Powered wheelchair joystick handles

Abstract

One embodiment is a handle supporting a users hand having a large surface for the palm, a trough for the thumb, a protrusion between the thumb and first finger and flared edges to keep the hand from sliding. A support surface is coupled to the stem of a wheelchair joystick gimbal and is biased in forward driving. A second embodiment is a wheelchair joystick movable between forward and reverse positions while maintaining the same orientation relative to the user. A supporting surface is pivotally mounted to a gimbal stem fixed to the wheelchair. The handle pivots to remain in a neutral position with movement of the joystick. A bi-directional spring biases the handle toward a neutral position. A third embodiment comprises a pivot coupled to a gimbal stem and a cup coupled to the user. The assembly is completed by placing the cup over the pivot allowing for movement therebetween.

Claims

1. A joystick comprising a handle having an upper surface contoured to and adapted to support the hand of a user and a gimbal stem, the handle being pivotally attached to the gimbal stem by a single axis pivot joint to constrain the movement of the handle in only one plane with respect to the gimbal stem as the gimbal stem moves between a forward position and a rearward position with a neutral position about midway intermediate the forward and rearward positions to allow a wrist of a user to maintain a neutral position when the gimbal stem moves between the forward and rearward positions.

2. The joystick of claim 1 wherein a bi-directional spring is interposed between the handle and the gimbal stem that biases the upper surface of the handle toward the neutral position.

3. The joystick of claim 2 wherein the bi-directional spring has a curved center element and a pair of pin joints at opposed ends of the curved center element, one of the pin joints being affixed to the gimbal stem and the other of the pin joints being affixed to the handle wherein the flexing of the curved center element biases the handle toward the neutral position.

4. The joystick of claim 1 further including a stop to limit the rotating movement of the handle.

5. The joystick of claim 1 wherein the upper surface of the handle is oriented to maximize user comfort for a gimbal stem orientation other then the neutral position.

6. The joystick of claim 1 wherein the upper surface of the handle is oriented to provide partial wrist pronation at the gimbal stem orientation for maximal comfort.

7. The joystick of claim 4 wherein the stop comprises a flexible member that compresses inwardly when the handle pushes against the flexible member to limit the movement of the handle.

8. The joystick of claim 7 wherein the stop further has a hard stop that limits the inward movement of the flexible member.

9. The joystick of claim 1 wherein the upper surface has a protrusion, adapted to be located between a thumb and fingers of a hand of a user, the upper surface further having upturned outer edges and a pair of support surfaces, one of the support surfaces adapted to support a thumb of a user and the other support surface adapted to support a palm of a hand of a user, both of the support surfaces having contoured troughs adapted to contact and distribute pressure over a maximal surface of the hand of a user.

Description

DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a rear elevation (user view) of a right-handed joystick handle of the first embodiment in full forward position (ergonomically neutral) coupled to a generic gimbal joystick. Contour lines are aligned with horizontal when the handle is in neutral are shown to give the reader a sense of the shape of the surface;

(2) FIGS. 2A-2C are a side view of the joystick in the neutral position, a side view of the joystick in the full forward position and a top view of the joystick in the neutral position;

(3) FIG. 3A is a top view of the joystick of the present invention and FIG. 3B is a cross sectional view taken along the line A-A of FIG. 3A:

(4) FIG. 4 is a side perspective view of the joystick constructed in accordance with the second embodiment;

(5) FIGS. 5A, 5B and 5C are side, schematic views illustrating the joystick of FIG. 4 in various operative positions;

(6) FIGS. 6A and 6B are side, schematic views illustrating the joystick of FIG. 4 in showing the operation of the stop;

(7) FIGS. 7A-7H are front, side, bottom and isometric views of the pivot and cup as described in a third embodiment;

(8) FIG. 8 is an exploded view illustrating the connection of the pivot and cup of the FIG. 7A-7H embodiment; and

(9) FIGS. 9A-9C are side, schematic views illustrating the joystick embodiment of FIGS. 7A-7H in various operative positions.

DETAILED DESCRIPTION OF THE INVENTION

First Embodiment

(10) Turning to FIG. 1, there is shown a rear perspective view of the joystick handle 10 constructed in accordance with the present invention attached to a generic gimbal style joystick 12 with the gimbal stem 14 pushed to full forward. A socket 16 couples the joystick handle 10 to the gimbal stem 14. A protrusion 18 adapted to be located between the thumb and fingers of a user, constrains the user's hand from sliding forward off of the joystick handle 10 thus providing support to the extremity of the user. The joystick handle 10 thus provides two support surfaces, that is, a thumb support surface 20 and a palm support surface 22 for the users hand, on either side of the protrusion 18 with upturned edges 24, 26 of the thumb support surface 20 and the palm support surface 22, respectively.

