engineering and Science, 1983, pages 567-571 Landscape Tiller，http：//static.howstiiffworks.com/gif/skid-steer-landscaDe-tiHer.gif, 5/20/2002 -73- 1293423Enumerative Real Algebraic Geometry: The Stewart-Gough platform; http://vvww.maths.univ~renns 1 .fr/-raagQ 1 /survevs/ERAG/S3/3.html, 9/28/2002 3 pages Erickson,B , "Mayo Graduate School", http://www.mavo.edu/faculty/cricksonjitm, printed March 1, 2002, 1 page Feather, A.5 et al.5 “'Now Please Wash Your Hands': the Handwashing Behavior Of Final MBBS Candidates", 2000, The Hospital Infection Society, 4 pages_ Girard, R., et al., ^Better Compliance and Better Tolerance in Relation to a Well-Conducted Introduction to Rub-In Hand Disinfection", 2001, The Hospital Infection Society, 12 pages_ Gloess, R., t4Hexapod Parallel Kinematics with Sub-Micrometer Accuracy5^ Actuator 2000, pages 293-295 Gopal Rao, G., "Marketing Hand Hygiene in Hospitals -- A Case Study'', 2001, The Hospital Infection Society, 8 pages_ Haney, D., "Hospitals Abandon Soap and Water for Faster Alcohol Rinses", http://www.arizonarepublic.com/news/articles/0929cleanhancis29.html, printed 11/01/02 2 pages_ Harris, AD, “A Survey on Handwashing Practices and Opinions of Healthcare Workers'', 2000, PubMed: 10973750, 2 pages_ Harris, M., “The Space Orb Controller”, http://a1pha2 .bmc.uu.se/markh/notes/iov/spaceorb.html printed February 22, 2002, 2 pages Herruzo-Cabrera, R., et al. “A New Alcohol Solution (N-duopropenide) for Hygienic (or Routine) Hand Disinfection is More Useful Than Classic Handwashing: In Vitro and In Vivo Studies in Burn and Other Intensive Care Units", Burns 2001 Nov;27(7):747-52, page_ Hirchmann, H., et al., uThe Influence of Hand Hygiene Prior to Insertion of Peripheral Venous Catheters on the Frequency of Complications”, 2001, The Hospital Infection Society, 8 pages_ http://static.howstuffvvorks.com/gif/skid-steer-coupler.iDg 5/20/2002 Hydraulic Hammer, http://static.howstuffworks.com/gii7skid-steer-hvcirmjliohammer.gif,5/20/2002 Industrial Grapple Bucket, http://static.howstuffwQrks.com/gif/skid-steer-industrial-graDple-bucke T.gif. 5/20/2002 lngersollRand, "VR'530 TelescopicMaterialHandler'', 2001, 4 pp· Ingersoll Rand, "VR-623 Telescopic Tool Carrier", 2001, 4 pp. Ingersoll-Rand, "VR-10044/ VR-1056 Telescopic Material Handler", 2001, 4 pp. Ingersoll-Rand, "VR-843 Telescopic Material Handlers", 1999, 8 pp. Innovation & Technology Transfer, Innovation Programme News, January 1997, A Boost for European Heavy Industry , http://wvvw.cordis.lu/itt/itt-en-97-1 /ip-news.htni, 05/21/2002, 5 pages Jackson, A., uThe Further Step Touch Control For Your Vibroplex ΕΚ- Γ,, Say you saw it in CQ, January 1986, pages 13-19 Ji,Ping, et al., “A Closed-Form Forward Kinematics Solution for the 6-6p Stewart Platform”, IEEE Transactions On Robotics and Automation, Vol 17, No. 4, August 2001, pp 522-526. John Deere, "548G-111, 648G-111, 748G-111 Grapple Skidders", 2001 — 2006, 18 pp. John Deere, “644 H - Log Loader , 2000 - 2004, 6 pp. John Deere, "853 G - Feller-Bunchers , 2000 - 2010, 8 pp. Journal of Research of the National Institute of Standards and Technology, "News Briefs", Vol. 102, No. 4, July - Aug. 1997, pp 499 - 522. JRSJ, "Special issue - The Theory of Telerobotics", 9/20/2002, www.sanbi.co.jp/rsi/Conts/Vol 1 ΐ/Voll 1 6e.html. 3 pp. Kennedy, Kevin & Associates, “Your Experts in Machining And Machine Tools and T··.'',9/20/2002, www.kkai.com. 20 pp. Kost, et al., “Effects of Axial Stretching on the Resistively of Carbon Black Filled Silicone Rubber”, Polymer Engineering And Science, 1983, pages 567-571 Landscape Tiller, http://static.howstiiffworks.com/gif/skid-steer-landscaDe-tiHer.gif, 5/20/2002 -73- 1293423

Larson, Elaine L., et al., “APIC Guideline for Hand Washing and Hand Antisepsis in Health-Care Settings”, 1995, http://www.apic.org/pdf/gdhandws.pdf, printed 11/01/02, 18 pages_ Marino, C., et al. ‘‘Washington State Hospital Survey 2000: Gloves, Handwashing Agents, and Moisturizers”, Am. Journal Infection Control 2001 Dec; 29(6):422-4_ Material Handling Arm, http://static.hovvstuffworksxom/gif/skid-steer- material-arm.gif, 5/20/2002 MD Consult Infectious Disease, ''Infection Control for the Ηοπιε^, home.mdconsult.com, printed 10/03/02, 3 pages_ Mingus, L.，“Space Orb 360 Review”，http://www.makeitsimple.com/reviews/space orb/, printed February 22, 2002, 2 pages MMS Online http://www.geekfaction.net/pro/nph-pro.pl/010110A7http/www.mmsonline.com/columns/0... 9/28/2002 MTS Temposonics Position Sensors, MTS Sensors Group, 2000 Brochure Naikoba, S.5 et al., tlThe Effectiveness of Interventions Aimed at Increasing Handwashing in Healthcare Workers —A Systematic Review”，2001，The Hospital Infection Society，0195-670I/O 1/030】73 + 08, 10 pages_ Neue Seite 1, “IWF Hexaglide”, 9/20/2002, www.iwf.bcpr.ethz.ch/wcb/cn/forschung/wzm/hexa 1 .shtml, 9 pp‘ New Holland Series LM Telehandlers http://ww\v.nevvholland.com/nh/teleh.htm, 5/20/2002, 2 pages New Holland, “Attachment Adapter Plates”，1996, 2 pp. New Holland, “Skid Steers”，2000, 12 pp· New Holland, “Skid，Steer Loader Attachments’’，5/20/2002,1 page. New Holland, “Skid-Steer Loader Attachments’’，5/20/2002, 2 pp· New Holland，“Skid-Steer Loader”，5/20/2002, 3 pp. NRL-Materials Science and Technology Division, “Six Dimensional Loader’’， 9/20/2002, http://mstd.nrl.navv.mil. 2 pp. Pike, G., ''Electrical properties of Conducting Elastomers55, NASA: Center for Aerospace Information, Pittet, D. ^Effectiveness of a Hospital-Wide Program to Improve Compliance with Hand Hygiene. Infection Control Program’，，2000, PubMed: 11073019, 2 pages_ Pittet, D., ^Bacterial Contamination of the Hands of Hospital Staff During Routine Patient Care^, 1999, PubMed: 10,219,927, 2 Pages_ Posfay-Barbe, Klara, et al., tcNew Concepts in Hand Hygiene,?, 2001, W.B. Saunders Company, 13 pages_ Predko, M.，“PicMicro Microcontroller Pocket Reference”，McGraw-Hill, 2000 Predko, M.，“Programming and Customizing PicMicro Microcontrollers’’，McGraw Hill，2001 Retro Tech Search & Tech Track Summary; http://asp.nerac.com/cust access asp/SearchRequest/retro tech track conlirm.asp: 9/20/2002, 2 pages Richfield, P.s ^Integrated avionics suites showcase new pilot interface concepts,,s Professional Pilot, January 2002, pages 56-60 Robinson, David，et al·，NASA Goddard Space Flight Center, “DCATT Peer Review”, August 17, 1998, 77 pp. Rotter, M.L.，“Arguments for Alcoholic Hand Disinfection”，2001，The Hospital Infection Society, 7 pages_ Sabin, Malcolm home page, www.damtp.cam.ac.uk. 9/28/2002, 2 pp. Sakashita, M., t4Antimicrobial Effects and Efficacy on Habitually Hand-Washing of Strong Acidic Electrolyzed Water - a Comparative Study of Alcoholic Antiseptics and Soap and Tap Water*', 2002, PubMed: 12,073,573, 2 pages_ Sattar, SA, et al., 4tHygiene Hand Antiseptics: Should They Not Have Activity and Label Claims Against Viruses?^, American Journal Infection Control, 2002 Oct 30(6): 355:72, PMID: 12360145, p. 1_ Sau, K.P. “The Effect of Compressive Strain and Stress on Electrical Conductivity of Conductive Rubber Composites”, Rubber Technology Centre, Indian Institute of Technology, pages 310-324 Serkey, JM, “Handwashing Compliance: What Works?”，Cleveland Clinical Journal of Medicine 2001 Apr; 68(4):325-9, 333-4, 336_ Sharir, R., et al., uHigh-Level Handwashing Compliance in a Community Teaching Hospital: A Challenge That Can Be Journal of Hospital Infection 2001 Sep; 49(1):55-8_ -74- 1293423Larson, Elaine L., et al., "APIC Guideline for Hand Washing and Hand Antisepsis in Health-Care Settings", 1995, http://www.apic.org/pdf/gdhandws.pdf, printed 11/01/02 , 18 pages_ Marino, C., et al. ''Washington State Hospital Survey 2000: Gloves, Handwashing Agents, and Moisturizers”, Am. Journal Infection Control 2001 Dec; 29(6):422-4_ Material Handling Arm, http: //static.hovvstuffworksxom/gif/skid-steer-material-arm.gif, 5/20/2002 MD Consult Infectious Disease, ''Infection Control for the Ηοπιε^, home.mdconsult.com, printed 10/03/02, 3 pages_ Mingus, L., "Space Orb 360 Review", http://www.makeitsimple.com/reviews/space orb/, printed February 22, 2002, 2 pages MMS Online http://www.geekfaction.net/ Pro/nph-pro.pl/010110A7http/www.mmsonline.com/columns/0... 9/28/2002 MTS Temposonics Position Sensors, MTS Sensors Group, 2000 Brochure Naikoba, S.5 et al., tlThe Effectiveness of Interventions Aimed at Increasing Handwashing in Healthcare Workers —A Systematic Review , 2001, The Hospital Infection Society, 0195-670I/O 1/030] 73 + 08, 10 pages_ Neue Seite 1, “IWF Hexaglide”, 9/20/2002, www.iwf.bcpr.ethz.ch/wcb/ Cn/forschung/wzm/hexa 1 .shtml, 9 pp' New Holland Series LM Telehandlers http://ww\v.nevvholland.com/nh/teleh.htm, 5/20/2002, 2 pages New Holland, “Attachment Adapter Plates”, 1996, 2 pp. New Holland, “Skid Steers”, 2000, 12 pp· New Holland, “Skid, Steer Loader Attachments'', 5/20/2002, 1 page. New Holland, “Skid-Steer Loader Attachments'', 5/20/2002, 2 pp· New Holland, “Skid-Steer Loader”, 5/20/2002, 3 pp. NRL-Materials Science and Technology Division, “Six Dimensional Loader'', 9/ 20/2002, http://mstd.nrl.navv.mil. 2 pp. Pike, G., ''Electrical properties of Conducting Elastomers55, NASA: Center for Aerospace Information, Pittet, D. ^Effectiveness of a Hospital-Wide Program to Improve Compliance with Hand Hygiene. 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Spacetech, “This isn’t your fathers Joystick”，httD：//www.gamedemo.com/ezine/ian97/orb36Q,htm. printed February 22, 2002, 2 pages Stevens, B., “Birth Place of the SpaceOrb 360: Engineering Technology Transfer Begets New Low-Cost Consumer “6D” Gaming Device”，http://www.casvstems.com/piOfiles/] 997/9711 a05.html printed February 22, 2002, 2 pages Storrs, John, “Distribution Notes for Hexapod-1.1 ’’，Copyright 1997, www.i-wav.co.uk, 4 pp. Storrs, John, “Hexapod Software Model”，9/28/2002, www.i-wav.co.uk·, 3 pp. Storrs, John, “LME Hexapod Machine”，9/28/2002, vvww.i-wav.co.uk, 2 pp. Stump Grinder, http://static.howstufPworks.com/gif/skid-stccr-stump~gi indcr.gif, 5/20/2002 Techno park, “Know how Navigator: Firmenansicht Sundin GmbH, http：//wwvv.navigator.techn〇Dark.ch/htdocs/firmen/Sundin=:95GmbH.htmK printed February 24, 2002 The Hospital Infection Society, “Studies Have Consistently Demonstrated Rates of Handwashing Compliance Are Lesss Than 50〇/〇”，2000, The Hospital Infection Society, 5 pages_ Trencher, http://static.howstuffworks.com/gif/skid-steer4renchei-.gif, 5/20/2002 University of Washington - Control & Robotic Systems Laboratory, UA Look at the Pole/Zero Structure of a Stewart Platform Using Special Coordinate Basis”，6/24/1998, 16 pp. US Patent Application Publication US2002/0117017A1，“Control Lever” 10/15/01 5 pages Utility Grapple Bucket, http://static.howstuffworks.com/gif/skid-steer-utilitv-gmDple-bucket.gif，5/20/2002 Versic, Ronald J.， ^Flavor Encapsulation - An Overview,,s 1988, http://www.rtdodge.coni/fl-ovrvw.htm, printed 07/21/02, 6 pages_ Versic, Ronald J.，“Coacervation for Flavor Encapsulation”，http://www.rtdodge.com/coacer.htm, printed 07/21/02, 6 pages Versic, Ronald J., et al., “Microencapsulation and Scented Fragrance Inserts”， http://www.rtdodge.com/fr-insrt.htm, printed 07/21/02, 1989, 4 pages_ Viren, B.，“How to Use the SpaceOrb under Linux or Unsupported Secrets of the SpaceOrb Protocol”，printed February 22, 2002, 5 pages VR News，“Notion Simulation”，9/20/2002, www.vrnews.com, 2 pp. Wendt, C.，“Hand Hygiene -- Comparison of International Recommendations”，2001, The Hospital Infection Society, 10 pages__ White, CG, ''Reduction of Illness Absenteeism in Elementary Schools Using an Alcohol-Free Instant Hand Sanitizer”，2001，PubMed: 11885342, 2 pages_ Worksaver，Inc.，“Worksaver Grapple for Skid Steer and Front Loader”, www.worksaver.com. 5/20/2002, 2 pp. Yashin, V.V., et al. 4tA Model for Rubber Degradation Under Ultrasonic Treatment: Part II. 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-75- 1293423-75- 1293423

