Stabilization device

Abstract

A stabilization device including a hand support configured to be supported by human operation, an actuator connected to the hand support and a mounting assembly affixed to the actuator and configured to be attached to an external device capable of being supported under human operation. The actuator provides compensating planar motion to the hand support under control of a motion detection and compensation controller when the motion detection and compensation controller detects motion associated with the hand support being supported under human operation. The actuator includes a first rotatable shaft providing a first compensation motion to the hand support within the planar motion, and a second rotatable shaft providing a second compensation motion to the hand support within the planar motion under control of the motion detection and compensation controller, where the second compensation motion is orthogonal to the first compensation motion.

What is claimed is: 
     
         1 . A stabilization device comprising:
 a hand support;   an actuator connected to the hand support, the actuator configured to provide compensating planar motion to the hand support under control of a motion detection and compensation controller when the motion detection and compensation controller detects motion associated with the hand support; and   a mounting assembly affixed to the actuator and configured to be attached to an external device;   wherein the actuator includes a first rotatable shaft providing a first compensation motion to the hand support within the planar motion under control of the motion detection and compensation controller,   wherein the actuator further includes a second rotatable shaft providing a second compensation motion to the hand support within the planar motion under control of the motion detection and compensation controller, the second compensation motion being orthogonal to the first compensation motion.   
     
     
         2 . The stabilization device according to  claim 1 , where the actuator further includes a third rotatable shaft that provides the first compensation motion to the hand support within the planar motion under control of the motion detection and compensation controller. 
     
     
         3 . The stabilization device according to  claim 2 , where the third rotatable shaft is rotatably coupled to the first rotatable shaft to provide the first compensation motion to the hand support. 
     
     
         4 . The stabilization device according to  claim 1 , wherein the first rotatable shaft provides the first compensation motion to the hand support orthogonal to a linear axis of the first rotatable shaft. 
     
     
         5 . The stabilization device according to  claim 1 , wherein the second rotatable shaft provides the second compensation motion to the hand support orthogonal to a linear axis of the second rotatable shaft. 
     
     
         6 . The stabilization device according to  claim 1 , wherein a linear axis of the first rotatable shaft is parallel with a linear axis of the second rotatable shaft. 
     
     
         7 . The stabilization device according to  claim 1 , wherein the actuator further comprises a first linkage connected to at least one end of the first rotatable shaft, the first linkage configured to provide the first compensation motion to the hand support within a first range of motion defined by a linear slot on the hand support. 
     
     
         8 . The stabilization device according to  claim 7 , wherein the actuator further comprises a second linkage connected to at least one end of the second rotatable shaft, the second linkage configured to provide the second compensation motion to the hand support within a second range of motion defined by a rotational motion of a portion of the second linkage traveling within the linear slot on the hand support. 
     
     
         9 . The stabilization device according to  claim 7 , wherein the linear slot is oriented parallel with a direction of the first compensation motion. 
     
     
         10 . The stabilization device according to  claim 1 , wherein the motion detection and compensation controller further includes:
 an internal measurement unit (IMU) configured to detect linear and rotational acceleration of the stabilization device;   a sensor configured to detect a rotational position of at least one of the first rotatable shaft and the second rotatable shaft; and   a servo-motor output configured to control motion of at least one of the first rotatable shaft and the second rotatable shaft.   
     
     
         11 . The stabilization device according to  claim 1 , wherein the motion detection and compensation controller further comprises:
 a first sensor configured to detect a rotational position of the first rotatable shaft via a first magnet on the first rotatable shaft proximate a circuit board upon which the first sensor is located; and   a second sensor configured to detect a rotational position of the second rotatable shaft via a second magnet on the second rotatable shaft proximate the circuit board upon which the second sensor is located.   
     
