1. A control handle apparatus (102) for capturing natural hand movements of a user, the apparatus (102) comprising: a handle (104); a slider-frame (106) coupled to the handle (104); a pair of grippers (108a and 108b) coupled to the slider-frame (106), each gripper (108a and 108b) of the pair of grippers (108a and 108b) configured to rotate about a respective axis, relative to the slider-frame (106), and the pair of grippers (108a and 108b) configured to engage fingers of the user; a pair of crank levers (110a and 110b), each crank lever (110a and 110b) of the pair of crank levers (110a and 110b) coupled to a respective gripper (108a and 108b) of the pair of grippers (108a and 108b) via a respective first end (120a), and configured to rotate relative to the slider-frame (106) via a respective second end (120b) about a common rotational joint (122); a slider-shaft (112) coupled to the crank levers (110a and 110b), such that a pinching motion of the pair of grippers (108a and 108b) performed through fingers of the user causes a rotation of the crank levers (110a and 110b) that further causes linear movement of the slider-shaft (112) relative to the slider-frame (106); and a first sensor (114) configured to detect the linear movement of the slider-shaft (112), corresponding to the pinching motion of the pair of grippers (108a and 108b).

2. The apparatus (102) as claimed in claim 1, wherein the first sensor (114) is a linear potentiometer having a first end (114a) and a second end (114b), wherein the first end is coupled to the slider-shaft (112) and the second end (114b) is coupled to the slider-frame (106).

3. The apparatus (102) as claimed in claim 1, wherein the first sensor (114) comprises a magnetic encoder and a permanent magnet, wherein the permanent magnet is disposed on the slider-shaft (112) and the magnetic encoder is disposed on the slider-frame (106).

4. The apparatus (102) as claimed in claim 1, wherein the slider-frame (106) is configured to rotate about a first axis relative to the handle (104), to match the natural mean position of the fingers engaging with the pair of grippers (108a and 108b).

5. The apparatus (102) as claimed in claim 1, wherein the handle (104) comprises a handle-head (118) coupled to a body (117) of the handle (104), the handle-head configured to rotate about a second axis relative to the body (117) of the handle (104), and wherein the slider-frame (106) is rotatably coupled to the handle-head (118).

6. The apparatus (102) as claimed in claim 1, comprising: a second sensor (115) configured to detect a rotational movement of the slider-shaft (112) about a longitudinal axis of the slider-shaft (112), relative to the handle, in response to a rolling movement of the hand of the user.

7. The apparatus (102) as claimed in claim 6, wherein the second sensor (115) is a rotational potentiometer disposed on a handle-head (118), and mechanically coupled to the slider-shaft (112) such that rotation of the slider-shaft (112) causes a corresponding rotation of the rotational potentiometer.

8. The apparatus (102) as claimed in claim 1, comprising a feedback interface (502) configured to generate passive haptic feedback perceptible to the user during at least one of: the linear movement of the slider-shaft (112) associated with the pinching motion, or the rotational movement of the slider-shaft (112) associated with the rolling motion, wherein the feedback interface (502) comprises one of: a threaded portion (504) defined on the slider-shaft (112) and a mating gear (506) disposed on the slider-frame (106) and interfacing with the threaded portion, or a rack defined on the slider-shaft (112) and a pinion disposed on the slider-frame (106) and interfacing with the rack.

9. The apparatus (102) as claimed in claim 8, comprising: a motor configured to generate feedback and coupled to one of the mating gear (506) or the pinion, wherein the motor comprises a position encoder to identify the slider-shaft position.

Description:DESCRIPTION

TECHNICAL FIELD
[001] This disclosure relates generally to the field of robotic control apparatus, more particularly to a control handle apparatus for capturing natural hand movements of user.

BACKGROUND
[002] Precision engineering is a specialized discipline concerned with the design and manufacture of components with extremely high dimensional accuracy, typically within micron- or nanometer-level tolerances. Robotic systems employed in surgical procedures, emergency response, and hazardous environment operations encounter specific challenges, including susceptibility to operational failures and the need for careful, highly skilled manipulation. To operate robotic systems, robotic control handles are commonly used to generate precise user input.
[003] Despite this, operational failures may arise from inaccurate sensing or interpretation of hand movements of the operator. In contemporary applications such as precision manufacturing, remote operation, and surgical robotics, there is a strong demand for control interfaces that enable natural, intuitive, and highly accurate manipulation of robots. However, most existing robotic control handles may not reproduce, in real time, the full kinematic complexity of human hand motion, particularly the fine manipulations performed by the thumb and index finger (e.g., pinching, rolling, or other dexterous actions). As a result, these interfaces often lack the real-time haptic fidelity and natural feeling associated with holding and directly controlling the robot, which can adversely affect both precision and operator performance.
[004] Accordingly, there is a requirement for capturing natural hand movements of the user to provide a real-time operating experience to the user.