附件A (l)l-D加速計在點A及B，兩者與半徑平行及離開中心。χ-軸爲沿移動元件，y-軸爲垂直於所示的元件。（1)1-D加速計平行於 y -軸及固定在A點。每一個點上的加速度爲=Annex A (l) l-D accelerometers are at points A and B, both parallel to the radius and away from the center. Χ-axis is the moving element, and the y-axis is perpendicular to the component shown. (1) The 1-D accelerometer is parallel to the y-axis and fixed at point A. The acceleration at each point is =

ΓΒ J 其中和都是切線速度。 ΪΑ ΪΒ I g\= ^g；+g2y，故可定義出：g X =如2 - g’; / N Sy =arctan J Jg2 -gl y 因此ΓΒ J where both are tangent speeds. ΪΑ ΪΒ I g\= ^g;+g2y, so we can define: g X = as 2 - g'; / N Sy = arctan J Jg2 - gl y

由於匕=X/ 4且4，故可改寫成： / 心+ \Since 匕=X/ 4 and 4, it can be rewritten as: / heart + \

gy^h-θ1 un 。jGy^h-θ1 un . j

(W&)十(W外 -76· 1293423 aA.y 七 aB,y _rB —1-辽— / aA,y^faB.y 1-' \ rB > /(W&) ten (W outside -76. 1293423 aA.y seven aB, y _rB - 1-liao - / aA, y^faB.y 1-' \ rB > /

m LL aA^^~aB,y 因此：心=——^^ θ： l-km LL aA^^~aB,y Therefore: heart =——^^ θ: l-k

rB Θ: 1〜一心 Ky-gyrB Θ: 1~一心 Ky-gy

rArA

rB g2- * — ΓΒ· L . ^ . 替代地： θ (Ί) (五）圖式簡單說明第1 a到1 e圖係用以顯示一種根據本發明較佳實施例之一建造之六軸搖桿由Solid Work®產生之各式實體模型的示意圖。第1 a圖係在繪製有光徑實例下用以顯示該六軸搖桿之 Z -軸的俯視平面圖。第1 b圖係用以顯示該搖桿之主要組件的截面切開立視圖。第1 c圖係用以顯示該搖桿之主要組件的切開透視圖。第1 d圖係用以顯示該搖桿之立視圖。第1 e圖係用以顯示該搖桿之各凸角組件的剖面圖° 第2圖係在繪製有內部反射性刻面下用以顯示該搖桿之 -77- 1293423 主動式控制把手的透視圖。第3圖係在結合某一型式之相關電氣策略下用以顯示該六軸搖桿之圓柱狀突起的示意圖。第4圖係在顯示有曲度面鏡刻面功能下顯示該六軸搖桿之圓柱狀突起的示意圖。第5圖係在結合了顯示有用以施行觸感裝置及截斷式面鏡刻面之對應電氣策略下用以顯示一種根據本發明較佳實施例之圓柱狀突起的示意圖。rB g2- * - ΓΒ · L . ^ . instead: θ (Ί) (5) Schematic description The 1 a to 1 e diagram is used to show a six-axis constructed according to one of the preferred embodiments of the present invention. A schematic representation of various solid models produced by Solid Work®. Figure 1a is a top plan view showing the Z-axis of the six-axis rocker in the case of a light path. Figure 1b is a cross-sectional elevational view showing the main components of the rocker. Figure 1 c is a cut-away perspective view showing the main components of the rocker. Figure 1d is used to display an elevational view of the rocker. Figure 1 e is a cross-sectional view showing the lobe assembly of the rocker. Fig. 2 is a perspective view of the -77-1293423 active control handle for displaying the rocker under the internal reflective facet. Figure. Figure 3 is a schematic view showing the cylindrical projection of the six-axis rocker in conjunction with a related electrical strategy of a certain type. Fig. 4 is a schematic view showing the cylindrical projection of the six-axis rocker under the function of displaying a curved facet facet. Fig. 5 is a schematic view showing a cylindrical projection according to a preferred embodiment of the present invention in combination with a corresponding electrical strategy showing the use of a tactile device and a truncated facet.

第6圖係用以顯示一種根據本發明較佳實施例之積體式光電發射器/光電偵測器套裝組合的透視圖。第7圖係在結合有對應電氣策略下用以顯示一種根據本發明另一實施例之六軸搖桿內之圓柱狀突起的示意圖。第8 a到8 e圖係用以顯示一種根據本發明另一實施例之建造之六軸搖桿由SolidWork®產生之各式實體模型的示意圖。第8 a圖係在繪製有光徑實例下用以顯示該六軸搖桿之 Z-軸的俯視平面圖。 Φ 第8 b圖係用以顯示該搖桿之主要組件的截面立視圖。第8 c圖係用以顯示該搖桿之主要組件的切開透視圖。第8 d圖係用以顯示該搖桿之立視圖。第8 e圖係用以顯不該搖桿之某些凸角組件的剖面圖。第9圖係在繪製有內部反射性刻面下用以顯示該搖桿之主動式控制把手的透視圖。第1 0 a圖係用以顯示一種根據本發明某一實施例之截面 -78- 1293423 圖示，其特色爲一傳統「搖桿」式主動式控制把手、一已強化運動範圍以及一保護性壓力補償式風箱。第1 Ob圖係用以顯示第1 〇a圖之實施例的另一截面圖示。第1 1 a，1 1 b , 1 1 c和1 1 d圖分別是用以顯示一種根據本發明某一實施例之磁通感知器實例之平面、截面、透視及剖面圖。第1 2圖係用以顯示一種根據本發明某一實施例之磁性元件的平面圖。Figure 6 is a perspective view showing a combination of an integrated phototransmitter/photodetector set in accordance with a preferred embodiment of the present invention. Fig. 7 is a schematic view showing a cylindrical projection in a six-axis rocker according to another embodiment of the present invention in combination with a corresponding electrical strategy. Figures 8a through 8e are schematic views showing various solid models produced by SolidWork® for a six-axis rocker constructed in accordance with another embodiment of the present invention. Figure 8a is a top plan view showing the Z-axis of the six-axis rocker in the case of a light path. Φ Figure 8b is a cross-sectional elevational view showing the main components of the rocker. Figure 8c is a cut-away perspective view showing the main components of the rocker. Figure 8 is a diagram showing the vertical view of the rocker. Figure 8 e is a cross-sectional view of some of the lobe assemblies used to show the rocker. Figure 9 is a perspective view of an active control handle for displaying the rocker with an internally reflective facet. Figure 10a is a diagram showing a section -78-1293423 in accordance with an embodiment of the present invention featuring a conventional "rocker" active control handle, an enhanced range of motion, and a protective Pressure compensated bellows. The first Ob diagram is another cross-sectional illustration for showing an embodiment of the first FIG. The 1 1 a, 1 1 b , 1 1 c and 1 1 d diagrams are respectively plan, cross-sectional, perspective and cross-sectional views showing an example of a magnetic flux sensor according to an embodiment of the present invention. Figure 12 is a plan view showing a magnetic element according to an embodiment of the present invention.

