WO2009109509A1

WO2009109509A1 - Manual control device for controlling the movement of real or virtual objects

Info

Publication number: WO2009109509A1
Application number: PCT/EP2009/052270
Authority: WO
Inventors: Stefano Bertazzoni; Lorenzo Mongiardo
Original assignee: Stefano Bertazzoni; Lorenzo Mongiardo
Priority date: 2008-03-06
Filing date: 2009-02-26
Publication date: 2009-09-11
Also published as: ITRM20080124A1

Abstract

The invention describes a control device (10) for real or virtual objects, comprising a support base (31) and a manual interface (30). The control device (10) comprises coupling means adapted to constrain the manual interface (30) to the base (31) so as to define at least two preferential axes of rotation of the manual interface (30) with respect to the base (31). The control device (10) makes it particularly easy to control crafts or moving trolleys or any other object with two or more steering axes.

Description

"Manual control device for controlling the movement of real or virtual objects"

DESCRIPTION

The present invention concerns the technical field of manual control devices and, more specifically, it refers to a manual control device as defined in the preamble of the first claim.

It is known that so-called intuitive manual control devices are currently widely used to allow an operator to manually control the movement of objects of greatly varying type, be they real or virtual objects.

For example, in the case of real objects equipped on board with means for propelling and/or manoeuvring it, manual control devices are used, like for example control sticks, joysticks, hand levers, or levers in general, to control the propulsion and/or manoeuvring means in order to move the object according to desired paths, in practice controlling the object so that it is subjected to translation movements, rotation movements, or combined movements having a translation component and a rotation component. For example, through such manual control devices it is possible to control the propulsion means so as to control the speed or the direction of travel of the object and it is possible to control the manoeuvring means and/or the propulsion means to make the object follow desired paths.

Manual control devices of the aforementioned type are also used in a similar way to control the movement of objects that are not real but virtual, i.e. objects commonly generated through processing devices in the form of digital graphical representations on suitable display devices, as happens in general in entertainment programmes, typically videogames, or simulation programmes. The need to have manual control devices that can be actuated reliably and intuitively is particularly great in the field of application of systems for steering or manoeuvring crafts.

Indeed, it is known how the manoeuvring of crafts in restricted waterways entails many difficulties, especially in the case of multi-engined crafts, due essentially to the large number of manual control devices and their non-intuitive operation that, especially in adverse weather conditions, can place the pilot in serious difficulty, especially if he is unskilled.

To make it easier to pilot crafts, different control systems have recently been introduced, including the one described in patent application WO 06/040785, which allows the pilot to directly control the movements and rotations of the craft, leaving him free from the need to control the individual manoeuvring means and from having to take into account the effects of external disturbance.

The control systems for crafts described above are provided with a manual control interface based upon the use of a joystick that, although much easier to use than conventional throttle handles, requires a certain manual ability and a certain experience of the pilot for some particular types of manoeuvres. This is due to the fact that, whereas it is relatively simple to use a joystick to control translation movements and rotation movements about an instantaneous centre of rotation close to the barycentre of the craft, performing rotation movements about a centre of rotation substantially shifted towards the bow or stern of the craft requires a particularly complex manipulation of the joystick by the operator. Performing this last type of movements is essential complex manoeuvres in restricted waters that are typically carried out in the docking operations of the craft .

The need to have manual control devices that can be actuated reliably and intuitively is also substantially strong in the technical filed of moving trolleys having at least one first at least one second pair of steering wheels, respectively arranged on a front axle and on a rear axle, the first and second pair being able to be controlled separately. To move such trolleys three separate types of controls are currently required to control the following actuations: steering angle of the pair of wheels arranged on the front axle; steering angle of the pair of wheels arranged on the rear axle; - forward drive, reverse and neutral.

Through the manual setting of the three actuations indicated above it is possible to make the moving trolley perform the desired manoeuvres, but the control of the movement of such trolleys is not very intuitive or easy due to the different control levers that have to be actuated.

The object of the present invention is to provide a manual control device that allows an operator to control the movement of a real or virtual object in an intuitive and particularly easy and effective way. This object is accomplished through a manual control device as defined in general in the attached claim 1.

Advantageous embodiments of a control device according to the present invention are defined in the attached dependent claims . A further object of the present invention is to provide a control system and a craft as defined, respectively, in claims 21 and 22.

A further object of the present invention is to provide a control system for moving trolleys as defined in claim 23.