SUMMARY
[005] In an embodiment, a control handle apparatus for capturing natural hand movements of a user is disclosed. The apparatus may include a handle and a slider-frame coupled to the handle. The apparatus may further include a pair of grippers coupled to the slider-frame, each gripper of the pair of grippers configured to rotate about a respective axis, relative to the slider-frame, and the pair of grippers configured to engage fingers of the user. The apparatus may further include a pair of crank levers, each crank lever of the pair of crank levers coupled to a respective gripper of the pair of grippers via a respective first end, and configured to rotate relative to the slider-frame via a respective second end about a common rotational joint. The apparatus may further include a slider-shaft coupled to the crank levers, such that a pinching motion of the pair of grippers performed through fingers of the user causes a rotation of the crank levers that further causes linear movement of the slider-shaft relative to the slider-frame. Furthermore, the apparatus may include a first sensor configured to detect the linear movement of the slider-shaft, corresponding to the pinching motion of the pair of grippers.
[006] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

BRIEF DESCRIPTION OF DRAWINGS
[007] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and, together with the description, serve to explain the disclosed principles.
[008] FIG. 1 illustrates a perspective view of a control handle apparatus, in accordance with an embodiment of the present disclosure.
[009] FIG. 2 illustrates an exploded view of the control handle apparatus, in accordance with an embodiment of the present disclosure.
[010] FIG. 3A illustrates a top view of the control handle apparatus configured in an expanded configuration, in accordance with an embodiment of the present disclosure.
[011] FIG. 3B illustrates another top view of the control handle apparatus configured in a retracted configuration, in accordance with an embodiment of the present disclosure.
[012] FIG. 4 illustrates a rear view of the control handle apparatus, in accordance with an embodiment of the present disclosure.
[013] FIG. 5 illustrates yet another top view of the control handle apparatus, in accordance with an alternate embodiment of the present disclosure.