第1 3圖係用以顯示一種根據本發明某一實施例之組合式磁性元件的平面圖。第1 3 a圖係用以顯示一種根據本發明某一實施例之磁性元件的截面立視圖。第1 4圖係用以顯示一種根據本發明某一實施例之印刷電路板的詳細圖。第1 5 a圖係用以顯示一種根據本發明某一實施例之彈性體的截面圖。第1 5b圖係用以顯示如第1 5a圖所示之實施例的剖面圖。第1 5 c圖係用以顯示如第1 5 a圖所示之實施例的另一剖面圖。第1 5 d圖係用以顯示如第1 5 a圖所示之實施例的立視圖。第1 5 e圖係用以顯示一種類似於第1 5 a圖的截面圖。第1 6圖係用以顯示一種根據本發明另一實施例之彈性體的截面圖。第1 7圖係用以顯示一種根據本發明某一實施例之彈性體的代表性等效電路。 -79- 1293423 第1 8 a圖係用以顯示一種根據本發明又一實施例之彈性體感知器部分的立視圖。第1 8 b圖係用以顯示如第1 8 a圖所示之感知器元件的另一立視圖。第1 8 c圖係用以顯示如第1 8 a圖所示之感知器元件的平面圖。第18d圖係用以顯示如第18a圖所示之感知器元件的透視圖。第1 8 e圖係用以顯示如第1 8 a圖所示之感知器元件的代表性等效電路。第19a，19b，19c和19d圖分別係用以顯示一種根據本發明又一實施例之彈性體感知器總成的透視、立視、另一立視及平面圖。第19e圖係用以顯示如第19a, 19b，19c和19d圖所示之彈性體感知器總成的代表性等效電路。第2 0a和2 0b圖係用以顯示根據本發明某一實施例中數種塡充有電解質之彈性體之一平面及截面立視圖。第2 1 a，2 1 d，2 1 e和2 1 f圖係分別用以顯示一種根據本發明另一實施例中塡充有電解質之彈性體總成的平面、立視、另一立視及透視圖。第21b圖係用以顯示如第21a, 21d，21e和21f圖所示之轉換器總成中單一轉換器總成的示意圖。第21c圖係沿著第21b圖之A-A線段擷取的截面圖。第22圖係用以顯示於製造及組合之代表各階段期間沿 -80- 1293423 著一種根據本發明又一實施例中塡充有電解質之彈性體之六角形路徑切開的截面圖。第2 3圖係用以顯示沿著一種根據本發明又一實施例之裝置中塡充有電解質之彈性體上六角形路徑切開的局部截面圖。第24圖係用以顯示沿著一種根據本發明又一實施例之裝置中塡充有電解質之彈性體上六角形路徑切開的局部截面圖。第2 5 a圖係用以顯示一種根據本發明實施例之裝置中使用由各堅實元件及力量感知器構成組合之彈性體的正視圖。第2 5 b圖係用以顯示另一種根據本發明實施例之裝置中使用由各堅實元件及力量感知器構成組合之彈性體的正視圖。第25c圖係用以顯示多種可用堅實器配置之一的平面圖。第2 6圖係用以顯示一種根據本發明實施例之裝置中使用由各堅實裝置及壓力感知器裝置構成組合之彈性體上一個由多軸感知器部分構成之元件的局部截面圖。第2 7圖係用以顯示一種根據本發明實施例之裝置中結合具可變形彈性體結構而使用之分離式單軸位移感知器的截面圖。第2 8圖係用以顯示一種根據本發明另一實施例之裝置中結合具可變形彈性體結構而使用之分離式單軸位移感知器的代表性局部截面圖。第29圖係用以顯示沿著一種根據本發明又一實施例之 -81- 1293423 a置中結合具可變形彈性體結構而使用之分離式單軸位_ 移感知器的代表性局部截面圖。 · 第3 0圖係用以顯示沿著一種根據本發明又一實施例之裝置中使用埋藏於可變形彈性體結構內具可伸展線圈之可變電感上感知器部分的代表性局部截面圖。第3 1圖係用以顯示沿著一種根據本發明又一實施例之裝置中結合可在力量或位置反饋下內部壓力而變形之複數個空腔而使用埋藏於可變形彈性體結構內具可伸展線圈之可變電感上感知器部分的代表性局部截面圖。 φ 第3 2a，3 2b 5 3 2 c和3 2d圖分別係用以顯示一種根據本發明實施例之裝置的截面正視圖、局部平面圖、局部截面正視圖及透視圖，其特色爲塡充有電解質之彈性體的可變形感知器、塡充有凝膠之腕靠及積體式資料輸入鍵盤。第3 3圖係用以顯示一種根據本發明實施例之雙手式遊 · 戲控制器’其中包括具有用以連接該遊戲控制器之左側及右側控制把手部分之多軸感知器裝置的代表性示意圖。第3 4圖係用以顯示一種根據本發明實施例之手持式裝 · 置的示意圖。第 35a，35b，35c，35d，35e，35f，35g 和 35h 圖係用以顯示一種根據本發明實施例之裝置模型的照片，其中係將一直徑大槪1 . 5英吋而具有例如六個自由度之指尖型控制把手裝設到具有例如額外六個自由度之手持式控制把手上。第3 6a和3 6b圖係用以顯示一種根據本發明實施例之裝置中除了該指尖操作型控制把手是一直徑大槪1英吋的 -82- 1293423 球體之外類似於如第3 5 a到3 5 h圖所示之模型的照片。第3 7a和3 7b圖係用以顯示一種根據本發明實施例之裝置的照片，其中係將一指尖型控制把手裝設到固定型手部安定式控制把手且該指尖操作型控制把手是一直徑大槪 1 . 5英吋的球體。第3 8a，3 8b，3 8c和3 5d圖係用以顯示一種根據本發明實施例之裝置中除了該指尖操作型控制把手是一直徑大槪！英吋的球體之外類似於如第3 7 a和3 7 b圖所示之模型的照第3 9圖係用以顯示一種對應於根據本發明實施例之彈性體橋接電路的電路圖。第4 0 a圖係用以顯示一種根據本發明實施例之彈性體感知元件的透視圖。第4 0 b圖係用以顯不如第4 0 a圖所示之感知元件的截面圖。第4 1圖係用以顯示一種根據本發明實施例結合有複數個導電型彈性體抗張構件之裝置的正視圖。第42圖係用以顯示一種根據本發明某一實施例之裝置的代表性示意圖。第4 3圖係用以顯示一種根據本發明另一實施例之裝置的代表性示意圖。第4 4圖係用以顯示一種根據本發明某一實施例之可變形彈性體感知兀件內具有Stewart平臺幾乎形狀而塡充有電解質之空腔的示意圖。 -83- 1293423 第4 5圖係用以顯示一種對應於如第44圖所示實施例之衣置的電路圖。第4 6圖係用以顯示一種根據本發明某一實施例之裝置的截面圖。第4 7圖係用以顯示來自根據本發明某一實施例之裝置內三個相位激發信號與輸出信號間之解釋用關係的示意圖。Figure 13 is a plan view showing a combined magnetic component in accordance with an embodiment of the present invention. Figure 13a is a cross-sectional elevation view showing a magnetic element in accordance with an embodiment of the present invention. Figure 14 is a detailed view showing a printed circuit board in accordance with an embodiment of the present invention. Figure 15a is a cross-sectional view showing an elastomer according to an embodiment of the present invention. Figure 15b is a cross-sectional view showing an embodiment as shown in Figure 15a. Figure 15C is a cross-sectional view showing an embodiment as shown in Fig. 15a. The 15th d diagram is used to display an elevational view of the embodiment as shown in Figure 15a. Figure 15 e is used to show a cross-sectional view similar to Figure 15a. Figure 16 is a cross-sectional view showing an elastic body according to another embodiment of the present invention. Figure 17 is a diagram showing a representative equivalent circuit of an elastomer according to an embodiment of the present invention. -79- 1293423 Figure 18a is an elevational view showing an elastomeric sensor portion in accordance with yet another embodiment of the present invention. Figure 18b is another elevational view showing the sensor elements as shown in Figure 18a. Figure 18C is a plan view showing the sensor elements as shown in Figure 18a. Figure 18d is a perspective view showing the sensor elements as shown in Figure 18a. The 1 8 e diagram is used to display a representative equivalent circuit of the perceptron element as shown in Fig. 18a. 19a, 19b, 19c and 19d are respectively for perspective, elevation, another elevation and plan view of an elastomeric sensor assembly in accordance with yet another embodiment of the present invention. Figure 19e is a representative equivalent circuit for displaying the elastomeric sensor assembly as shown in Figures 19a, 19b, 19c and 19d. The 20a and 20b drawings are used to show a planar and cross-sectional elevation view of several elastomer-filled elastomers in accordance with an embodiment of the present invention. The 2 1 a, 2 1 d, 2 1 e and 2 1 f diagrams are respectively used to show a plane, an elevation, and another perspective of an elastomer assembly filled with an electrolyte according to another embodiment of the present invention. And perspective. Figure 21b is a schematic diagram showing a single converter assembly in a converter assembly as shown in Figures 21a, 21d, 21e and 21f. Figure 21c is a cross-sectional view taken along line A-A of Figure 21b. Figure 22 is a cross-sectional view showing the hexagonal path of an electrolyte filled with an electrolyte according to still another embodiment of the present invention, taken along the line of -80-1293423 during the stages of manufacture and assembly. Figure 2 is a partial cross-sectional view showing the cutting of an upper hexagonal path of an elastomer filled with an electrolyte in a device according to still another embodiment of the present invention. Figure 24 is a fragmentary cross-sectional view showing the cutting of an upper hexagonal path of an elastomer filled with an electrolyte in a device according to still another embodiment of the present invention. Figure 25A is a front elevational view showing the use of an elastomer comprising a combination of solid elements and force sensors in a device in accordance with an embodiment of the present invention. Figure 25b is a front elevational view showing the use of an elastomer comprising a combination of solid elements and force sensors in another apparatus in accordance with an embodiment of the present invention. Figure 25c is a plan view showing one of a variety of available solid state configurations. Figure 26 is a partial cross-sectional view showing an element of a multi-axis perceptron portion of an elastomer comprising a combination of solid and pressure sensor devices in a device in accordance with an embodiment of the present invention. Figure 27 is a cross-sectional view showing a separate single-axis displacement sensor for use in conjunction with a deformable elastomeric structure in a device in accordance with an embodiment of the present invention. Figure 28 is a representative partial cross-sectional view showing a separate uniaxial displacement sensor for use in conjunction with a deformable elastomeric structure in a device in accordance with another embodiment of the present invention. Figure 29 is a schematic partial cross-sectional view showing a separate uniaxial displacement sensor used in conjunction with a deformable elastomer structure in accordance with a further embodiment of the present invention -81-1293423 a. . Figure 30 is a diagram showing a representative partial cross-sectional view of a portion of a perceptive device having a variable inductance embedded in a deformable elastomeric structure in a device according to yet another embodiment of the present invention. . Figure 31 is a view showing the use of a plurality of cavities deformed in accordance with another embodiment of the present invention in combination with an internal pressure that can be fed back under force or position feedback, and is embedded in a deformable elastomeric structure. A representative partial cross-sectional view of the perceptron portion of the variable inductance of the stretch coil. φ 3 2a, 3 2b 5 3 2 c and 3 2d are respectively used to show a cross-sectional front view, a partial plan view, a partial cross-sectional front view and a perspective view of a device according to an embodiment of the invention, which are characterized by A deformable sensor for the elastomer of the electrolyte, a wrist with a gel, and an integrated data input keyboard. Figure 3 is a diagram showing a representative of a two-handed joystick device having a left-hand and right-hand control handle portion for connecting the game controller in accordance with an embodiment of the present invention. schematic diagram. Figure 34 is a schematic view showing a hand-held device in accordance with an embodiment of the present invention. 35a, 35b, 35c, 35d, 35e, 35f, 35g, and 35h are used to display a photograph of a device model according to an embodiment of the present invention, wherein a diameter is greater than 1.5 inches and has, for example, six The degree of freedom fingertip control handle is mounted to a hand held control handle having, for example, an additional six degrees of freedom. Figures 3a and 3b are used to show that a device according to an embodiment of the present invention is similar to the third one except that the fingertip operation type control handle is a -82-1293423 sphere having a diameter of more than 1 inch. A to 3 5 h picture of the model shown. Figures 7a and 7b are for displaying a photograph of a device according to an embodiment of the present invention, wherein a fingertip type control handle is attached to a fixed type hand held control handle and the fingertip operation type control handle It is a sphere with a diameter of 1.5 inches. The 3 8a, 3 8b, 3 8c and 3 5d drawings are used to show that a device according to an embodiment of the present invention has a large diameter in addition to the fingertip operation type control handle! A picture similar to the model shown in Figs. 3 7 a and 3 7 b is used to show a circuit diagram corresponding to the elastic bridge circuit according to the embodiment of the present invention. Figure 40a is a perspective view showing an elastomer sensing element in accordance with an embodiment of the present invention. Figure 40b is a cross-sectional view of the sensing element as shown in Figure 40a. Figure 41 is a front elevational view showing an apparatus incorporating a plurality of conductive elastomer tensile members in accordance with an embodiment of the present invention. Figure 42 is a schematic view showing a device according to an embodiment of the present invention. Figure 4 3 is a schematic view showing a device according to another embodiment of the present invention. Figure 4 is a schematic view showing a cavity in a deformable elastomer sensing member having an almost shape of a Stewart platform and filled with an electrolyte in accordance with an embodiment of the present invention. -83- 1293423 Figure 45 is a circuit diagram for showing a garment corresponding to the embodiment shown in Figure 44. Figure 46 is a cross-sectional view showing a device in accordance with an embodiment of the present invention. Figure 47 is a schematic diagram showing the relationship between the three phase excitation signals and the output signals from the apparatus according to an embodiment of the present invention.

