In embodiments, a work vehicle magnetorheological fluid (MRF) joystick system includes a joystick device. The joystick device includes, in turn, a base housing and a joystick, which is rotatable relative to the base housing and which is biased toward a joystick return position. An MRF joystick resistance mechanism is controllable to vary an MRF resistance force impeding movement of the joystick relative to the base housing, while a controller architecture is coupled to the MRF joystick resistance mechanism. The controller configured to: (i) selectively enable an operator adjustment of the joystick return position by a work vehicle operator; and (ii) when enabling the operator adjustment of the joystick return position, command the MRF joystick resistance mechanism to maintain the MRF resistance force at a predetermined level until the operator adjustment of the joystick return position is terminated.

In embodiments, a work vehicle magnetorheological fluid (MRF) joystick system includes a joystick device, an MRF joystick resistance mechanism, a controller architecture, and an implement tracking data source configured to track movement of the implement during operation of the work vehicle. The joystick device includes, in turn, a base housing, a joystick, and a joystick position sensor. The MRF joystick resistance mechanism is controllable to vary an MRF resistance force impeding joystick movement relative to the base housing. The controller architecture is configured to: (i) track movement of the implement relative to a virtual boundary utilizing data provided by the implement tracking data source; and (ii) command the MRF joystick resistance mechanism to vary the MRF resistance force based, at least in part, on implement movement relative to the virtual boundary.

A user interface device for controlling a robot manipulator having an end effector comprising at least one movable element, the user interface device comprising: a body for being held by a user, the body comprising an elongate grip portion configured to be gripped by one or more of a user's second to fourth fingers; a trigger extending transversely to the direction of elongation of the grip portion, the trigger being supported by the body so as to be capable of rotating relative to the body about a rotation axis passing through the grip portion; and a drive mechanism at least partially housed in the grip portion, the drive mechanism being coupled to the trigger for applying a torque to the trigger.

An input apparatus, in particular a joystick, has an operating device, a magnetorheological braking device, and a control device for actuating the braking device. The operating device has a support and an operating lever that is pivotable about at least one pivot axis. A sensor senses a pivot angle of the operating lever. The braking device is coupled to the pivot axis in order to damp, in a controlled manner by way of the control device, a pivot movement of the operating lever. The control device actuates the braking device depending on a control command and converts the control command into a haptic signal, preferably a defined sequence of deceleration torques, which can be perceived on the operating lever. A user, as a result of an input made, can receive haptic feedback (so-called force feedback).

The present invention relates to a force application device for a control stick of an aircraft, wherein the control stick comprises a control lever (1) rotating a shaft (A1) about a first axis (A), the device comprising a magnetic brake (5a) which comprises a magnetisable element (50a) mounted on the shaft and a magnetic transmitter (51a) which is opposite the magnetisable element and free to rotate about the first axis relative to the magnetisable element, the magnetic transmitter having an activated state in which the magnetic transmitter is supplied with current and generates a magnetic field in a volume occupied by the magnetisable element, and a deactivated state in which the magnetic transmitter is not supplied with current and does not generate a magnetic field, so as to prevent the magnetisable element from rotating about the shaft relative to the magnetic transmitter.

The present invention relates to a force application device for a control stick of an aircraft, wherein the control stick comprises a control lever (1) rotating a shaft (A1) about a first axis (A), the device comprising a magnetic brake (5a) which comprises a magnetisable element (50a) mounted on the shaft and a magnetic transmitter (51a) which is opposite the magnetisable element and free to rotate about the first axis relative to the magnetisable element, the magnetic transmitter having an activated state in which the magnetic transmitter is supplied with current and generates a magnetic field in a volume occupied by the magnetisable element, and a deactivated state in which the magnetic transmitter is not supplied with current and does not generate a magnetic field, so as to prevent the magnetisable element from rotating about the shaft relative to the magnetic transmitter.

A method to obtain total compensation force information of a user input device is disclosed. The method comprising obtaining velocity information of a portion of the user input device. Obtaining acceleration information of the portion of the user input device. Obtaining damping force information force based on the velocity information. Obtaining inertial compensation force information based on the acceleration information. Combining the damping compensation force and inertial compensation force to provide the compensation force information of the user input device.

A method to detect a hands off status of a user input device is disclosed. The method comprising filtering a sensed force, acting on the user input device, using a first lag filter to provide a first output, the lag filter comprising a first lag time constant. Filtering the sensed force using a second lag filter, substantially in parallel with the first filter, to provide a second output, the second lag filter comprising a second lag time constant greater than the first lag time constant. Comparing with a first threshold value, in a first comparison, a magnitude of a difference between the first output and the second output. Comparing with a second threshold value, in a second comparison, a magnitude of the second output. Designating the user device to have a hands off status based on the first comparison and the second comparison.

A work vehicle includes a hydraulic actuator that changes an actual steering angle, an actual steering angle detecting part, an operating unit that performs a steering operation, a position adjusting control part that controls the position adjusting part based on the actual steering angle, and a steering control part that controls the hydraulic actuator. The operating unit includes a support part, a rotating part supported rotatably by the support part, an operating part supported rotatably by the support part or the rotating part, a biasing part that biases the operating part to a predetermined position with respect to the rotating part, a position adjusting part that adjusts a rotation angle of the rotating part with respect to the support part, and a rotation angle detecting part configured to detect the rotation angle of the operating part with respect to the support part or the rotating part.

In one aspect, a system for providing haptic feedback to an operator of a work vehicle may include an operator control device and a controller. The controller may be configured to identify one of a first component of the work vehicle or a second component of the work vehicle as a selected component to be controlled via the operator control device. Furthermore, the controller may be configured to control the operation of the operator control device such that the operator control device provides a first haptic response to the operator when first component is identified as the selected component. Additionally, the controller may be configured to control the operation of the operator control device such that the operator control device provides a second haptic response to the operator when second component is identified as the selected component, with the second haptic response differing from the first haptic response.