Tactile Feedback for Joystick Position/Speed Controls

Abstract

The present invention includes a control system with a joystick controller for controlling the direction and speed of one or more controlled systems, such as a boom lift platform or the vehicle on which it rides. The joystick is neutrally-biased and effects a null velocity of the controlled system when the joystick is positioned in a neutral position. The joystick controller has motors, or the like, that provide intuitive tactile feedback to the joystick operator. The tactile feedback includes biasing the joystick away from the neutral position according to the controlled system's actual direction and speed but without generating a commanded direction and speed based on the biased position.

1 . A speed control system for collectively or individually controlling the movement of one or more controlled systems where said controlled systems include a boom lift platform mounted on a vehicle and said vehicle itself, said speed control system comprising:
 a. at least one joystick controller having a joystick handle for manually controlling the movements of one or more of said controlled systems;   b. controls and circuitry adapted to effect a null velocity of said controlled system when said joystick handle is positioned in a neutral position, a first velocity when said joystick handle is moved to a first extent in a first direction from said neutral position, and a second velocity when said joystick handle is moved to a second extent in the said first direction from said neutral position, said second extent being greater than said first extent, and said second velocity being greater than said first velocity;   c. a positional bias associated with said joystick handle to bias the position of said joystick handle toward said neutral position when said joystick handle is released from said second extent; and   d. a passively or actively actuated joystick handle position controller that influences the position of said joystick handle in relation to the direction and velocity of said controlled system, said joystick handle position controller being adapted to influence said joystick handle to be closer to said first position than said neutral position if the velocity of said controlled system is closer to said first velocity than said null velocity, thereby influencing the position of said joystick handle to provide tactile feedback to an operator who is manually holding said joystick handle, said tactile feedback indicating the actual speed of the controlled system.   
     
     
         2 . A speed control system for collectively or individually controlling the movement of one or more controlled systems where said controlled systems include a boom lift platform mounted on a vehicle and said vehicle itself, said speed control system comprising:
 a. at least one joystick controller having a joystick handle for manually controlling the movements of one or more of said controlled systems;   b. controls and circuitry adapted to effect a null velocity of said controlled system when said joystick handle is positioned in a neutral position, a first velocity when said joystick handle is moved to a first extent in a first direction from said neutral position, and a second velocity when said joystick handle is moved to a second extent in the said first direction from said neutral position, said second extent being greater than said first extent, and said second velocity being greater than said first velocity;   c. a positional bias associated with said joystick handle to bias the position of said joystick handle toward said neutral position when said joystick handle is released from said second extent; and   d. a passively or actively actuated joystick handle position controller that influences the position of said joystick handle in relation to the actual direction and velocity of said controlled system, said joystick handle position controller being adapted to influence said joystick handle to be closer to said first position than said neutral position if said actual direction and velocity of said controlled system is closer to said first direction and velocity than said null velocity and adapted to influence said joystick handle closer to said second position than said first position if the said actual direction and velocity of said controlled system is closer to said second direction and velocity than said first direction and velocity, thereby influencing the position of said joystick handle to provide tactile feedback to an operator who is manually holding said joystick handle, said tactile feedback indicating the difference between the commanded direction and velocity of the controlled system and the said actual direction and velocity of the controlled system.   
     
     
         3 . The speed control system of  claim 1  further comprising one or more direction and velocity sensors that sense and transmit the direction and velocity of said controlled system to said speed control system. 
     
     
         4 . The speed control system of  claim 1  further comprising a separate manual input subsystem that effects a null direction and velocity in the controlled system upon its activation.