DETAILED DESCRIPTION OF DRAWINGS
[014] The foregoing description has broadly outlined the features and technical advantages of the present disclosure in order that the detailed description of the disclosure that follows may be better understood. Additional features and advantages of the disclosure will be described hereinafter which forms the subject of the claims of the disclosure. It should be appreciated by those skilled in the art that the conception and specific embodiments disclosed may be readily utilized as a basis for modifying other devices, systems, assemblies, and mechanisms for carrying out the same purposes of the present disclosure. It should also be realized by those skilled in the art that such equivalent constructions do not depart from the scope of the disclosure as set forth in the appended claims. The novel features which are believed to be characteristics of the disclosure, to its device or system, together with further objects and advantages will be better understood from the following description when considered in connection with the accompanying figures. It is to be expressly understood, however, that each of the figures is provided for the purpose of illustration and description only and is not intended as a definition of the limits of the present disclosure.
[015] The terms “including”, “comprises”, “comprising”, “comprising of” or any other variations thereof, are intended to cover a non-exclusive inclusions, such that a system or a device that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device. In other words, one or more elements in a system or apparatus proceeded by “comprises… a” does not, without more constraints, preclude the existence of other elements or additional elements in the system or apparatus.
[016] Reference will now be made to the exemplary embodiments of the disclosure, as illustrated in the accompanying drawings. Wherever possible, same numerals have been used to refer to the same or like parts. The following paragraphs describe the present disclosure with reference to FIGs. 1-5.
[017] As explained earlier, the full kinematic complexity of human hand motion, particularly the fine manipulations performed by the thumb and index finger (e.g., pinching, rolling, or other dexterous actions) may be inaccurately and imprecisely mimicked by the robotic systems. Thus, giving rise to operational failures capable of damaging body part surgically operated by the robot, mechanical failures incapable of adhering to the required precision, and the like.
[018] Therefore, a control handle apparatus is disclosed. The control handle apparatus may be configured to capture hand movements of the user, by enabling the user to perform the rolling motion and the pinching motion efficiently. Genesis of the control handle apparatus is explained in FIG. 1.
[019] Referring to FIG. 1, a perspective view of a control handle apparatus 102 is illustrated, in accordance with an embodiment of the present disclosure. In an embodiment, the control handle apparatus 102 may be configured to capture natural hand movements of the user in order to perform a plurality of precision handling tasks. By way of example, the natural hand movements may be performed by a plurality of fingers of the user to generate a pinching motion and a rolling motion.
[020] Each finger of the plurality of fingers may allow the pinching and rolling motion of the user’s hand by a predefined degree. Such pinching motion and the rolling motion may be utilized to perform the plurality of precision handling tasks. The precision handling tasks may include controlling surgical robots, precision component assembly, holding of fragile objects, performing manual operation in hazardous environments, and the like. For example, the pinching motion may be created when two or more robotic fingers move toward each other, generating opposing forces capable of clamping an object securely. The rolling motion, on the other hand, occurs when a robotic system maintains contact with the object while one surface moves relative to another, causing the object to rotate or translate smoothly, and therefore may be useful for reorienting objects without releasing the object. It is to be noted that the hands may possess a limited degree of freedom, and such critical operations become hard to operate with efficiency.
[021] To this end, the control handle apparatus 102 is disclosed. The control handle apparatus 102 may be communicably coupled to a robotic arm (not shown) defining an end effector (not shown) of the robotic system such that the pinching motion and the rolling motion from the plurality of fingers may be mimicked by the robotic arm and the end effector. Therefore, the control handle apparatus 102 may provide a real-time interface to the user. By way of example, the control handle apparatus 102 may be manufactured by using additive manufacturing processes commonly known in the art. The additive manufacturing may include 3D printing process. The control handle apparatus 102 may be manufactured by utilizing other known or future manufacturing processes.
[022] In an embodiment, the control handle apparatus 102 may include a handle 104, a slider-frame 106 coupled to the handle 104, a pair of grippers 108a and 108b coupled to the slider-frame 106, a pair of crank levers 110a and 110b, a slider-shaft 112 coupled to the pair of crank levers 110a and 110b, a first sensor 114 and a second sensor 115. The first sensor 114 and the second sensor 115 may be communicably coupled with a controller 116 of the robotic system.
[023] The handle 104 may be configured to hold the control handle apparatus 102 in order to perform the pinching motion and the rolling motion. By way of example, the pinching motion and the rolling motion may be generated by a thumb and an index finger from the plurality of the fingers. Additionally, the handle 104 may be gripped by a middle finger, a ring finger, and a little finger from the plurality of fingers of the user. The handle 104 may define a body 117 and may include a handle-head 118 coupled to the body 117.
[024] The body 117 may be disposed along an inclined axis (A-A’) and may define at least one degree of freedom about the inclined axis (A-A’). It is to be noted that the hand of the user may be of various shapes and configurations and may be configured for functions such as grasping, robot control, or sign language. The hand may involve the interaction of a plurality of bones, including metacarpals and phalanges, structured with three main arches (proximal, distal, and longitudinal) for mobility. By virtue of the inclined disposition of the body 117 and the at least one degree of freedom thereof, the body 117 may achieve natural alignment of the hand by enabling one degree of freedom particularly when gripped by the user. The at least one degree of freedom may define a configuration or motion of the body 117 by a single independent coordinate.