(11) The upturned edges 24, 26 provide lateral support and security for the thumb and hand of a user. The thumb support surface 20 and the palm support surface 22, respectively, provide contoured contact with the user's hand when the gimbal stem 14 is pushed to the full forward position, as shown in FIG. 1. The handle is biased to favor full forward gimbal stem orientation because it is the position that is held for long periods of time when driving for long distances when fatigue is most prevalent.

(12) The contours of the support surfaces 20, 22 are designed to distribute pressure over a maximal surface of the user's hand by mimicking the hand's natural contours so as to decrease localized pressure areas. As such, the overall height of the joystick handle 10 is minimal and within a few degrees of full pronation (approximately 30 see reference angle A shown in FIG. 1) keeping turning to the inside (turning to the left when driving with your right hand) within the wrists comfortable range of motion.

(13) Turning to FIG. 2A-2C, there are shown, respectively, two side prospective views and a top view illustrating the joystick handle 10 of the present invention. In FIG. 2A, the gimbal stem 14 is illustrated in a neutral position (stem 14 is vertical in respect to the joystick 12 this corresponds to at rest and no input) while, in FIG. 2B, the gimbal stem 14 is positioned in the full forward position. In the top view of FIG. 2C, the gimbal stem 14 is again in the neutral position. When the gimbal stem 14 is in the neutral position (FIG. 2A), the driving thumb support and palm support surfaces 20, 22 lean backwards compensating for the full forward range of the gimbal stem 14 and enabling the wrist of the user to be in a wrist flexion/extension neutral position when the gimbal stem is in full forward (FIG. 2B). Angles B and C shown in FIGS. 2A and 2B illustrate the wrist flexion. In the neutral gimbal stem 14 position (FIG. 2C) of the mounting socket ergonomic wheelchair joystick handle is positioned nearly directly under the joystick center of mass to avoid accidental activation without driver input.

(14) Turning to FIGS. 3A and 3B, FIG. 3A is a top view of a modified joystick handle 10 constructed in accordance of the first embodiment and FIG. 3B is a cross sectional view taken along the line A-A of FIG. 3A. As can be seen in FIG. 3B, the general wall thickness T throughout the geometry is preferably, but not limited to, 1/10 of an inch to minimize weight, thus further reducing risk of activation without user input.

(15) Holes or pockets 30 may be present in the joystick stick handle 10 to decrease the weight and to allow air movement so as to keep the users hand dry. To keep the wrist at a neutral position the overall height is minimal and a few degrees (approximately 30 degrees) out of full wrist pronation at full forward, that is, the side to side motion of the wrist is oriented to be at about 30 degrees. This keeps the wrist from rotating past its natural range of motion when turning in the direction opposite of the driving hand.

(16) As can be seen, the overall upper surface of the joystick handle 10 is asymmetrical, that is, it is designed to be used by the left hand, or right hand, but not both since the protrusional 18 must be off center in order to fit comfortably between the thumb and index finger of the user. According, being asymmetrical as described, the upper surface is non-ambidextrous.

Second Embodiment

(17) Turning next to FIG. 4, there is shown a side perspective view or a joystick handle 32 constructed in accordance with the present invention wherein a hand interface 34 is adapted to be contacted by the hand of the user in operating the joystick as in the exemplary embodiment of FIG. 1. A hinge joint 36 allows the hand interface 34 to move independently with respect to the gimbal stem 40 but only in one plane. The joystick handle 32 is coupled to the gimbal stem 40 by a socket gimbal stem 42.

(18) As such, the user has the comfort of neutral wrist flexion position while moving the joystick 32 to different positions. There is also a bi-directional spring 44 that is a flexible curved element to return the hand interface 34 to a neutral position when the joystick handle 32 is not in use.

(19) As can be seen, the bi-direction spring 44 is comprised of a center curved element 46 and a pair of pin joints 48, 50 located at the opposed ends of the center curved element 46 with the pin joint 48 attached to the hand interface 34 and the pin joint 50 attached to the gimbal stem socket 42. Accordingly, as the hand interface 34 rotates clockwise around the hinge joint 36 in FIG. 4, the center curved element 46 is flexed outwardly, biasing the hand interface 34 toward its neutral position. In a similar fashion, as the handle 34 is rotated counterclockwise, the center curved element 44 is flexed inward to again bias the handle 34 toward its neutral position.

(20) The bi-directional spring 42 thus changes the location of the center of pressure at the hand interface 34 from alignment with the center of rotation to a point away from the hinge joint 36 which more evenly distributes the pressure over the load bearing surface of the users hand.