第4 8圖係用以顯示一種可結合如第4 6圖所示之實施例使用之印刷電路板配置的示意圖。弟49a圖係用以顯不一種根據本發明某一實施例之裝置的平面圖，其中係藉由凝膠襯墊型腕靠以穩定六軸搖桿的基座部分。弟4 9b圖係用以顯示一種如第49a圖所示之實施例的截面正視圖。第4 9 c圖係用以顯示一種如第4 9 a圖所示之實施例的剖面圖。Figure 48 is a schematic diagram showing a printed circuit board configuration that can be used in conjunction with the embodiment shown in Figure 46. Figure 49a is a plan view showing a device according to an embodiment of the present invention in which a base portion of a six-axis rocker is stabilized by a gel-pad type wrist. The Figure 4b is used to show a cross-sectional elevational view of an embodiment as shown in Figure 49a. Figure 49 is a cross-sectional view showing an embodiment as shown in Fig. 49a.

第49d圖係用以顯示一種如第49a圖所示之實施例中一部分的透視圖。第5 0 a圖係用以顯示一種根據本發明某一實施例之裝置的切開圖，其特色爲具有一單件式光學位置轉換器。第5 0 b圖係用以顯不一種如第5 0 a圖所示之實施例的切開圖。第50c圖係用以顯不一種如第50a圖所示之單件式光學位置轉換器的透視圖。 -84- 1293423 第5 1 a圖係用以顯示一種附加在三軸滑鼠上之手指操作 · 型搖桿的透視圖。 ’ 第5 1 b圖係用以顯示一種如第5 ；[ a圖所示之實施例的底面圖。第5 1 c圖係用以顯示一種如第5 1 a圖所示之實施例的末端圖。第5 1 d圖係用以顯示一種如第5 i a圖所示之實施例的側圖。第5 1 e圖係用以顯示一種如第5 1 a圖所示之實施例的俯 · 圖。第5 1 f和5 1 g圖係用以顯示一種如第5丨a圖所示之實施例的透視圖。第5 2圖係用以顯示一種根據本發明某一實施例中包含 — 配備有感知器以利進行座標轉換以便利用搖桿控制Stewart ' 平臺式轉接器之裝塡器的透視圖。第5 3圖係用以顯示一種如第5 2圖所示實施例之控制策略實例的示意圖。修第5 4 a圖係用以顯示一種單件式轉換器的截面圖。第5 4b圖係用以顯示一種如第54a圖所示之實施例的局部邊示意圖。第5 5圖係用以顯示一種根據本發明某一槪念之搖桿的截面正視圖。第5 6 a圖係用以顯示一種根據本發明某一實施例中包含兩個相對於轉換元件依對稱方式放置之兩個軸向彈簧之搖 -85- 1293423 桿的截面圖。第5 6 b圖顯示的是一種反射圖案的實例。第5 6 c圖顯示的是一種反射圖案的實例。第5 7圖係用以顯示一種用以使轉換器裝置之零狀態的角度及軸向與反射圖案對齊之實例的示意圖。第5 8圖係用以顯示一種根據本發明某一槪念所用彈簧之應力分析實例的示意圖。Figure 49d is a perspective view showing a portion of the embodiment as shown in Figure 49a. Figure 50a is a cutaway view showing a device in accordance with an embodiment of the present invention featuring a one-piece optical position transducer. Figure 50b is used to show an incision of an embodiment as shown in Figure 50a. Figure 50c is a perspective view showing a one-piece optical position transducer as shown in Figure 50a. -84- 1293423 Figure 5 1 a is a perspective view showing a finger operated type of rocker attached to a three-axis mouse. 'Fig. 5 1b is used to show a bottom view of an embodiment as shown in Fig. 5; Figure 5 1 c is used to show a terminal diagram of an embodiment as shown in Figure 51. Figure 51 is used to show a side view of an embodiment as shown in Figure 5a. Figure 5 e is used to show a top view of an embodiment as shown in Figure 51. The 5 1 f and 5 1 g diagrams are used to show a perspective view of an embodiment as shown in Fig. 5a. Figure 52 is a perspective view showing a mount included in accordance with an embodiment of the present invention - equipped with a perceptron for coordinate conversion to control the Stewart 'platform adapter with a rocker. Fig. 5 is a schematic diagram showing an example of a control strategy of the embodiment shown in Fig. 52. Figure 5 4 a is used to show a cross-sectional view of a one-piece converter. Figure 5b is a schematic diagram showing a partial side view of an embodiment as shown in Fig. 54a. Fig. 5 is a cross-sectional front view showing a rocker according to a certain aspect of the present invention. Figure 5a is a cross-sectional view showing a rocker -85-1293423 rod comprising two axial springs placed symmetrically relative to the conversion element in accordance with an embodiment of the present invention. Figure 5 6 b shows an example of a reflective pattern. Figure 5 6 c shows an example of a reflective pattern. Figure 57 is a schematic diagram showing an example of aligning the angle and axial direction of the zero state of the transducer device with the reflective pattern. Fig. 5 is a schematic view showing an example of stress analysis of a spring used in accordance with one of the present inventions.

第5 9圖係用以顯示另一種根據本發明某一槪念所用彈簧之應力分析實例的示意圖。第60圖係用以顯示一種根據本發明某一實施例具有單一彈性元件之彈簧實例的示意圖。桌6 1 a和6 1 b圖係用以顯不一種入射到根據本發明某— 實施例裝置上之模擬影像的示意圖。主要部分之代表符號說明Fig. 5 is a schematic view showing another example of stress analysis of a spring used in accordance with a certain concept of the present invention. Figure 60 is a schematic view showing an example of a spring having a single elastic member according to an embodiment of the present invention. Tables 6 1 a and 6 1 b are used to show a schematic view of a simulated image incident on a device according to an embodiment of the present invention. Representative symbolic description of the main part

1 主動式控制把手 1 a- 1 c 主動式控制把手部分 la 上邊控制把手部分 lb 下邊控制把手部分 1 c 吸收區 Id 反射區 2 膜片 2a-2f 反射性刻面 3 基座 4 光源（光電發射器） -86- 1293423 5 5a-5f 光電偵測器偵測器 6 擋板 7,8 螺釘 9 插座 10 線圈型彈簧 11,12 凹陷 13 印刷電路板 14 光徑 15 觸控式偵測電路 16 可程式規劃的介面控制器 17 信號接收裝置 18a-18f 放大器 19a-19f 電阻器 2 1 空間層 22 孔洞 23 螺釘 24 主動式控制把手 25 轉換器 26,27 風箱 28 裝設區塊 2 9,30 葉形彈簧 3 1,3 2,3 3,3 4 樑 3 5 連接區塊 3 6 裝設區塊 -87- 1293423 3 7 外 4 1 光 42a-42f 光 43 光 44 單 44a 連 44b 光 44c 光 44d 混 44e 基 4 4h 透 44i 不 44j 反 45 電 46a-46f 偵 47,48 弓早 50a-50f 霍 52 磁 5 2 a - 5 2 c 磁 53 永 54 螺 5 5 大 56 彈 57 磁 58,59 阻殻吸收表面電偵測器電發射器件式光學轉換器接插針電偵測器電發射器合信號式微控制器板明媒介物透明媒介物射性塗層氣連接結構測器簧支持用凹槽爾效應感知器極片極久磁鐵帽頭釘簧式控制把手通路徑尼電路1 Active control handle 1 a- 1 c Active control handle part la Upper control handle part lb Lower control handle part 1 c Absorption zone Id Reflection zone 2 Diaphragm 2a-2f Reflective facet 3 Base 4 Light source (photoelectric emission -86- 1293423 5 5a-5f Photodetector detector 6 baffle 7,8 screw 9 socket 10 coil spring 11,12 recessed 13 printed circuit board 14 optical path 15 touch detection circuit 16 Program-planned interface controller 17 Signal receiving device 18a-18f Amplifier 19a-19f Resistor 2 1 Space layer 22 Hole 23 Screw 24 Active control handle 25 Converter 26, 27 Bellows 28 Mounting block 2 9,30 Shaped spring 3 1,3 2,3 3,3 4 Beam 3 5 Connection block 3 6 Mounting block -87- 1293423 3 7 Outer 4 1 Light 42a-42f Light 43 Light 44 Single 44a Connect 44b Light 44c Light 44d Mixed 44e base 4 4h through 44i not 44j reverse 45 electric 46a-46f detect 47, 48 bow early 50a-50f Huo 52 magnetic 5 2 a - 5 2 c magnetic 53 Yong 54 screw 5 5 large 56 bomb 57 magnetic 58,59 resistance Shell absorption surface electrical detector, electro-emission device, optical conversion Pins, electric detector, electric transmitter, signal type, microcontroller, board, medium, transparent, medium, material, coating, gas, connection, structure, detector, spring, support, groove, effect, sensor, pole piece, long magnet, head, spring Control handle through path circuit

-88- 1293423 60 彈性體感知元件 61a-61c， 62a-62c 電氣端子 63 支柱 64 機座部分 64a 三軸滑鼠 65 固定器 66 上邊印刷電路板 67 下邊印刷電路板 68 固定器 69 固定器 7 0 a - 7 0 f 彈性體 71a-71c? 72a-72c 等效電阻 73a-73c 電氣端子 75a-75f 彈性體感知元件 76 空腔 77 可形變彈性體結構 78 堅實性嵌入物 79 支持器 80 外罩 81a-81c， 82a-82c 電氣端子 83 橡膠水管 84 水管夾 85,86 平臺 8 7 彈性體結構 88 插針 -89- 1293423 89 膨脹型空腔 90 電極 92 電解質 93,95 上邊電極 94 電氣連接結構 96 下邊電極 97 單一電極總成 98 小型裝置 99 內部堅實元件 1 00 可形變彈性體結構 10 1 壓力感知裝置 102 塡充有流體的通路 103 位移量測裝置 104 位置（單一鑄造式球形椅） 105 共同空腔（變壓器核心） 106 球體部分（線圈總成） 107 桿柱部分 108 線圈型彈簧 109 配件 110 水管 111 塡充有凝膠的腕靠 112 數値鍵盤 113 左半邊 114 右半邊 115 多軸感知元件-88- 1293423 60 Elastomer sensing element 61a-61c, 62a-62c Electrical terminal 63 Post 64 Base part 64a Triaxial mouse 65 Retainer 66 Upper printed circuit board 67 Lower printed circuit board 68 Retainer 69 Retainer 7 0 a - 7 0 f Elastomers 71a-71c? 72a-72c Equivalent resistors 73a-73c Electrical terminals 75a-75f Elastomer sensing element 76 Cavity 77 Deformable elastomeric structure 78 Firmness insert 79 Supporter 80 Housing 81a- 81c, 82a-82c Electrical terminal 83 Rubber water pipe 84 Water pipe clamp 85, 86 Platform 8 7 Elastomer structure 88 Pin-89- 1293423 89 Expansion cavity 90 Electrode 92 Electrolyte 93, 95 Upper electrode 94 Electrical connection structure 96 Lower electrode 97 Single electrode assembly 98 Small device 99 Internal solid component 1 00 Deformable elastomeric structure 10 1 Pressure sensing device 102 Fluid filled passage 103 Displacement measuring device 104 Position (single cast spherical chair) 105 Common cavity ( Transformer core) 106 ball part (coil assembly) 107 pole part 108 coil type spring 109 fitting 110 water pipe 111 charging Gel number 112 against wrist 113 Zhi keyboard left half 114 and right half of the multi-axis sensing element 115