[025] The slider-frame 106 may be rotatably coupled to the handle 104 and the pair of grippers 108a and 108b. The slider-frame 106 may be a structural frame of the control handle apparatus 102. Each gripper 108a and 108b of the pair of grippers 108a and 108b may be configured to rotate about a respective axis, relative to the slider-frame 106. The pair of grippers 108a and 108b may be configured to engage fingers of the user. By virtue of coupling of the slider-frame 106 with the handle 104, the slider-frame 106 may be configured to rotate about a first axis (X-X’) relative to the handle 104, to match the natural mean position of the fingers engaging with the pair of grippers 108a and 108b. Accordingly, the handle-head 118 may be rotated about a second axis relative to the body 117. Such a rotation may constitute the rotational movement. It is to be noted that when the fingers are engaged with the pair of grippers 108a and 108b, the pinching motion and the rolling motion may be performed. In response to generation of the pinching motion and the rolling motion, the slider-frame 106 may be rotated about the first axis (X-X’). Such rotation of the slider-frame 106 is explained in greater detail hereinafter.
[026] To enable rotation of the slider-frame 106 relative to the rotation of the pair of grippers 108a and 108b, each crank lever 110a and 110b of the pair of crank levers 110a and 110b may be coupled to a respective gripper 108a and 108b of the pair of grippers 108a and 108b. For example, the first crank lever 110a may be coupled to the first gripper 108a and the second crank lever 110b may be coupled to the second gripper 108b. Each crank lever 110a and 110b may include a first end 120a and a second end 120b disposed opposite to the first end 120a. Accordingly, the first crank lever 110a may be coupled to the first gripper 108a via the respective first end 120a, and configured to rotate relative to the slider-frame 106 via the respective second end 120b about a common rotational joint 122.
[027] The slider-shaft 112 may be coupled to the pair of crank levers 110a and 110b. By way of example, the slider-shaft 112 may be a spring-loaded shaft. For example, the pinching motion of the pair of grippers 108a and 108b may be performed through fingers of the user which may cause a rotation of the crank levers 110a and 110b. Such motion may cause linear movement of the slider-shaft 112 relative to the slider-frame 106.
[028] As will be appreciated by the person skilled in the art, the spring-loaded shaft may define a shaft loaded with a spring. The spring, in response to the pinching motion and the rolling motion, may be configured to generate a moderate spring force to allow the linear movement and the rotational movement of the slider-shaft 112. By virtue of the moderate spring force, the stability of the handle 104 may be enhanced along with precision in generation of sensor data corresponding to the first sensor 114 and the second sensor 115. Therefore, enhanced and accurate haptic feedback may be generated. Such generation of the haptic feedback is explained in FIG. 5.
[029] The linear movement and the rotational movement of the slider-shaft 112 may be determined by the controller 116 in order to allow the robotic arm to execute the linear movement and the rotational movement. In an embodiment, the controller 116 may be communicatively connected to the first sensor 114 and the second sensor 115 via a communication network 119. The communication network 119 may include, but may not be limited to, CAN (Controlled Area Network), CAN FD (Controlled Area Network Flexible Data-Rate), LIN (Local Interconnect Network), local area network (LAN), wide area network (WAN), Ethernet, PCIe interface, and the like.
[030] In an embodiment, the controller 116 may include a processor 124 and a memory 126. In an embodiment, examples of processor(s) 124 may include, but are not limited to, an Intel® Itanium® or Itanium 2 processor(s), or AMD® Opteron® or Athlon MP® processor(s), Motorola® lines of processors, Nvidia®, FortiSOC™ system on a chip processors or other future processors. On the other hand, the memory 126 may be a non-volatile memory or a volatile memory. Examples of non-volatile memory may include but are not limited to a flash memory, a Read Only Memory (ROM), a Programmable ROM (PROM), Erasable PROM (EPROM), and Electrically EPROM (EEPROM) memory. Examples of volatile memory may include but are not limited to Dynamic Random Access Memory (DRAM), and Static Random-Access memory (SRAM). The memory 126 may store instructions that, when executed by the processor 124, cause the processor 124 to perform various operations in order to determine linear movement and the rotational movement detected by the first sensor 114 and the second sensor 115, respectively.
[031] To elaborate further, the linear movement of the slider-shaft 112 relative to the pinching motion may be defined as first sensor data. The first sensor data may be determined based on detection of the linear movement of the slider-shaft 112. Such detection is explained in greater detail hereinafter.
[032] In an embodiment, the first sensor 114 may be a linear potentiometer having a first end 114a and a second end 114b. The first end 114a is coupled to the slider-shaft 112 and the second end 114b may be coupled to the slider-frame 106. For example, the potentiometer may be a variable resistor with three terminals i.e., terminal A, terminal B, and terminal C. Terminals A and B may be coupled to the slider-frame 106. and terminal C may be coupled to the slider-shaft 112. For example, when the slider-shaft 112 moves linearly, the resistance between the terminals may change. The said change in resistance may allow change in output voltage which may be defined as the first sensor data. The first sensor data may define a pattern of the linear movement which may be processed by the controller 116.
[033] In an alternate embodiment, the first sensor 114 may include a magnetic encoder and a permanent magnet. The permanent magnet may be disposed on the slider-shaft 112 and the magnetic encoder may be disposed on the slider-frame 106. For example, the permanent magnet may create a static magnetic field. By virtue of the linear movement of the slider-shaft 112, the position of the permanent magnet changes relative to the magnetic encoder. Accordingly, the magnetic encoder may detect change in the magnetic field. By way of example, the magnetic encoder may include Hall-effect sensors or magneto-resistive sensors configured to detect movement of the slider-shaft 112 relative to the slider-frame 106 via the change in the movement of the permanent magnet. Therefore, analog magnetic measurements are generated. The magnetic encoder may convert the analog magnetic measurements into digital position data defined as the first sensor data. The first sensor data may define the pattern of the linear movement which may be processed by the controller 116. This is explained in greater detail in conjunction with FIG. 3A-3B.