Further features and advantages of the invention will become clear from the following detailed description, given purely as an example and not for limiting purposes, with reference to the attached drawings, in which: - figure 1 is a functional block diagram of an exemplary control system comprising a manual control device in accordance with the present invention;

- figure 2 is a functional block diagram that shows the application of the control system of figure 1 to a craft equipped with manoeuvring and propelling means; figure 3a is a schematic view from above of a manual control device according to a currently preferred embodiment of the present invention;

- figure 3b is a schematic side view from the side of the arrow IV of the manual control device of figure 3a;

- figure 3c is a schematic side view from the side of the arrow VI of the manual control device of figure 3a; figure 4 is a schematic view from above of the manual control device of figure 3a, wherein said device is shown in a first operating control configuration;

- figure 5 is a schematic view from above of the manual control device of figure 3a, in which the device is shown in a second operating control configuration; figure 6 is a schematic view from above of the manual control device of figure 3a, in which the device is shown in a third operating control configuration; figure 7 is a schematic view from above of the manual control device of figure 3a, in which the device is shown in a further operating control configuration; figure 8 is a schematic view from above of the manual control device of figure 3e, in which some parameters than can be obtained by processing information acquired through the control device are graphically highlighted;

- figure 9 is a schematic view, with some parts in section, that shows an example of a control device according to the present invention, said device being represented in a first operating configuration; figure 10 is a schematic view that shows the control device of figure 9 in a second operating configuration;

- figure 11 is a schematic view, with some parts in section, that shows a further example of a control device according to the present invention;

- figure 12 is a schematic view, with some parts in section, that shows a further example of a control device according to the present invention; - figure 13 is a schematic view, with some parts in section, that shows a further example of a control device according to the present invention;

- figure 14 is a graph that shows a relationship between a force applied manually to the control device and a displacement thereof; figure 15 is a schematic view, with some parts in section, that shows a further example of a control device according to the present invention; figure 16 is a plan view that schematically shows a further example of a control device according to the present invention; - figure 17 shows a side section view of the control device of figure 16;

- figure 18 shows a further operating configuration of the control device of figure 3a; - figure 19 shows an example of operation of a control device in accordance with the present invention, in which the device is used to control the movement of a moving trolley; and figure 20 shows a further example of operation of the control device of figure 20. In the figures, identical or similar elements are indicated with the same reference numerals.

Figure 1 represents a simplified block diagram of one particular example of a control system 1 in which a manual control device 10 in accordance with the present invention can be advantageously used.

The control system 1 is, in particular, a system suitable for allowing an operator to manually control the movement or the position of a real or virtual object 14 through the control device 1. From now onwards in the present description, we shall use the term "pilot" to indicate the operator intended to manually actuate the control device 1, without for this reason introducing any limitation.

The control system 1 comprises, in addition to the manual control device 10, an acquisition and processing unit 11 operatively connected to the manual control device 10 for receiving information detected by the device 10 in response to it being moved manually by the pilot. The acquisition and processing unit 11, starting from the receiver information is adapted to supply in output corresponding electric control signals to move the object 14. The manual control device 10 and the acquisition and processing unit 11 can be two separate unit or they can be functionally integrated in a single device.

The control system 1 further comprises an interface unit 12 operatively connected to the acquisition and processing unit 11 for receiving in input the control signals supplied in output by the acquisition and processing unit 11 and for performing suitable conversions and processing on such signals so as to produce corresponding output signals that can be received and interpreted by a unit, or system, provided in the object 14 to be moved for controlling the manoeuvring 13 of the latter.

In the case of a real object 14, the system for controlling manoeuvring 13 comprises, for example, means suitable for actuating and controlling the manoeuvring and/or propulsion on- board means provided in the object 14 in order to move it.

It should be observed that by using a control system 1 of the type described above, it will be possible to adapt the control system 1 to different objects to be moved 14 on each occasion defining suitable interface units 12 that allow the control system 1 to communicate with the system for controlling manoeuvring 13 provided in the particular object to be moved 14.

It should also be observed that although in figure 1 the control system 1 has been represented as a entity external to the object to be moved 14, such a system 1 in practical applications can without distinction be implemented as a unit external to the object 14, for example for remotely controlling the object 14, or as a unit provided directly on-board the object 14. Clearly, the latter implementation is only possible in the case of a real object 14. In a particularly preferred embodiment, without for this reason introducing any limitation, the control system 1 is a system suitable for controlling the movement of a motor craft, i.e. of a craft equipped with means for manoeuvring and/or propelling it. Hereafter, by motor craft we mean any craft provided with any propulsion and/or manoeuvring means, like, for example, and not for limiting purposes: water jet motor means, stern drives, surface drives, straight shaft drives.

Although from now on for the sake of simplicity in the present description we shall refer almost exclusively to a control system 1 and a manual control device 10 for crafts, one should bear in mind that a manual control device 10 and a control system 1 in accordance with the present invention can also be used to control the movement of means or objects equipped with wheels in which it is possible to define at least two distinct steering axes, as occurs for example in moving trolleys, or to control the movement of virtual objects. Nor should this rule out the application of the system and of the control device to a real flying object.