-90- 1293423 116 遊戲控制器 117 手帶 118 腕帶 119 基座部分 120 使用者的手 12 1 感知器裝置 122 指尖操作式控制把手 123 手持式控制把手 124 連接用聯結器 125 手持式固定控制把手 126 角艙蓋式轉接器 126a- 1 26d 微型機電系統裝置 127 連鎖裝置 127a- 1 27d 分離式感知器 128,1 32 平臺 129a MEMS 裝置 13 0 機器構想式感知器 13 1 建築設備 133 可卸除工具 134 運動控制器 13 5 收發報機 1 36 水力發電機 13 7 水力閥式岐管 13 8 收發報機-90- 1293423 116 Game Controller 117 Hand Strap 118 Wrist Strap 119 Base Section 120 User's Hand 12 1 Perceptron Device 122 Fingertip Operational Control Handle 123 Handheld Control Handle 124 Connection Coupling 125 Handheld Fixed Control Handle 126 Corner hatch adapter 126a- 1 26d Micro electromechanical system unit 127 interlocking unit 127a-1 27d Separate sensor 128,1 32 Platform 129a MEMS device 13 0 Machine concept sensor 13 1 Construction equipment 133 detachable In addition to tools 134 motion controller 13 5 transceivers 1 36 hydroelectric generators 13 7 hydraulic valve manifolds 13 8 transceivers

-91--91-

Claims

1293423 第92 1 2 842 8號「多軸輸入轉換器裝置、搖桿、遊戲搖桿多軸搖桿及電腦滑鼠」專利案 (2007年7月修正）拾、申請專利範圍：1293423 92nd 1 2 842 8 "Multi-axis input converter device, joystick, game joystick multi-axis rocker and computer mouse" patent case (revised in July 2007) Pick up, patent application scope:

1· 一種多軸輸入轉換器裝置，包括：一具有至少五個輸入端的元件，可相對於至少五個參考座標系統進行輸A ; 一內部反射元件，用以回應來自能放射最終入射到內部反射元件上的輻射源的輻射；以及至少一個反射輻射偵測器，用以回應來自該內部反射元件的輻射。 2 ·如申請專利範圍第1項之多軸輸入轉換器裝置，其中_ 具有至少五個輸入端的元件包括一具有至少六個輸入端的元件可相對於至少六個參考座標系統進行輸入。 3 ·如申請專利範圍第2項之多軸輸入轉換器裝置，其中_ 至少六個參考座標系統包括至少三個平移式參考座標系統以及至少三個旋轉式參考座標系統。A multi-axis input transducer device comprising: an element having at least five inputs for inputting A with respect to at least five reference coordinate systems; and an internal reflective element for responding to radiation from a final incident to internal reflection Radiation from a source of radiation on the component; and at least one reflected radiation detector responsive to radiation from the internal reflective element. A multi-axis input transducer device as claimed in claim 1, wherein the component having at least five inputs comprises an element having at least six inputs for input with respect to at least six reference coordinate systems. 3. A multi-axis input transducer device as claimed in claim 2, wherein at least six reference coordinate systems comprise at least three translating reference coordinate systems and at least three rotary reference coordinate systems.

4 .如申請專利範圍第3項之多軸輸入轉換器裝置，其中該至少二個平移式參考座標系統以及至少三個旋轉式參考座標系統的特徵爲具有三個相互正交的軸。 5 ·如申請專利範圍第1項之多軸輸入轉換器裝置，其中該輻射源包括一電磁輻射源。 6 .如申請專利範圍第5項之多軸輸入轉換器裝置，其中該電磁輻射源包括一可見光源。 7 .如申請專利範圍第1項之多軸輸入轉換器裝置，其中該至少五個參考座標系統包括至少三個平移式參考座標系 1293423 以年7月〖3日修(更)正本統〇 -*—- - 8 .如申請專利範圍第1項之多軸輸入轉換器裝置，其中該 ' 至少五個參考座標系統包括至少三個旋轉式參考座標系 9 .如申請專利範圍第〗項之多軸輸入轉換器裝置，其中該至少五個參考座標系統包括三個平移式參考座標系統以及兩個旋轉式參考座標系統。 1 0 .如申請專利範圍第1項之多軸輸入轉換器裝置，其中該至少五個參考座標系統包括至少五個軸。 · 1 1 ·如申請專利範圍第1 〇項之多軸輸入轉換器裝置，其中該至少五個軸包括三個相互正交的軸。 1 2 ·如申請專利範圍第1項之多軸輸入轉換器裝置，其中又包括一最終可使來自該輻射源的輻射入射其上的比較不反射元件。 1 3 .如申請專利範圍第1 2項之多軸輸入轉換器裝置，其中該比較不反射元件會與該內部反射元件形成至少一個陡峭邊界而存在有從反射性到比較不反射性元件的劇烈變化肇 M.如申請專利範圍第13項之多軸輸入轉換器裝置，其中該至少一個陡峭邊界包括至少兩個陡峭邊界。 1 5 .如申請專利範圍第1 4項之多軸輸入轉換器裝置，其中該至少兩個陡峭邊界包括至少兩個實質上相互正交的陡峭邊界。 1 6 .如申請專利範圍第1 4或1 5項之多軸輸入轉換器裝置， -2-4. The multi-axis input transducer device of claim 3, wherein the at least two translating reference coordinate systems and the at least three rotary reference coordinate systems are characterized by three mutually orthogonal axes. 5. The multi-axis input transducer device of claim 1, wherein the source of radiation comprises a source of electromagnetic radiation. 6. The multi-axis input transducer device of claim 5, wherein the source of electromagnetic radiation comprises a source of visible light. 7. The multi-axis input transducer device of claim 1, wherein the at least five reference coordinate systems comprise at least three translating reference coordinate systems 1293423 in July of the year [3 days repair (more) original rendezvous - *--- 8. The multi-axis input transducer device of claim 1, wherein the at least five reference coordinate systems comprise at least three rotary reference coordinate systems 9. As claimed in the patent application scope A shaft input converter device, wherein the at least five reference coordinate systems comprise three translating reference coordinate systems and two rotary reference coordinate systems. The multi-axis input transducer device of claim 1, wherein the at least five reference coordinate systems comprise at least five axes. The multi-axis input transducer device of claim 1, wherein the at least five axes comprise three mutually orthogonal axes. A multi-axis input transducer device as claimed in claim 1, further comprising a relatively non-reflective element that ultimately causes radiation from the radiation source to be incident thereon. 13. The multi-axis input transducer device of claim 12, wherein the comparative non-reflective element forms at least one sharp boundary with the internal reflective element and has a sharp transition from reflective to relatively non-reflective elements. The multi-axis input transducer device of claim 13, wherein the at least one steep boundary comprises at least two steep boundaries. The multi-axis input transducer device of claim 14, wherein the at least two steep boundaries comprise at least two steep boundaries that are substantially orthogonal to one another. 1 6 . For multi-axis input converter devices of patent application No. 14 or 15, -2-

Ι29Μ2ί^ 其中該內部反射元件係與毗連該比較不反射元件以形成一三角形圖案。 1 7 ·如申請專利範圍第1 3項之多軸輸入轉換器裝置，其中該至少一個陡峭邊界包括至少兩個陡峭邊界。 1 8 .如申請專利範圍第1 7項之多軸輸入轉換器裝置，其中該至少兩個陡峭邊界係呈曲折配置。 1 9 .如申請專利範圍第1項之多軸輸入轉換器裝置，其中該內部反射元件係沿著該輻射源的外徑向方向建立的。 20 ·如申請專利範圍第1項之多軸輸入轉換器裝置，其中該至少一個反射輻射偵測器係沿著該內部反射元件的內徑向方向建立的。 2 1 .如申請專利範圍第1 2項之多軸輸入轉換器裝置，其中該內部反射元件及該比較不反射元件係沿著該輻射源的外徑向方向建立的。 22 ·如申請專利範圍第1 2項之多軸輸入轉換器裝置，其中該內部反射元件及該比較不反射元件係沿著該至少一個反射輻射偵測器的外徑向方向建立的。 23 .如申請專利範圍第1項之多軸輸入轉換器裝置，其中該具有至少五個輸入端的元件包括一搖桿。 24 .如申請專利範圍第1項之多軸輸入轉換器裝置，其中該內部反射元件包括一環狀反射元件。 2 5 .如申請專利範圍第1 2項之多軸輸入轉換器裝置，其中該內部反射元件及該比較不反射元件係依環狀方式建立的 -3-Ι29Μ2ί^ wherein the inner reflective element is adjacent to the non-reflective element to form a triangular pattern. A multi-axis input transducer device as claimed in claim 13 wherein the at least one steep boundary comprises at least two steep boundaries. 18. The multi-axis input transducer device of claim 17, wherein the at least two steep boundaries are in a tortuous configuration. The multi-axis input transducer device of claim 1, wherein the internal reflective element is established along an outer radial direction of the radiation source. 20. The multi-axis input transducer device of claim 1, wherein the at least one reflected radiation detector is established along an inner diameter direction of the internal reflective element. The multi-axis input transducer device of claim 12, wherein the internal reflective element and the comparative non-reflective element are established along an outer radial direction of the radiation source. 22. The multi-axis input transducer device of claim 12, wherein the internal reflective element and the comparative non-reflective element are established along an outer radial direction of the at least one reflected radiation detector. 23. The multi-axis input transducer device of claim 1, wherein the component having at least five inputs comprises a rocker. 24. The multi-axis input transducer device of claim 1, wherein the internal reflective element comprises an annular reflective element. The multi-axis input transducer device of claim 12, wherein the internal reflective element and the comparative non-reflective element are established in a ring-like manner -3-

