Miniature Multi-Axis Mechanism for Hand Controllers

A hand controller provides up to three axes of motion, and all required feel characteristics (stiffness and breakout torques) located inside a hollow handle within the grip of the hand. This is achieved using a miniature gimbal mechanism that allows for independent motion about one, two, or three axes within the grip volume of the hand, and miniature flexure assemblies co-located with the gimbal mechanism that provide substantial stiffness and breakout torques in each axis of motion. Also, miniature sensors can be integrated into the gimbal mechanism, also located within the grip volume of the hand, to provide direct angular position measurement for each axis of motion.