In a particularly preferred embodiment, as schematically represented in the example of figure 1 by the arrows 15, 16, 17, 18, in the control system 1 a bidirectional operative connection is provided between the object to be moved 14 and the manual control device 10, so as to be able to supply the pilot, through such a device, with touch-sensitive feedback suitable for communicating to the pilot information useful for intuitive control of the movement of the object 14. For example, such touch-sensitive effects can consist of vibrations having a different intensity and lasting different lengths of time according to the specific information to be transmitted to the pilot . Figure 2 shows a particularly preferred embodiment of the control system 1 in which such a system is applied to a craft 14 provided with a system, or unit, for controlling manoeuvres 13 adapted to be operatively connected to the control system 1 through an interface 12 provided in the control system 1 and preferably, but not limitingly, of the wireless type. The craft 14 is preferably provided with a left propeller, corresponding in the figures to the functional block 19, and with a right propeller, corresponding in the figures to the functional block 20. The right and left propellers 19, 20 are preferably arranged substantially at the stern of the craft 14. In the example of figure 2, the craft 14 also comprises a bow manoeuvring motor, indicated in the figures through the functional block 21. The control system 1 of figure 2 allows a pilot to control the movement of the craft 14, in which such control occurs by manually actuating the manual control device 10 so that the craft 14 follows selected paths, or so that it maintains a certain trim or a certain position.

In a particularly preferred embodiment, the system for controlling manoeuvring 13 of the craft 14 is made in accordance with the teachings of international patent application WO 06/040785, for which reason the system for controlling manoeuvring 13 is such as to act upon the propellers and motors 19, 20, 21 so as to compensate effects of possible disturbances, like for example wind, currents and other external disturbances acting upon the motion of the craft 14. Figure 3a shows a schematic view from above of a manual control device 10 in accordance with a currently preferred embodiment of the present invention, to control the movement of a craft equipped with propulsion and/or manoeuvring means. Figures 3b and 3c are schematic side views of the manual control device 10 of figure 3a, respectively from the side of the arrow

IV and from the side of the arrow VI. The manual control device 10 can without distinction be fixed to the craft, or be a mobile remote control device that can be actuated by a pilot who may or may not be on-board the craft. The manual control device 10 can also be removably associated with a suitable seat in a fixed control station provided on the craft, from which it can be removed so as to be able to be used remotely from such a fixed control station.

The manual control device 10 can without distinction be of the wired type or of the wireless type (i.e. equipped with a radio connection to a control station of the craft) .

As shown in figures 3a-3c, the manual control device 10 comprises a support base 31 and a manual interface 30 adapted to be moved with respect to the support base 31 to allow a pilot to control the movement of the craft. In a particularly preferred embodiment, the manual interface 30 has the stylised shape resembling the shape of the object the movement of which one wishes to control. In the example represented in the figures it can be seen how the manual interface 30 has the stylised shape of a craft. Preferably, the manual interface 30 has an ergonomic shape. In the example represented, the manual interface 30 has a raised central portion 33 intended to act as support area for the palm of one of the pilot's hands and a depressed peripheral portion 34 intended to act as a support for the fingers of such a hand. Preferably, the raised central portion 33 and the depressed peripheral portion 34 are joined together by a rounded and concave region 35, so that the profile of the interface 30 is essentially cap-shaped (clearly visible in figures 3b and 3c) .

The manual control device 10 also comprises coupling means 32, only schematically represented in figures 3a-3c and that will be described in greater detail hereafter, adapted for constraining the manual interface 30 to the support base 31 so as to define a first preferential axis of rotation Z of the manual interface 30 with respect to the support base 31, the manual interface 30 being rotatable around said first preferential axis Z to control the movement of the craft so that it rotates around a first instantaneous axis of rotation. Preferably, such an instantaneous axis of rotation is a vertical axis substantially arranged at the barycentre of the craft.

Advantageously, the coupling means 32 are also adapted for constraining the manual interface 30 to the support base 31 so as to define at least a second preferential axis of rotation Zf of the manual interface 30 with respect to the support base 31, the manual interface 30 being rotatable around said second preferential axis of rotation Zf to control the movement of the craft so that it rotates around a second instantaneous axis of rotation. Preferably, the second instantaneous axis of rotation is a vertical axis that with respect to the barycentre of the craft is displaced towards the bow or stern of the craft. In the described example, such an axis is a vertical axis displaced towards the bow of the craft.

Preferably, the first and the second preferential axis of rotation Z, Zf are two axes substantially parallel to one another and more preferably two substantially vertical axes.