1293423 2 6 ·如申請專利範圍第2丨項之多軸輸入轉換器裝置，其中該 - 內部反射元件及該比較不反射元件係依環狀方式建立的〇 2 7 ·如申請專利範圍第1項之多軸輸入轉換器裝置，其中該至少一個反射輻射偵測器包括至少六個反射輻射偵測器〇 28 ·如申請專利範圍第1項之多軸輸入轉換器裝置，其中該至少一個反射輻射偵測器可放射一相對於來自該內部反射元件之輻射的信號。 Φ 29 ·如申請專利範圍第28項之多軸輸入轉換器裝置，其中該相對於來自該內部反射元件之輻射的信號包括一電氣信號。 3 〇 ·如申請專利範圍第2 8項之多軸輸入轉換器裝置，其中該相對於來自該內部反射元件之輻射的信號包括一光學信號。 3 1 . —種搖桿，包括：一輻射源；一反射器；以及反射輻射偵測器，其中至少一個係沿著至少三個自由度相對於三 ® 個元件中至少另一個元件呈可動的；其中該輻射源會投射出最終入射到該反射器上的輻射，該反射器則依在至少三個自由度改變的方式將一可變的反射光學信號反射到該反射輻射偵測器上，且該反射輻射感知器可偵測到至少一部分的可變反射光學信號。 3 2 ·如申請專利範圍第31項之搖桿，其中該輻射源包括一可見光源。 -4- 1293423 私年7月日修(更)正本 ·丨 3 3 ·如申請專利範圍第3 1項之搖桿’其中該輻射源包括一紅外線輻射源。 3 4 .如申請專利範圍第3 1項之搖桿’其中該輻射源包括一紫外線輻射源。 3 5 .如申請專利範圍第3 1項之搖桿，其中偵測該回傳的光學信號當作入射到由各影像感知元件構成之陣列上的影像。 3 6 .如申請專利範圍第3 5項之搖桿’其中該由各影像感知元件構成之陣列包括一電荷耦合裝置（c c D )式相機。 37.如申請專利範圍第35或36項之搖桿，其中又包括一廣角鏡頭。 3 8 .如申請專利範圍第3 1項之搖桿，其中該反射輻射偵測器包括一光電偵測器且該輻射源包括一具時間順序的光發射器。 3 9 .如申請專利範圍第3 1項之搖桿，其中該反射輻射偵測器包括結合有該輻射源平行運作的多個光電偵測器，其中該輻射源包括一具時間順序的光發射器。 40 ·如申請專利範圍第3 1項之搖桿，其中該反射輻射偵測器包括具時間順序的光偵測器。 4 1 ·如申請專利範圍第3 1項之搖桿，其中可建立該反射輻射偵測器及該輻射源當作一單件式裝置的零件。 42 ·如申請專利範圍第3 1項之搖桿，其中可藉由一單件式裝置對該可變的反射光學信號進行轉換。 4 3 ·如申請專利範圍第4 1項之搖桿，其中該單件式裝置包含各埋藏式非光學電子組件。 -5- 1293423 「—一 f ^ · -' / 一一 .;厂.， 44 ·如申請專利範圍第43項之搖桿，其中該埋藏式非光學電子組件包含一微處理器。 4 5 ·如申請專利範圍第4 1項之搖桿，其中該單件式裝置包括一用以支撐埋藏於透光媒介物內之一個或更多個光學發射器以及一個或更多個光學偵測器且一般而言呈平面型式的基板。 46 .如申請專利範圍第4 1項之搖桿，其中該單件式裝置包括一用以支撐埋藏於導光媒介物內之一個或更多個光學發射器、一個或更多個光學偵測器以及非光學電子組件且一般而言呈平面型式的基板。 47 .如申請專利範圍第3 1項之搖桿，其中將結構的光投射到反射器上。 4 8 ·如申請專利範圍第3 1項之搖桿，其中該反射器包括至少一個具圖案的反射元件。 4 9 ·如申請專利範圍第3 1項之搖桿，其中該反射器包括多個反射刻面。 5 0 ·如申請專利範圍第3 1項之搖桿，其中該反射器包括至少一個回復性反射元件。 5 1 .如申請專利範圍第3 1項之搖桿，其中該輻射源、反射器及反射輻射偵測器都受到一可撓膜片的保護。 5 2 ·如申請專利範圍第3 1項之搖桿’其中包含彈性位置恢復元件。 5 3 ·如申請專利範圍第5 2項之搖桿’其中該彈性位置恢復兀件包括一彈簧。 -6- 1293423 % η ίβ - 1 5 4 ·如申請專利範圍第5 2項之搖桿，其中該彈性位置恢復元件包括一在第一端點固定在第一可動元件且在第二端點固定在第二可動元件之彈簧，其中係將一位移偵測元件定位在靠近垂直於該彈簧之軸的平面處且靠近該彈簧中心處。 5 5 ·如申請專利範圍第5 2項之搖桿’其中該彈性位置恢復元件包括一在第一端點固定在第一可動元件且在第二端點固定在第二可動元件之第二端點上的彈簧，其中係將一搖桿控制把手的中心定位在靠近垂直於該彈簧之軸的平面處且靠近該彈簧中心處。 5 6 .如申請專利範圍第5 5項之搖桿’其中該搖桿控制把手的中心與垂直於該彈簧之軸的平面呈共面。 5 7 .如申請專利範圍第5 2項之搖桿，其中該彈性位置恢復元件包括一實質上呈平面型式的彈簧。 5 8 .如申請專利範圍第5 2項之搖桿，其中該彈性位置恢復元件包括至少一個依與搖桿之各光學元件呈共軸的方式定位的彈簧。 5 9 . —種搖桿，包括至少兩個可在至少三個自由度呈相互可動的元件；一個或更多個導電性彈性體元件，其係建立成當該至少兩個元件在該至少三個自由度相對彼此移動時變形，且被使用以便產生一具有至少三個自由度的位置信號；及偵測電路，其係建立來隨著該一個或多個導電性彈性體元件之電阻在該至少兩個元件在該至少三個自由度相對彼此移動時改變，測量該電阻。 -7- 1293423 p—_ ——^ %年7月i3 修(更}正本 6 0 . —種搖桿’包括至少兩個可在ϋ三個自由度呈相互可動的元件；一個或更多個電離導電元件，其係建立成當該至少兩個元件在該至少三個自由度相對彼此移動時變形，且被使用以便從交替極性的激發信號產生一具有至少三個自由度的位置信號；及偵測電路，其係建立來隨著該一個或多個電離導電元件之電阻在該至少兩個元件在該至少三個自由度相對彼此移動時改變，測量該電阻 0 61. —種搖桿，包括至少兩個可在至少三個自由度呈相互可動的元件；一個或更多個導電性可變形液體元件，其係建立成當該至少兩個元件在該至少三個自由度相對彼此移動時變形，且被使用以便產生一具有至少三個自由度的位置信號；及偵測電路，其係建立來隨著該一個或多個導電性可變形液體元件之電阻在該至少兩個元件在該至少三個自由度相對彼此移動時改變，測量該電阻。 62. —種搖桿，包括至少兩個可在至少三個自由度呈相互可動的元件；一個或更多個導電性可變形凝膠元件，其係建立成當該至少兩個元件在該至少三個自由度相對彼此移動時變形，且被使用以便產生一具有至少三個自由度的位置信號；及偵測電路，其係建立來隨著該一個或多個導電性可變形凝膠元件之電阻在該至少兩個元件在該 • 至少三個自由度相對彼此移動時改變，測量該電阻。 6 3 _ —種搖桿，包括至少兩個可在至少六個自由度呈相互可動的元件；一個或更多個導電性彈性體元件，其係建立 -8- 12934231293423 2 6 . The multi-axis input transducer device of claim 2, wherein the internal reflective element and the comparative non-reflective element are 环状2 7 established in a ring-like manner. a multi-axis input transducer device, wherein the at least one reflected radiation detector comprises at least six reflected radiation detectors 〇28. The multi-axis input transducer device of claim 1, wherein the at least one reflected radiation The detector can emit a signal relative to the radiation from the internal reflective element. Φ 29. The multi-axis input transducer device of claim 28, wherein the signal relative to the radiation from the internal reflective element comprises an electrical signal. 3. A multi-axis input transducer device as claimed in claim 28, wherein the signal relative to the radiation from the internal reflective element comprises an optical signal. 3 1 . a rocker comprising: a radiation source; a reflector; and a reflected radiation detector, wherein at least one of the plurality of degrees of freedom is movable relative to at least one of the three of the three elements along at least three degrees of freedom Wherein the radiation source projects the radiation ultimately incident on the reflector, the reflector reflecting a variable reflected optical signal to the reflected radiation detector in a manner that changes at least three degrees of freedom, And the reflective radiation sensor can detect at least a portion of the variable reflection optical signal. 3 2 The rocker of claim 31, wherein the radiation source comprises a visible light source. -4- 1293423 In July of the private year, the Japanese (re) original version · 丨 3 3 · The rocker of claim 31, wherein the radiation source includes an infrared radiation source. 3 4. A rocker as claimed in claim 31, wherein the radiation source comprises an ultraviolet radiation source. 3 5. The joystick of claim 31, wherein the returned optical signal is detected as an image incident on an array of image sensing elements. 3 6. The joystick of claim 35, wherein the array of image sensing elements comprises a charge coupled device (CCD) type camera. 37. A rocker as claimed in claim 35 or 36, which further comprises a wide-angle lens. 3: The rocker of claim 31, wherein the reflected radiation detector comprises a photodetector and the radiation source comprises a time sequential light emitter. 3 9. The rocker of claim 31, wherein the reflected radiation detector comprises a plurality of photodetectors operating in parallel with the radiation source, wherein the radiation source comprises a chronological light emission Device. 40. The joystick of claim 31, wherein the reflected radiation detector comprises a time sequential light detector. 4 1 • A rocker as claimed in claim 31, wherein the reflected radiation detector and the radiation source can be constructed as part of a one-piece device. 42. The rocker of claim 31, wherein the variable reflected optical signal is convertible by a one-piece device. 4 3 . The rocker of claim 41, wherein the one-piece device comprises each of the buried non-optical electronic components. -5- 1293423 "—一 f ^ · -' / 一一.;厂., 44 · The rocker of claim 43 of the patent scope, wherein the buried non-optical electronic component comprises a microprocessor. 4 5 · The rocker of claim 41, wherein the one-piece device includes one or more optical emitters and one or more optical detectors for supporting the light-transmissive medium and Generally, a planar type of substrate. 46. The rocker of claim 41, wherein the one-piece device includes one or more optical emitters for supporting buried in the light guiding medium A one or more optical detectors, and a non-optical electronic component, and generally a planar type of substrate. 47. The rocker of claim 31, wherein the structured light is projected onto the reflector. 4. The rocker of claim 31, wherein the reflector comprises at least one patterned reflective element. 4 9. The rocker of claim 31, wherein the reflector comprises a plurality of Reflective facets. 5 0 · If applying for a patent The rocker of item 31, wherein the reflector comprises at least one regenerative reflective element. 5 1. The rocker of claim 31, wherein the radiation source, the reflector and the reflected radiation detector are both Protected by a flexible diaphragm. 5 2 · The rocker 'in the patent scope of item 31' contains the elastic position recovery element. 5 3 · The rocker 'in the patent range of item 52' The recovery member includes a spring. -6- 1293423 % η ίβ - 1 5 4 The rocker of claim 5, wherein the elastic position recovery member includes a first movable member fixed at the first end point And a spring fixed to the second movable element at the second end point, wherein a displacement detecting element is positioned near a plane perpendicular to the axis of the spring and near the center of the spring. 5 5 · As claimed in the patent scope a rocker of the item 5, wherein the elastic position restoring member includes a spring fixed to the first movable member at the first end and fixed to the second end of the second movable member at the second end, wherein a rocker control The center is located near a plane perpendicular to the axis of the spring and near the center of the spring. 5 6. The rocker of claim 5, wherein the center of the joystick controls the handle and is perpendicular to the spring The plane of the shaft is coplanar. 5 7. The rocker of claim 5, wherein the elastic position restoring element comprises a substantially planar spring. 5 8. As claimed in claim 5 a rocker, wherein the resilient position restoring element comprises at least one spring positioned in a coaxial manner with the optical elements of the rocker. 5 9 . - A rocker comprising at least two at least three degrees of freedom a movable element; one or more electrically conductive elastomeric elements established to deform when the at least two elements move relative to one another in the at least three degrees of freedom and are used to produce a degree of freedom of at least three a position signal; and a detection circuit configured to establish a resistance of the one or more conductive elastomeric members as the at least two components move relative to each other in the at least three degrees of freedom Variable, the measured resistance. -7- 1293423 p—_ ——^ %7 July i3 repair (more} original 6 0. —The rocker' includes at least two components that can move to each other in three degrees of freedom; one or more An ionizing conductive element that is configured to deform when the at least two elements move relative to each other in the at least three degrees of freedom and is used to generate a position signal having at least three degrees of freedom from an alternating polarity excitation signal; a detecting circuit configured to change the resistance of the one or more ionized conductive elements as the at least two elements move relative to each other in the at least three degrees of freedom, measuring the resistance 0 61. Including at least two elements that are movable relative to each other in at least three degrees of freedom; one or more electrically conductive deformable liquid elements that are established when the at least two elements move relative to one another in the at least three degrees of freedom Deformed and used to generate a position signal having at least three degrees of freedom; and a detection circuit established to follow the resistance of the one or more electrically conductive deformable liquid elements The two elements change as the at least three degrees of freedom move relative to one another, measuring the resistance. 62. A rocker comprising at least two elements that are movable relative to each other in at least three degrees of freedom; one or more conductive a deformable gel element that is configured to deform when the at least two elements move relative to each other in the at least three degrees of freedom and is used to generate a position signal having at least three degrees of freedom; and a detection circuit And establishing a resistance as the resistance of the one or more electrically conductive deformable gel elements changes as the at least two elements move relative to each other in at least three degrees of freedom. 6 3 _ a rocker comprising at least two elements that are movable relative to each other in at least six degrees of freedom; one or more conductive elastomeric elements that are established -8-1293423

成當該至少兩個元件在該至少三個自由度相對彼此移動時變形，且被使用以便產生一具有至少六個自由度的位置信號；及偵測電路，其係建立來隨著該一個或多個導電性彈性體元件之電阻在該至少兩個元件在該至少六個自由度相對彼此移動時改變，測量該電阻。Forming when the at least two elements are deformed when the at least three degrees of freedom are moved relative to each other, and are used to generate a position signal having at least six degrees of freedom; and detecting circuitry that is established to follow the one or The electrical resistance of the plurality of electrically conductive elastomeric elements changes as the at least two components move relative to one another in the at least six degrees of freedom, the electrical resistance being measured.