(21) A stop 52 is also included to limit the range of motion of the hand interface 34. A flexible center curved element 54 of stop 52 can compress to provide suspension for increased comfort when driving over rough terrain.

(22) Turning then to FIGS. 5A-5C, there is shown, the joystick 32 in three representative orientations. In FIG. 5A, the joystick 32 and gimbal stem 40 can be seen in neutral position, in FIG. 5B, the joystick handle 32 and gimbal stem 40 are in the forward position and in FIG. 5C, the joystick 32 and gimbal stem 40 are in the reverse position. As such, it can be seen that the hand interlace 34 remains in a generally neutral position despite the orientation of the gimbal stem 40 so that the user's wrist is not stressed. The bi-directional spring 44 tends to bias the hand interface 34 to its neutral orientation.

(23) FIGS. 6A and 611 show the operation of the suspended stop 52. As the hand support surface 34 rotates around the hinge joint 36 of the joystick handle 32, the joystick handle 34 contacts the stop 52. Since the stop 52 is comprised of a plastic band, when higher forces are applied, the plastic band of the stop 52 flexes until the band contacts the hard stop 56. This provides an auxiliary rotational range of motion which is accessible when inadvertent large forces are applied such as when the user experiences large jolts when driving over uneven terrain.

Third Embodiment

(24) In this exemplary embodiment, the joystick is constructed to meet the needs of persons who do not have the full palm available to interact with the handle. Many wheelchair users wear splints or cuffs on their driving hand for a variety of reasons. These devices often immobilize the wrist and cover the palm. This embodiment consists of two principle components, that is, a pivot 60 that slides over the gimbal stem 76 (FIGS. 9A-9C) and a cup 68 that is permanently or non-permanently attached to the user. When combined they form a joystick assembly.

(25) FIGS. 7-7H show front bottom and isometric views of the two components of this embodiment. FIGS. 7A-7D show the pivot 60 and FIGS. 7E-7H show the cup 68.

(26) The pivot 60 consists of three main features, that is, a socket 62 which fits over is gimbal joystick stem 76 (FIGS. 9A-9C). An enlarged cylindrical boss 64 is formed as the center bearing surface of the hinge joint. The sides of this boss 64 provide much of the stabilization keeping the cup 68 from sliding axially. In addition, it centers the junction of the pivot 60 and the cup 68. The mounting socket 62 extends into the boss 64 decreasing overall height. The edges or the boss 64 are tapered to facilitate assembly of the joint. Two rods 66 protrude from both sides of the boss 62. These rods 66 provide the user lever arms to lean the gimbal stem left and right while turning.

(27) The cup 68 consists of three main features, that is, a bearing surface 70 that is a concave surface which with an enlarged center area and, when the binge assembly is assembled, forms the contact between the pivot 60 and the cup 68. A flaring region comprising flares 72 facilitates the combining of the pivot 60, arms 66 and the cup 68. To facilitate coupling the cup 68 to a user, a wide flat tab 74 approximately as wide as the cap 68 (thin side shown in FIG. 7E) is provided. The tab 74 can be fit into the flat pocket of a universal cuff (not shown) that is attached to the arm of a user. The width and flatness of the tab 74 decreases the tendency of the tab to spin in the cuff.

(28) FIG. 8 is an exploded view illustrating the assembly of the joystick assembly. The joystick assembly is assembled by placing the cup 68 over the pivot 60. It is disassembled by lifting the cup 68 off the pivot 60. As can be seen, the flares 72 of the cap 68 and taper of the boss 64 facilitate alignment.

(29) FIGS. 9A-9C show lateral views of the third embodiment installed on a generic gimbal joystick with the joystick assembly fully assembled. The figures show the gimbal stem 76 in three positions: forward (FIG. 9A), neutral (FIG. 9B) and reverse (FIG. 9C). The three figures demonstrate how the joystick assembly allows a user to maintain a constant wrist orientation throughout the full forward/reverse range of the gimbal stem 76 when the cup 68 is attached to the user. By attaching the cup 68 to the user instead of the pivot 60, the user is able to emergency stop by lifting their hand of without binding regardless of the orientation of the gimbal stem 76. This also maintains a consistent feel throughout the range of motion of the gimbal stem 76 by having a constant bearing surface size and orientation.

(30) Those skilled in the art will readily recognize numerous adaptations and modifications which can be made to the joystick embodiments of the present invention which will result in an improved device and method of using the same, yet all of which will fall within the scope and spirit of the present invention as defined in the following claims. Accordingly, the invention is to be limited only by the following claims and their equivalents.