[034] It is to be noted that the rotational movement of the hand of the user may be detected by the second sensor 115. In particular, the second sensor 115 may be configured to detect a rotational movement of the slider-shaft 112 about a longitudinal axis of the slider-shaft 112, relative to the handle 104, in response to the rotational movement generated by the rolling motion of the hand of the user. The second sensor 115 may be a rotational potentiometer disposed on the handle-head 118, and mechanically coupled to the slider-shaft 112 such that rotation of the slider-shaft 112 causes the corresponding rotation of the rotational potentiometer.
[035] The rotational potentiometer may measure angular position of the handle-head 118. The rotational potentiometer may be a resistive track arranged in a circular arc and a movable contact called a wiper that is mechanically linked to the slider-shaft 112. When the slider-shaft 112 rotates, the wiper moves along the resistive track, changing the resistance between the terminals. By applying a constant input voltage across said potentiometer, the output voltage obtained from the wiper varies proportionally with the angle of rotation. Such varying voltage may be measured and stored in memory 126 as the second sensor data. Such sensor data may define the pattern of the rolling motion which may be processed by the controller 116. This is explained in greater detail in conjunction with FIG. 4.
[036] Referring now to FIG. 2, an exploded view of the control handle apparatus 102 is illustrated, in accordance with an embodiment of the present disclosure. As explained in FIG. 1, the control handle apparatus 102 may include the handle 104, the slider-frame 106 coupled to the handle 104, the pair of grippers 108a and 108b coupled to the slider-frame 106, the pair of crank levers 110a and 110b coupled to the respective gripper 108a and 108b, and the slider-frame 106, and the slider-shaft 112 coupled to the pair of crank levers 110a and 110b.
[037] As explained in FIG. 1, the handle 104 may define the body 117 and may include the handle-head 118 coupled to the body 117. The body 117 may be disposed on the inclined axis (A-A’) and may define at least one degree of freedom about the inclined axis (A-A’). The body 117 may define a first slot 202a formed on a top section 202b thereof. On the other hand, the handle-head 118 may include a second slot (not shown) formed on a bottom section (not shown) thereof. Accordingly, a pin 204 may be configured to be engaged with the first slot 202a and the second slot (not shown) such that the rotary coupling may be established between the handle-head 118 and the body 117. By way of example, the body 117 may be rotatable at the at least one degree of freedom in a clockwise direction about the inclined axis (A-A’) and the pin 204. Such rotation allows the user to grip the body 117 with the fingers for example, middle, ring, and little finger along with the palm. By virtue of the rotation of the body 117 about the inclined axis (A-A’), the user may be capable of gripping the handle 104 with stability and perform the plurality of precision task efficiently.
[038] The handle-head 118 may define a first portion 206a and a second portion 206b disposed on the first portion 206a. Each portion 206a and 206b may define a cavity 208 configured to accommodate the slider-frame 106. The slider-frame 106 may include a proximal section 210a and a distal section 210b coupled to the proximal section 210a. The distal section 210b may be engaged to the cavity 208. By way of example, the distal section 210b may be a linear member formed corresponding to the shape of the cavity 208. Further, the distal section 210b may define a stopper 211 formed on at least one end thereof engaged to the cavity 208. The stopper 211 may be configured to ensure engagement of the slider-frame 106 with the handle-head 118.
[039] The proximal section 210a may be configured to be coupled to the pair of grippers 108a and 108b. The proximal section 210a may include a pair of mounting features 212a and 212b each configured to be engaged to the respective gripper 108a and 108b. Each gripper 108a and 108b may include a third end 214a and a fourth end 214b disposed opposite to the third end 214a. The third end 214a may include a first receptacle 216a and 216b configured to be engaged to the respective mounting feature 212a and 212b. On the other hand, the fourth end 214b may include a ring 218a and 218b configured to allow user to engage the thumb and the index finger within. By virtue of the engagement, the pinching motion and the rotational movement may be generated by the user. Each ring 218a and 218b may be pivotably coupled to the third end 214a and the fourth end 214b, respectively via a first pivoting pin 219a and 219b. By virtue of first pivoting pin 219a and 219b, the ring 218a and 218b may be rotated to enable secure finger engagement and alignment with a mean natural position.
[040] Additionally, each gripper 108a and 108b may include a second receptacle 220 disposed on an inner surface thereof between the third end 214a and the fourth end 214b. For example, the second receptacle 220 may be configured to allow coupling of each gripper 108a and 108b with the respective first ends 120a of the crank lever 110a and 110b. Each first end 120a may include a slot (not shown) which may be configured to be aligned with the second receptacle 220. By virtue of such alignment, the slot and the second receptacle 220 may be pivotably coupled by a second pivoting pin 222. Further, the pair of crank levers 110a and 110b may rotate relative to the slider-frame 106 via the respective second end 120b about a common rotational joint 122.
[041] The common rotational joint 122 may include a mounting feature 224 and a third receptacle 226 engaged with the second end 120b of each crank lever 110a and 110b. For example, the mounting feature 224 may be engaged to the third receptacle 226 such that rotation of each crank lever 110a and 110b relative to the slider-frame 106 may be enabled. By way of example, the mounting feature may be a structural or mechanical element configured to connect, secure, or position each crank lever 110a and 110b with the slider-frame 106.