64. —種搖桿，包括至少兩個可在至少六個自由度呈相互可動的元件；一個或更多個電離導電元件，其係建立成當該至少兩個元件在該至少三個自由度相對彼此移動時變形，且被使用以便從交替極性的激發信號產生一具有至少六個自由度的位置信號；及偵測電路，其係建立來隨著該一個或多個電離導電元件之電阻在該至少兩個元件在該至少六個自由度相對彼此移動時改變，測量該電阻 6 5 ·如申請專利範圍第64項之搖桿，其中該一個或更多個電離導電元件包括一個或更多個導電性可變形液體元件。 66 ·如申請專利範圍第64項之搖桿，其中該一個或更多個電離導電元件包括一個或更多個導電性可變形凝膠元件。 6 7 .如申請專利範圍第6 4項之搖桿，其中該一個或更多個電離導電元件包括一個或更多個導電性彈性體元件。 68. —種搖桿，包括至少兩個可在至少三個自由度呈相互可動的元件，且包括六個或更多個電離導電元件，其係建立成當該至少兩個元件在該至少三個自由度相對彼此移動時變形，且被使用以便產生一具有至少六個自由度的位置信號；及偵測電路，其係建立來隨著該六個或更多 -9- 1293423 ρ- 年7月（3曰修(更)正本5 . 、個電離導電元件之電阻在該至少兩個元件在該至少三個自由度相對彼此移動時改變，測量該電阻；其中，該六 — 個或更多個電離導電元件之至少一者爲導電性可變形液體元件、導電性可變形凝膠元件或導電性彈性體元件。 69.如申g靑專利範圍第68項之搖桿，其中該六個或更多個電離導電元件包括六個或更多個導電性可變形液體元件。 70_如申§靑專利範圍第68項之搖桿，其中該六個或更多個電離導電元件包括六個或更多個導電性可變形凝膠元件。 7 1 ·如申請專利範圍第6 8項之搖桿，其中該六個或更多個電 · 離導電元件包括六個或更多個導電性彈性體元件。 7 2 ·如申請專利範圍第6 8項之搖桿，其中該至少兩個元件可在至少六個自由度呈可相對彼此移動。 73. 如申請專利範圍第72項之搖桿，其中該六個或更多個電離導電元件包括六個或更多個導電性可變形液體元件。 74. 如申請專利範圍第72項之搖桿，其中該六個或更多個電離導電元件包括六個或更多個導電性可變形凝膠元件。 7 5 ·如申請專利範圍第7 2項之搖桿，其中該六個或更多個電參離導電元件包括一個或更多個導電性彈性體元件。 76.—種搖桿，包括至少兩個可在至少三個自由度呈相互可動的元件；一個或更多個包含導電性流體之彈性體空腔 ’其係建立成當該至少兩個元件在該至少三個自由度相對彼此移動時變形，且被使用以便產生一具有至少三個自由度的位置信號；及偵測電路，其係建立來隨著該一個I或更多個包含導電性流體之彈性體空腔之電阻在該至 -10-64. A rocker comprising at least two elements that are movable relative to each other in at least six degrees of freedom; one or more ionized conductive elements that are established when the at least two elements are in the at least three degrees of freedom Deformed when moving relative to each other, and used to generate a position signal having at least six degrees of freedom from an excitation signal of alternating polarity; and a detection circuit established to follow the resistance of the one or more ionized conductive elements The at least two elements are changed when the at least six degrees of freedom are moved relative to each other, and the resistance is measured. The rocker of claim 64, wherein the one or more ionized conductive elements comprise one or more A conductive, deformable liquid element. 66. The rocker of claim 64, wherein the one or more ionizing conductive elements comprise one or more electrically conductive deformable gel elements. 6. The rocker of claim 46, wherein the one or more ionizing conductive elements comprise one or more electrically conductive elastomeric elements. 68. A rocker comprising at least two elements that are movable relative to each other in at least three degrees of freedom, and comprising six or more ionized conductive elements, the system being established when the at least two elements are in the at least three The degrees of freedom are deformed as they move relative to each other and are used to generate a position signal having at least six degrees of freedom; and a detection circuit is established to follow the six or more 9- 1293423 ρ-year 7 The resistance of the one ionized conductive element changes when the at least two elements move relative to each other in the at least three degrees of freedom, and the resistance is measured; wherein the six or more At least one of the ionizing conductive elements is a conductive deformable liquid element, a conductive deformable gel element or a conductive elastomer element. 69. The rocker of claim 68, wherein the six or More of the ionizing conductive elements comprise six or more electrically conductive deformable liquid elements. 70. The rocker of claim 68, wherein the six or more ionized conductive elements comprise six or More conductivity A rocking element as claimed in claim 6, wherein the six or more electrically conductive elements comprise six or more electrically conductive elastomeric elements. The rocker of claim 68, wherein the at least two elements are movable relative to each other in at least six degrees of freedom. 73. The rocker of claim 72, wherein the six or more The ionized conductive element comprises six or more conductive deformable liquid elements. 74. The rocker of claim 72, wherein the six or more ionized conductive elements comprise six or more conductive The magnetically deformable gel element. The rocker of claim 7, wherein the six or more electrically conductive conductive elements comprise one or more electrically conductive elastomeric elements. a rocker comprising at least two elements that are movable relative to each other in at least three degrees of freedom; one or more elastomeric cavities comprising a conductive fluid are established such that when the at least two elements are in the at least three Degree of freedom changes relative to each other And used to generate a position signal having at least three degrees of freedom; and a detection circuit that is established with the resistance of the one or more elastomeric cavities containing the conductive fluid at the 10-

