US 9,811,066 B1
Throttle functionality of haptic controller
Jeffrey Linnell, Woodside, CA (US)
Assigned to X Development LLC, Mountain View, CA (US)
Filed by X Development LLC, Mountain View, CA (US)
Filed on Dec. 14, 2015, as Appl. No. 14/968,535.
Int. Cl. G05B 15/02 (2006.01); G06F 3/01 (2006.01); G06F 3/02 (2006.01)
CPC G05B 15/02 (2013.01) [G06F 3/016 (2013.01); G06F 3/02 (2013.01); Y10S 901/02 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A haptic controller configured to operate a robotic system, the haptic controller comprising:
a rotatable knob coupled to a base;
at least one motor that is operable to apply a torque-generating force to the rotatable knob;
one or more touch sensors arranged to sense touch input on a surface of the rotatable knob; and
a control system configured to:
operate the haptic controller in a first operational mode specifying one or more parameters for control of the rotatable knob by the at least one motor;
analyze input data from the one or more touch sensors to detect a throttle mode input, wherein the detected throttle mode input comprises multi-touch data corresponding to a throttle grip on the rotatable knob; and
responsive to the throttle mode input, switch from the first operational mode to operate the haptic controller in a throttle mode, wherein the throttle mode comprises operation of the at least one motor to affect the rotation of the rotatable knob to simulate a throttle.