     
         12 . The stabilization device according to  claim 1 , wherein the first rotatable shaft includes a first rotatable linkage assembly on each distal end of the first rotatable shaft, the first rotatable linkage assemblies provide the first compensation motion to the hand support within a first range of motion defined by linear slots on opposite ends of the hand support, and
 wherein the second rotatable shaft includes a second rotatable linkage assembly on each distal end of the second rotatable shaft, the second rotatable linkage assemblies provide the second compensation motion to the hand support within a second range of motion defined by a rotational motion of a portion of the second rotatable linkage assemblies traveling within the linear slots on opposite ends of the hand support.   
     
     
         13 . A stabilization device comprising:
 a hand support;   an actuator connected to the hand support, the actuator configured to provide compensating planar motion to the hand support under control of a motion detection and compensation controller when the motion detection and compensation controller detects motion associated with the hand support; and   a mounting assembly affixed to the actuator and configured to be attached to an external device;   wherein the actuator includes a first rotatable shaft providing a first compensation motion to the hand support within the planar motion under control of the motion detection and compensation controller, the first compensation motion to the hand support being orthogonal to a linear axis of the first rotatable shaft,   wherein the actuator further comprises a first linkage connected to a first end of the first rotatable shaft, the first linkage configured to provide the compensation motion to the hand support within a range of motion oriented parallel to a direction of the first compensation motion.   
     
     
         14 . The stabilization device according to  claim 13 , wherein the actuator further includes a co-linear second rotatable shaft providing the first compensation motion to the hand support within the planar motion under control of the motion detection and compensation controller. 
     
     
         15 . The stabilization device according to  claim 14 , wherein the first rotatable shaft further includes a second linkage connected to an opposite second end of the first rotatable shaft, and
 wherein the second rotatable shaft further includes a third linkage connected to a first end of the second rotatable shaft and fourth linkage connected to an opposite second end of the second rotatable shaft.   
     
     
         16 . The stabilization device according to  claim 15 , wherein the first and second linkages are rotatably connected to the hand support to provide the first compensation motion to the hand support. 
     
     
         17 . The stabilization device according to  claim 14 , wherein the actuator further includes at least one servo-motor in communication with the motion detection and compensation controller, the at least one servo-motor is in mechanical connection with a gear train and is in mechanical connection to the first rotatable shaft, the at least one servo-motor receiving a control signal from the motion detection and compensation controller configured to provide rotational motion to the first rotatable shaft thereby providing the first compensation motion. 
     
     
         18 . The stabilization device according to  claim 14 , wherein at least one of the first and second rotatable shafts includes a magnet disposed thereon and configured be sensed by a corresponding sensor in the actuator to calculate a rotational position of the at least one of the first and second rotatable shafts. 
     
     
         19 . A stabilization device comprising:
 a hand support;   an actuator connected to the hand support, the actuator configured to provide compensating planar motion to the hand support under control of a motion detection and compensation controller when the motion detection and compensation controller detects motion associated with the hand support; and   a mounting assembly affixed to the actuator and configured to be attached to an external device capable of being supported under human operation;   wherein the actuator includes a rotatable shaft providing a compensation motion to the hand support within the planar motion under control of the motion detection and compensation controller, the compensation motion to the hand support being orthogonal to a linear axis of the rotatable shaft,   wherein the actuator further comprises a first linkage connected to a first end of the rotatable shaft, the first linkage configured to provide the compensation motion to the hand support within a range of motion defined by a rotational motion of a portion of the first linkage traveling within a linear slot on the hand support.   
     
     
         20 . The stabilization device according to  claim 19 , wherein the actuator further comprises a second linkage connected to an opposite second end of the rotatable shaft, the second linkage configured to provide the compensation motion to the hand support. 
     
     
         21 . The stabilization device according to  claim 19 , wherein the rotatable shaft includes a magnet disposed thereon and configured be sensed by a corresponding sensor in the actuator to calculate a rotational position of the rotatable shaft. 
     
     
         22 . The stabilization device according to  claim 19 , further comprising a user interface module including an activation switch configured to activate the compensation motion, and a mode select switch configured to control different processing modes of the motion detection and compensation controller.