[042] The mounting feature 224 may define a fourth receptacle 228 formed along a longitudinal axis in order to enable slidable engagement of the slider-shaft 112. By virtue of slidable engagement and coupling of each crank lever 110a and 110b with the common rotational joint 122, the slider shaft 112 may be rotated in response to the pinching motion of the pair of grippers 108a and 108b performed through fingers of the user causing the rotation of the crank levers 110a and 110b. Accordingly, the slider-shaft 112 may be linearly moved relative to the slider-frame 106. Additionally, the second mounting feature 224 may be supported by a plate 230 disposed beneath the mounting feature 224.
[043] Referring back to proximal end 210a, the proximal end 210a may include a wedge 232 disposed between the pair of mounting features 212a and 212b and may be formed along the longitudinal axis. The wedge 232 may define a fifth receptacle 234 configured to allow slidable engagement of the slider-shaft 112. Accordingly, the slider-shaft 112 may be engaged to the fourth receptacle 232 and the fifth receptacle 234 along the longitudinal axis. Therefore, the slider-shaft 112 may slide along the longitudinal axis in a forward or backward direction.
[044] Referring to FIG. 3A, a top view of the control handle apparatus 102 configured in an expanded configuration is illustrated, in accordance with an embodiment of the present disclosure. FIG. 3A indicates the pair of grippers 108a and 108b rotating about the respective axis, relative to the slider-frame 106. For example, the ring 218a and 218b may be engaged with the thumb and the index finger of the user. The index finger and thumb may be moved away from the slider-frame 106, thereby performing the pinching motion. By virtue of the movement, the pair of grippers 108a and 108b may move relative to pair of mounting features 212a and 212b. Additionally, by virtue of the common rotational joint 122 on the respective second end 120b, the pair of crank levers 110a and 110b may rotate relative to the slider-frame 106.
[045] Further, the pinching motion of the pair of grippers 108a and 108b performed through fingers of the user and causes rotation of the crank levers 110a and 110b that further causes linear movement of the slider-shaft 112 relative to the slider-frame 106. The slider-shaft 112 may move linearly in a backward direction i.e., towards the handle 104.
[046] FIG. 3B illustrates another top view of the control handle apparatus 102 configured in a retracted configuration, in accordance with an embodiment of the present disclosure. FIG. 3B indicates the pair of grippers 108a and 108b rotating about the respective axis, relative to the slider-frame 106. For example, the ring 218a and 218b may be engaged with the thumb and the index finger of the user and may be configured to move towards the slider-frame 106 thereby generating the pinching motion. By virtue of the movement, the pair of grippers 108a and 108b may move relative to pair of mounting features 212a and 212b. Additionally, by virtue of the common rotational joint 122 on the respective second end 120b, the pair of crank levers 110a and 110b may rotate relative to the slider-frame 106.
[047] Further, the pinching motion of the pair of grippers 108a and 108b performed through fingers of the user and causes rotation of the crank levers 110a and 110b that further causes linear movement of the slider-shaft 112 relative to the slider-frame 106. As a result, the slider-shaft 112 may move linearly in a forward direction i.e., away from the handle 104. Thus, the first sensor data may be generated.
[048] As explained in FIGs. 3A-3B, the linear movement of the slider-shaft 112 generated by the pinching motion, may be detected by the first sensor 114 as the first sensor data. This is already explained in FIG. 1. Further, the first sensor data may be received by the controller 116. The controller 116 may execute the first sensor data to capture hand movements of the user i.e., the pinching motion. The first sensor data may include a pattern of pinching motion performed by the user. By way of example, the controller 116 may execute feature extraction and pattern recognition algorithms for example, rule-based logic, kinematic modeling, or machine-learning models, thereby classifying the first sensor data into a real hand movement data, and thus, the predefined hand movement data. The predefined hand movement data may be executed by the controller 116 to generate control signals indicative of the pinching motion. Accordingly, the controller 116 may apply the control signals to one or more actuators (not shown) or processing modules of the robotic arm, thereby mimicking the detected hand movements while performing the plurality of precision tasks. Accordingly, the real-time replication of the movements performed by the fingers are enabled.
[049] Referring to FIG. 4, illustrates a rear view of the control handle apparatus 102, in accordance with an embodiment of the present disclosure. FIG. 4 depicts the rotational movement of the slider-shaft 112.
[050] As explained earlier, the ring 218a and 218b may be configured to engage the thumb and the index finger of the user. Accordingly, the hand of the user may be rotated to generate rolling motion. In response to the rolling motion of the hand, the slider-shaft 112 may be rotated about the longitudinal axis thereof, relative to the handle 104. In response to rotation of the fingers respective the ring 218a and 218b may be rotated. For example, the ring 218a may be rotated by virtue of coupling with the third end 214a via the first pivoting pin 219a and 219b. Such rotational motion may be detected by the second sensor 115. Accordingly, the handle-head 118 may be rotated about the second axis relative to the body 117 of the handle 104. Such rotational movement may be detected by the second sensor 115.
[051] The second sensor 115 being the rotational potentiometer disposed on the handle-head 118, and mechanically coupled to the slider-shaft 112 such that rotation of the slider-shaft 112 causes the corresponding rotation of the rotational potentiometer. For example, in operation, rotation of the slider-shaft 112 results in a corresponding angular displacement of the rotational potentiometer, thereby producing a variable electrical signal indicative of the rotational position. The controller 116 may receive and processes the electrical signals to compute angular displacement, direction of rotation, and rate of change over time. Based on computation, the controller 116 correlates the detected rotational movement with the hand movement of the user, thereby capturing and quantifying user-induced rotational input for control, navigation, or actuation functions of the robotic arm.
