This invention relates to a machine and method to create force profiles within a two dimensional hemispherical plane. It utilizes an array of electromagnets to exert a magnetic force on a shaft that can pivot in two dimensions. The shaft rotates around the pivot point with one end inside the array of electromagnets and the other end exposed as a handle or end effector. The shaft end located within the array has a permanent magnet or electromagnet to receive a magnetic force from the array. The location of the shaft magnet relative to the array permits its location and force output to be controllable within its hemispherical range of motion. The position of the magnet is determined by Hall effect sensors that report the angular components of the shaft magnet's own magnetic field. The magnetic field of the force generating component is used both for motion and for sensing.

The present invention provides a minimally invasive surgical instrument with a terminal steerable mechanism, comprising an intervention device, a control device and one or more wires. The strip-shaped intervention device sequentially includes a main section, a flexible section and an operation section from the top to the end. The control device includes a sphere with a preset rotational degree of freedom, and an operating lever connected to the sphere. Said one or more wires are extended along the main section of the intervention device. Here, the second ends of said at least one or more wires are connected to the flexible section or the operation section of the intervention device, and the first ends thereof are connected to at least a part of the control device.

A switch includes a base on which a bearing body having a bearing part at an upper end is provided in a protruding manner, an operating lever having an operating shaft with a lower end surface rotatably supported by the bearing part, and at least one operating leg extending from the operating shaft toward the base; and at least one contact mechanism having a fixed contact and a movable contact movable by the operating leg during rotation of the operating shaft, the contact mechanism being disposed on an upper surface of the base, with the movable contact opened and closed by the operating leg with respect to the fixed contact.

In order to provide an input/output operation device having high operability, an input/output operation device (750) includes: an actuator (165) including a movable unit (180) freely rotatable independently about two axes orthogonal to each other, a fixed unit supporting the movable unit (180) for free rotation, and a drive part driving the movable unit (180) with respect to the fixed unit; a detection circuit part (360) to output a position signal corresponding to a position of an operation part (850); a drive circuit part (350) controlling the drive part; a control calculation processing part (94) controlling the drive circuit part (350); and a rotation body (550) on which the actuator (165) is installed, and which rotates about a rotation axis, in which the control calculation processing part (94) controls the drive of the operation part (850) through use of a coordinate system stationary with respect to a reference rotation angle of the rotation body (550) at different rotation angles of the rotation body (550).

Disclosed are: an operated device 2 comprising a spherical body 21 that moves upon receiving an operation from an external source, and a holding member 22 for movably holding the spherical body 21 from the outside; and a device for operating that comprises the operated device 2. The holding member 22 provided to the operated device 2 and the device for operating has a sliding member 23 for contacting an outer surface of the spherical body 21 and is provided with a pressing member 26 that presses the spherical body 21 and brings the spherical body 21 into contact with the sliding member 23, the spherical body 21 moving while being in contact with the sliding member 23.

A hand controller that includes a control member mounted on a hand held base for commanding a remote vehicle or movement of a virtual object within a virtual environment includes an input device mounted for generating tilt commands for a sensor mounted on the remote vehicle or the virtual object, the input device being located on a front of the base and oriented to be displaced up and down to tilt the sensor or the virtual point of view when the base is held during operation.

A controller is capable of controlling an asset or target in physical and/or virtual three-dimensional space using a single hand by generating control inputs in four or more degrees of freedom while also limiting cross-coupling (unintended motions). The controller includes a first control member is configured to be gripped in a user's single, second control member is disposed on or near a top end of the first member movable with at least one degree of freedom independently of the movement of the first control member, and a third control member positioned on the first member for displacement by one or more digits of the user's single hand and coupled with the second member to move in opposition to movement of the second control member.

A controller is capable of controlling an asset or target in physical and/or virtual three-dimensional space using a single hand by generating control inputs in four or more degrees of freedom while also limiting cross-coupling (unintended motions). The controller includes a first control member is configured to be gripped in a user's single, second control member is disposed on or near a top end of the first member movable with at least one degree of freedom independently of the movement of the first control member, and a third control member positioned on the first member for displacement by one or more digits of the user's single hand and coupled with the second member to move in opposition to movement of the second control member.

An input/output operation device (165) includes: an operation part (850); a movable unit (180) including a loosely fitted space inside, a main body supporting the operation part (802) and including a first loosely fitted surface (820) exposed in the loosely fitted space, and at least one drive magnet (401, 402); a fixed unit including a second loosely fitted surface (821) in point- or line-contact with the first loosely fitted surface of the movable unit, a holder (811) supporting the movable unit for free rotation, a base (811) including a space for accommodating at least a part of the movable unit and supporting the holder, and at least one drive coil (301, 302); a drive part to rotate the movable unit with respect to the fixed unit; and a detector to detect a position of the operation part in the fixed unit. One of the first and second loosely fitted surfaces includes an inner peripheral surface formed into a recessed portion, and another one of the first and second loosely fitted surfaces includes at least one protruded spherical surface.

An operating device and an operating method are disclosed. The operating device includes a processing assembly and a control assembly. The control assembly includes a control body, an auxiliary unit and a collecting unit. The auxiliary unit is arranged on the control body, a limb of a user is put on said auxiliary unit, and the collecting unit is arranged on the limb of the user. The collecting unit is configured to collect trembling signals indicating limb trembling of the user, and transmit the trembling signals to the processing assembly. The processing assembly is configured to generate driving signals according to the trembling signals and transmit the driving signals to the auxiliary unit. The auxiliary unit is configured to keep a motion state of said auxiliary unit to be the same as a limb trembling state of the user according to said driving signals.