-----.· . i ^ .々以一,〜,,+.1..-.,.--/.. …一.乂'-二-a ••^Ι-.,ΤΓ» *：.!«.«,· -.m-i} 少兩個元件在該至少三個自由度相對彼此移動時改變，測量該電阻。 1293423 7 7 .如申請專利範圍第7 6項之搖桿，其中使用該一個或更多個包含導電性流體之彈性體空腔以便產生一具有至少六個自由度的位置信號。 78. —種搖桿，包括一第一兀件，其在一第一接頭以不超過六個自由度相對於一第二元件呈可動的；及一第三元件，其在一第二接頭以不超過六個自由度相對於該第一元件呈可動的；其中該搖桿提供在至少七個自由度的控制〇 7 9 .如申請專利範圍第7 8項之搖桿，其中可牢牢地固定至少一個元件使之抵住使用者的手掌，同時能以使用者的手指操縱另一可動元件。 80 .如申請專利範圍第78項之搖桿，其中可藉由使用者的無名指及小指牢牢地固定至少一個元件使之抵住使用者的手掌，同時能以使用者的姆指、食指及中指操縱另一可動元件。 8 1 .如申請專利範圍第7 8項之搖桿，其中一搖桿把手的直徑小於2英吋及可藉由使用者的食指、中指及姆指操縱。 82.—*種具有至少六個自由度的遊戲搖桿，包含周長小於6 英吋的控制把手，以及一轉換器裝置，於任何使用期間將該轉換器裝置定位在由使用者前臂之想像延伸表面定義的封包內及在搖桿的把手部分內。 8 3 . —種電腦滑鼠，可在至少兩個軸呈可移動，此滑鼠係作 -11- 1293423 r 、 % η — β 用成所連接多軸搖桿的基座。 8 4 . —種電腦滑鼠，透過使用一組正交光學滑鼠轉換器及偏位至少單一光學滑鼠轉換器，可記錄沿著χ軸及沿著y 軸相對於支撐表面的滑行運動以及繞Z-軸的旋轉運動。 8 5 . —種組合，包括如申請專利範圍第8 4項之電腦滑鼠以及附加其上的多軸搖桿。 86.—種搖桿，可在六個自由度呈可動的，包含一基座部分，其具有凝膠襯墊支架，建立成保持該基座部分穩定，同時允許操作者之手相對該基座部分移動° 8 7 .如申請專利範圍第8 6項之搖桿，其中包括搖桿基座部分相對於其支撐表面所提供的滑鼠功能。 88.—種搖桿，具有六個自由度且包括一基座部分以及相對於該基座部分呈可動的把手部分，其中該基座部分可撓曲地被支撐著。 8 9 .如申請專利範圍第8 8項之搖桿，其中依限制其旋轉自由度與平移自由度間之耦合作用的方式使該基座部分可撓曲地被支撐著。 90 .如申請專利範圍第8 8項之搖桿，其中依限制其旋轉自由度與平移自由度間之機械耦合作用的方式使該基座部分可撓曲地被支撐著。 9 1 .如申請專利範圍第90項之搖桿，其中該基座部分係藉由多個繞z-軸可旋轉撓曲的平行構件依可撓曲方式支撐，該等平行構件依序藉由可在z-軸平移上具有撓性，但是在Z-軸旋轉上呈堅實之結構而支撐。 -12- 1293423 % m ， ' 92 .如申請專利範圍第90項之搖桿，其中該基座部分係藉由三個或更多個一般而言呈平行且與第一軸平行的第一可撓構件的一端而被撓性支撐，且以允許該基座部分具有繞第一軸的旋轉撓性的方式固定至該端，其中將各第一可撓性構件的第二端連接到兩個或更多個一般而言呈平行的第二可撓構件上，其中各第二可撓構件可沿著該第一軸作撓曲彎折並對齊一般而言與該第一軸呈正交之第二軸，且係沿著一般而言呈正交之第三軸在彎折方面呈非常堅實的。 9 3 ·如申請專利範圍第8 8項之搖桿，其中藉由可撓風箱將一個或更多個可動構件密封於一個或更多個固定構件之內。 94 ·如申請專利範圍第93項之搖桿，其中使該可撓風箱係繞 z-軸爲扭轉順從。 9 5 ·如申請專利範圍第94項之搖桿，其中可使由可撓風箱構成的部分依繞？-軸可旋轉的方式固定於該—個或更多個固定構件以及一個或更多個可動構件兩者上。 9 6 ·如申請專利範圍第9 5項之搖桿，其中由一可撓膜片補償該可撓風箱的空氣或流體位移。 9 7 ·如申請專利範圍第9 5項之搖桿，其中由一第二可撓風箱補償該第一可撓風箱的空氣或流體位移。 98 .如申請專利範圍第95項之搖桿，其中由一依機械方式耦合於兩個或更多個獨立可動元件上的第二可撓風箱補償該第一可撓風箱的空氣或流體的位移。 99 · 一種多軸搖桿，其中動作係經由第一可撓風箱或膜片而 -13- 1293423 r~————~ ¥年7月G曰修(更}正本耦合，且其中一第二可撓風箱或膜片依機械方式耦合於至少兩個呈相互可動的搖桿元件之每一者上。 1 0 0 . —種多軸搖桿，包含用以從輸出信號中移除歸因於重力或是透過使用者的手傳送的慣性力的部分信號的手段。 1 0 1 · —種多軸搖桿，包括：一手指操作型第一部分，依至少五軸回應的方式連接到一第二部分上；以及一手部操作型第二部分，依至少單軸回應的方式連接到一第三部分上，其中每一個可動的連接都會產生一信號以回應其相對移動。 1Q2 ·如申請專利範圍第1 0 1項之多軸搖桿，其中該手部操作型第二部分，至少雙軸回應的方式連接到該第三部分上〇 1Q 3 ·如申請專利範圍第1 0 1項之多軸搖桿，其中該手部操作型第二部分至少三軸回應的方式連接到該第三部分上。 1 Q4 ·如申請專利範圍第1 01項之多軸搖桿，其中該手部操作型第二部分至少四軸回應的方式連接到該第三部分上。 1 Q 5 ·如申請專利範圍第i i項之多軸搖桿，其中該手部操作型第二部分至少五軸回應的方式連接到該第三部分上。 1Q 6 . —種至少六軸的搖桿，包括：一第一部分，包含一磁通電路而此磁通電路則含有一個或更多個空氣縫隙，且該第一部分係在六個自由度上相對於第二部分呈可動的；一第二部分，其包含通量感知器，其相對於通量梯度 -14- 1293423 产:''..，一'.:— j於”用V’靖，以該第二部分產生一 $虎的方式疋位’並由此伯5虎導出該第一部分相對於第二部分的六個自由度。 1 0 7 . —種至少六軸的搖桿，包括：一第一部分’包含一磁通電路而此磁通電路則含有一個或更多個空氣縫隙’且該第一部分係在六個自由度上相對於第二部分呈可動的；一第二部分，包含一通量梯度感知器，其相對於二次導數通量梯度以該第一部分產生一信號的方式定位，並由此信號導出該第一部分相對於該第二部分的六個自由度。 108.如申請專利範圍第106或107項之搖桿，其中該第一部分可相對於該第二部分沿平移軸且繞旋轉軸運動，且其中該搖桿又包含一實質上不致使任何平移軸與任何旋轉軸產生耦合的恢復裝置。 1 〇9 ·如申請專利範圍第1 08項之搖桿，其中該恢復裝置包含至少一個與控制把手共軸的彈簧。 1 1 0 .如申請專利範圍第1 0 9項之搖桿，其中更包含至少一個線圈型彈簧。 1 1 1 · ~種具至少六軸的搖桿，包括·· —磁通源；一第一部分，包含一沿著至少三個路徑管制磁通量的 _ S以及作用成通量回送路徑的導通性外側部分；一第二部分，可相對於該第一部分在六個自由度上移動’其包含一通量感知器，其係相對於通量梯度定位， -15- 1293423-----.· . i ^ .々一一,~,,+.1..-.,.--/........一.乂'-二-a ••^Ι-.,ΤΓ» *:.!«.«,· -.mi} The two elements are changed as the at least three degrees of freedom move relative to each other, and the resistance is measured. 1293423 7 7. The rocker of claim 76, wherein the one or more elastomeric cavities comprising a conductive fluid are used to generate a position signal having at least six degrees of freedom. 78. A rocker comprising a first member movable in a first joint with respect to a second member in no more than six degrees of freedom; and a third member in a second joint No more than six degrees of freedom are movable relative to the first element; wherein the rocker provides control of at least seven degrees of freedom .7 9 . As in the patent application range item 78, the rocker can be firmly At least one component is secured against the palm of the user while the other movable component is manipulated with the user's finger. 80. The rocker of claim 78, wherein at least one component can be firmly fixed to the palm of the user by the user's ring finger and little finger, and the user's thumb and index finger can be used. The middle finger manipulates another movable element. 8 1. As in the rocker of claim 78, one of the rocker handles has a diameter of less than 2 inches and can be manipulated by the user's index finger, middle finger and thumb. 82.—* A game joystick having at least six degrees of freedom, including a control handle having a circumference of less than 6 inches, and a transducer device that positions the transducer device at the imagination of the user's forearm during any use Extend the surface defined inside the package and in the handle portion of the rocker. 8 3 . — A computer mouse that can be moved on at least two axes. This mouse is used as a base for the connected multi-axis rocker -11-1293423 r and % η — β. 8 4 . A computer mouse that records the gliding motion along the yoke and along the y axis relative to the support surface by using a set of orthogonal optical mouse converters and a biased at least single optical mouse converter Rotational motion around the Z-axis. 8 5 . A combination of the computer mouse as in claim 8 of the patent application and the multi-axis rocker attached thereto. 86. A rocker movable in six degrees of freedom, comprising a base portion having a gel pad holder established to maintain stability of the base portion while allowing an operator's hand to oppose the base Partial Movement ° 7 7. The rocker of claim 8 of the patent application includes the mouse function provided by the rocker base portion relative to its support surface. 88. A rocker having six degrees of freedom and comprising a base portion and a movable handle portion relative to the base portion, wherein the base portion is flexibly supported. 8 9. A rocker according to claim 88, wherein the base portion is flexibly supported in a manner that limits the coupling between its rotational freedom and translational freedom. 90. A rocker according to claim 88, wherein the base portion is flexibly supported in a manner that limits mechanical coupling between its rotational freedom and translational freedom. 9. The rocker of claim 90, wherein the base portion is rotatably supported by a plurality of parallel members that are rotatably deflected about the z-axis, the parallel members being sequentially passed by It has flexibility on the z-axis translation but is supported by a solid structure on the Z-axis rotation. </ RTI> </ RTI> </ RTI> </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; One end of the flex member is flexibly supported and secured to the end in a manner that allows the base portion to have rotational flexibility about the first axis, wherein the second end of each first flexible member is coupled to two Or a plurality of generally parallel second flexible members, wherein each of the second flexible members is flexibly bendable along the first axis and aligned generally orthogonal to the first axis The second axis, and the third axis that is generally orthogonal, is very solid in bending. A rocker according to claim 8 wherein the one or more movable members are sealed within the one or more fixed members by a flexible bellows. 94. The rocker of claim 93, wherein the flexible bellows is twisted and compliant about the z-axis. 9 5 · If you apply for the rocker in the 94th section of the patent, where the part made up of the flexible bellows can be wound? The shaft is rotatably secured to both the one or more stationary members and the one or more movable members. 9 6 · A rocker according to claim 95, wherein a flexible diaphragm compensates for air or fluid displacement of the flexible bellows. 9 7 The rocker of claim 95, wherein the air or fluid displacement of the first flexible bellows is compensated by a second flexible bellows. 98. The rocker of claim 95, wherein the second flexible bellows mechanically coupled to the two or more separate movable elements compensates for air or fluid of the first flexible bellows Displacement. 99 · A multi-axis rocker, in which the action is via the first flexible bellows or diaphragm and -13-1293423 r~————~ ¥July G repair (more} original coupling, and one of the first The second flexible bellows or diaphragm is mechanically coupled to each of the at least two rocker elements that are movable to each other. 100. A multi-axis rocker included to remove the output signal A means of partial signal due to gravity or inertial force transmitted through the user's hand. 1 0 1 · A multi-axis rocker, including: a finger-operated first part, connected to one by at least five-axis response The second part; and the second part of the one-hand operation type are connected to a third part in a manner of at least one-axis response, wherein each movable connection generates a signal in response to its relative movement. 1Q2 · Patent application The multi-axis rocker of the range No. 1 0, wherein the second part of the hand-operated type is connected to the third part by at least two-axis response 〇1Q 3 · as in the patent application scope 1 0 1 Axis rocker, wherein the second part of the hand operation A three-axis response is connected to the third portion. 1 Q4. A multi-axis rocker as claimed in claim 01, wherein the second portion of the hand-operated type is connected to the first at least four-axis response In the three parts, 1 Q 5 · The multi-axis rocker of claim ii, wherein the second part of the hand-operated type is connected to the third part in a manner of at least five axes. 1Q 6 . A six-axis rocker comprising: a first portion comprising a flux circuit and the flux circuit comprising one or more air gaps, and wherein the first portion is movable relative to the second portion in six degrees of freedom A second part, which contains a flux sensor, which is produced relative to the flux gradient -14 - 1293423: ''.., a '.: -j" with V' Jing, produced by the second part A $ tiger's way of squatting' and then deriving the six degrees of freedom of the first part relative to the second part. 1 0 7 . - At least six-axis rocker, including: a first part 'contains one Flux circuit and the flux circuit contains one or more air gaps And the first portion is movable relative to the second portion in six degrees of freedom; a second portion includes a flux gradient sensor that generates a signal with the first portion relative to the second derivative flux gradient Positioning, and thereby deriving the six degrees of freedom of the first portion relative to the second portion. 108. The rocker of claim 106 or 107, wherein the first portion is relative to the second portion Translating the axis and moving about the axis of rotation, and wherein the rocker further includes a restoring device that does not substantially couple any of the translation axes to any of the axes of rotation. 1 〇9 · A rocker as claimed in claim 1 08, wherein The recovery device includes at least one spring that is coaxial with the control handle. 1 1 0. The rocker of claim No. 109, which further comprises at least one coil spring. 1 1 1 · ~ a rocker with at least six axes, including a magnetic flux source; a first portion comprising a _ S that regulates the magnetic flux along at least three paths and a conductive outer side acting as a flux return path a second portion movable relative to the first portion in six degrees of freedom 'which includes a flux sensor positioned relative to the flux gradient, -15-1293423

月β R f:(更)正本 -------------_l_ 一使得其靈敏軸呈三向不對稱。 1 1 2 ·如申請專利範圍第ii項之搖桿，其中該第一部分包含一控制把手。 1 1 3 ·如申請專利範圍第π 1項之搖桿，其中該磁通量係可相對於一個或更多個阻尼電路移動。 1 1 4 . 一種至少三軸的搖桿，包含一裝設於由史特瓦特平臺構成之從屬平臺上的基座部分，其主要目的是用以致動該基座平臺。Month β R f: (more) original -------------_l_ One makes its sensitive axis a three-way asymmetry. 1 1 2 • A rocker as claimed in claim ii, wherein the first portion includes a control handle. 1 1 3 A rocker as claimed in claim π 1 wherein the magnetic flux is movable relative to one or more damping circuits. 1 1 4 . An at least three-axis rocker comprising a base portion mounted on a slave platform constructed of a Sterwater platform, the primary purpose of which is to actuate the base platform.

1 1 5 ·如申請專利範圍第1 1 4項之搖桿，其中該史特瓦特平臺可提供力量反饋。 1 1 6 ·如申請專利範圍第1 1 4項之搖桿，其中該史特瓦特平臺可提供位置反饋。 117.如申請專利範圍第114項之搖桿，其中該史特瓦特平臺可提供速度反饋。1 1 5 · If you apply for the joystick of the 1st 4th patent range, the Stewart platform can provide power feedback. 1 1 6 · As in the application of the patent range 161, the rocker, where the Stewart platform can provide position feedback. 117. The rocker of claim 114, wherein the Stewart platform provides speed feedback.

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