[052] Referring to FIG. 5, illustrates a top view of the control handle apparatus 102, in accordance with an alternative embodiment of the present disclosure. In the alternative embodiment, the control handle apparatus 102 may include a feedback interface 502 configured to generate passive haptic feedback perceptible to the user during at least one of the linear movement of the slider-shaft 112 associated with the pinching motion, or the rotational movement of the slider-shaft 112 associated with the rolling motion.
[053] In one embodiment, the feedback interface 502 may include a threaded portion 504 defined on the slider-shaft 112 and a mating gear 506 disposed on the slider-frame 106 and interfacing with the threaded portion 504. In another embodiment, the feedback interface 502 may include a rack defined on the slider-shaft 112 and a pinion disposed on the slider-frame 106 and interfacing with the rack. Further, a motor configured to generate feedback and coupled to one of the mating gear 506 or the pinion. The motor may include a position encoder to identify the slider-shaft 112 position. The position encoder may be communicably coupled to the controller 116.
[054] Particularly, the mating gear 506 coupled to at least one end of the slider-shaft 112 from the proximal section 210a. For example, the gear 502 may be rotatable in response to rotation the linear movement of the slider-shaft 112 associated with the pinching motion, or the rotational movement of the slider-shaft 112 associated with the rolling motion. Accordingly, the motor may be configured to generate feedback and coupled to one of the mating gear or the pinion.
[055] In particular, the linear movement and rotational movement of the slider-shaft 112 causes corresponding actuation of the motor, which operates in a back-drivable or generator-assisted mode. The position encoder may generate position signals indicative of the instantaneous position, direction, and movement of the slider-shaft 112. Accordingly, the controller 116 may process the encoder signals to determine user-initiated motion i.e., rolling or pinching and, based thereon, selectively applies control currents to the motor to generate controlled counter-torque, damping forces, or vibratory effects. Such motor-generated forces are transmitted through the slider-shaft 112 to the handle 104, the pair of crank levers 110a and 110b, and the pair of grippers 108a and 108b, thereby providing haptic feedback that simulates tactile sensations, resistance, or dynamic interaction cues corresponding to the state of robotic arm or virtual interaction events.
[056] As will be appreciated by those skilled in the art, the control handle apparatus described in the various embodiments discussed above are not routine, or conventional or well understood in the art. The control handle apparatus discussed above may be capable of offering several advantages. The control handle apparatus may be configured to allow user to generate pinching motion and the rotational movement through the fingers. For example, the fingers are engaged with the control handle apparatus in the natural mean position of the fingers. Therefore, the control handle apparatus may be utilized in precision engineering to mimic the natural hand movement by capturing thereof. Therefore, the control handle apparatus may be utilized to perform surgical tasks, manufacturing fasts, emergency operations, and the like with efficiency.
[057] Further, the control handle apparatus includes the pair of grippers, each gripper of the pair of grippers configured to rotate about a respective axis, relative to the slider-frame, and the pair of grippers configured to engage fingers of the user. The pair of grippers may be configured to engage the fingers of variable anatomy of the user such that the mean position of the hand is attained. Accordingly, the user may provide input of pinching motion and rotational movement such that same movement and motion may be captured. By virtue of capturing, the pinching motion and the rotational movement may be mimicked. Such motion and movement may be generated by rotation of the pair of crank levers relative to the slider-frame via a respective second end about a common rotational joint. For example, the pinching motion of the pair of grippers performed through fingers of the user causes a rotation of the crank levers that further causes linear movement of the slider-shaft relative to the slider-frame. The rotation of the slider-shaft enables capturing the pinching motion and rotational movement generated by the fingers of the user. Thus, the disclosed try to overcome the technical problem of mimicking real-time motion i.e., pinching motion and rotational movement of the hand of the user, thereby provide real-time feel of operating the robotic arm.
[058] With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations may be expressly set forth herein for sake of clarity.
[059] It will be understood by those within the art that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to inventions containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). In those instances where a convention analogous to “at least one of A, B, or C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.”
[060] In addition, where features or aspects of the disclosure are described in terms of Markush groups, those skilled in the art will recognize that the disclosure is also thereby described in terms of any individual member or subgroup of members of the Markush group.
[061] While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims. , Claims:I/We Claim:
1. A control handle apparatus (102) for capturing natural hand movements of a user, the apparatus (102) comprising:
a handle (104);
a slider-frame (106) coupled to the handle (104);
a pair of grippers (108a and 108b) coupled to the slider-frame (106), each gripper (108a and 108b) of the pair of grippers (108a and 108b) configured to rotate about a respective axis, relative to the slider-frame (106), and the pair of grippers (108a and 108b) configured to engage fingers of the user;
a pair of crank levers (110a and 110b), each crank lever (110a and 110b) of the pair of crank levers (110a and 110b) coupled to a respective gripper (108a and 108b) of the pair of grippers (108a and 108b) via a respective first end (120a), and configured to rotate relative to the slider-frame (106) via a respective second end (120b) about a common rotational joint (122);
a slider-shaft (112) coupled to the crank levers (110a and 110b), such that a pinching motion of the pair of grippers (108a and 108b) performed through fingers of the user causes a rotation of the crank levers (110a and 110b) that further causes linear movement of the slider-shaft (112) relative to the slider-frame (106); and
a first sensor (114) configured to detect the linear movement of the slider-shaft (112), corresponding to the pinching motion of the pair of grippers (108a and 108b).

2. The apparatus (102) as claimed in claim 1,
wherein the first sensor (114) is a linear potentiometer having a first end (114a) and a second end (114b), wherein the first end is coupled to the slider-shaft (112) and the second end (114b) is coupled to the slider-frame (106).

3. The apparatus (102) as claimed in claim 1,
wherein the first sensor (114) comprises a magnetic encoder and a permanent magnet, wherein the permanent magnet is disposed on the slider-shaft (112) and the magnetic encoder is disposed on the slider-frame (106).

4. The apparatus (102) as claimed in claim 1, wherein the slider-frame (106) is configured to rotate about a first axis relative to the handle (104), to match the natural mean position of the fingers engaging with the pair of grippers (108a and 108b).

5. The apparatus (102) as claimed in claim 1, wherein the handle (104) comprises a handle-head (118) coupled to a body (117) of the handle (104), the handle-head configured to rotate about a second axis relative to the body (117) of the handle (104), and wherein the slider-frame (106) is rotatably coupled to the handle-head (118).

6. The apparatus (102) as claimed in claim 1, comprising:
a second sensor (115) configured to detect a rotational movement of the slider-shaft (112) about a longitudinal axis of the slider-shaft (112), relative to the handle, in response to a rolling movement of the hand of the user.

7. The apparatus (102) as claimed in claim 6, wherein the second sensor (115) is a rotational potentiometer disposed on a handle-head (118), and mechanically coupled to the slider-shaft (112) such that rotation of the slider-shaft (112) causes a corresponding rotation of the rotational potentiometer.

8. The apparatus (102) as claimed in claim 1, comprising a feedback interface (502) configured to generate passive haptic feedback perceptible to the user during at least one of:
the linear movement of the slider-shaft (112) associated with the pinching motion, or
the rotational movement of the slider-shaft (112) associated with the rolling motion,
wherein the feedback interface (502) comprises one of:
a threaded portion (504) defined on the slider-shaft (112) and a mating gear (506) disposed on the slider-frame (106) and interfacing with the threaded portion, or
a rack defined on the slider-shaft (112) and a pinion disposed on the slider-frame (106) and interfacing with the rack.

9. The apparatus (102) as claimed in claim 8, comprising:
a motor configured to generate feedback and coupled to one of the mating gear (506) or the pinion, wherein the motor comprises a position encoder to identify the slider-shaft position.