For the purposes of the present description by preferential axis of rotation we mean an axis around which the interface 30 can be manually rotated with respect to the support base 31 by an operator more easily than other possible axes of rotation that can be defined in a relative rotation movement between the interface 30 and the support base 31. In practice, a preferential rotation axis is an axis that a pilot is able to quickly or easily identify and/or an axis about which the manual interface 30 can be rotated with less physical effort than another possible rotation axis of the manual interface 30. It should be remembered that although in an ideal situation it is possible to talk of "a preferential axis" as an axis that can be precisely defined and identified, in a real situation it is likely that, for example due to mechanical clearances, the preferential rotation axis about which it is possible to easily rotate the interface 30 is in reality a bundle of axes spatially arranged around an ideal preferential axis. In a particularly advantageous embodiment, the acquisition and processing unit 11 is such as to evaluate the position and/or configuration of the manual interface 30 with respect to the support base 31 to establish, based upon predetermined geometric criteria, whether or not the pilot in any case intended to rotate the interface 30 about the ideal preferential rotation axis even if the actual rotation of the control interface 30 occurred, for example due to mechanical clearances, about an axis different to the ideal preferential rotation axis. In this way, the acquisition and processing unit 11 can still provide signals in output suitable for controlling the manoeuvring control unit 13 of the craft 14 so that it performs a rotation movement about the instantaneous axis of rotation associated with the ideal preferential axis of rotation.

In a particularly advantageous embodiment, the coupling means 32 are also such as to constrain the manual interface 30 to the support base 31 so as to define a first preferential axis of translation Y of the manual interface 30 with respect to the support base 31 and preferably so as to also define a second preferential axis of translation X of the manual interface 30 with respect to the support base 31, the two translation axes Y,

X being perpendicular to one another, to control the craft 14 so that it is subjected to corresponding linear translation movements, respectively along a first and a second direction of translation perpendicular to one another. Preferably, such directions of translation are substantially perpendicular to the first and to the second instantaneous axis of rotation.

In the particular example represented, a translation along the preferential axis Y of the manual interface 30 with respect to the support base 31 is preferably such as to control a translation movement of the craft 14 along a direction of translation substantially coinciding with the longitudinal axis of the craft. Advantageously, the direction of translation of the interface 30 with respect to the base 31 along the preferential axis of translation Y can correspondingly influence the direction of travel of the craft. Moreover, in the particular example represented, a translation along the preferential axis X of the manual interface 30 with respect to the support base 31 is preferably such as to control a translation movement of the craft 14 along a direction of translation substantially perpendicular to the longitudinal axis of the craft 14, in this way determining a sideways displacement of the craft with a movement in which the craft moves generally parallel to itself, towards port or towards starboard based upon the direction of translation of the interface 30 along the preferential axis of translation X. Advantageously, the coupling means 32 are also such as to allow the manual interface 30 to be constrained to the support base 31 so as to be able to translate said interface 30 along diagonal directions, i.e. having an above-zero translation component along the preferential axis of translation Y and an above-zero translation component along the preferential axis of translation X, to control translation movements of the craft along a corresponding diagonal direction of translation.

With regard to the interpretation of the term "preferential", that which has already been stated above with reference to the preferential axes of rotation also substantially applies for the preferential axes of translation Y, X.

Advantageously, it is possible to provide coupling means 32, or a suitable force feedback system cooperating with such coupling means 32, such that in the attempt to undertake a translation of the manual interface 30 along such diagonal directions the pilot perceives a stronger tactile sensation than movements of the manual interface 30 along the preferential axes of translation Y and X, to communicate to the pilot by touch that he has gone away from one of the two preferential axes of translation Y, X. It is also possible to provide that, once the pilot has forced the manual interface 30 outside of one of the two preferential axes of translation Y, X, the stronger tactile sensation is cancelled and all diagonal translations are equally favoured. In a particularly preferred embodiment, the coupling means 32 are also such as to constrain the manual interface 30 to the support base 31 so as to define at least a third preferential axis of rotation Za of the manual interface 30 with respect to the support base 31, the manual interface 30 being rotatable around said third preferential axis of rotation Za to control the movement of the craft so that it rotates about a third instantaneous axis of rotation.

Preferably, the third preferential axis of rotation is a vertical axis parallel to the other two preferential axes of rotation. Preferably, the third instantaneous axis of rotation is substantially parallel to the first and to the second instantaneous axis of rotation and more preferably it is a vertical axis. In a particularly preferred embodiment, the three instantaneous axes of rotation described above are essentially aligned along the direction of prevalent longitudinal extension of the craft.

In figure 3a the manual interface 30 has been represented arranged with respect to the support base 31 in a neutral operative configuration, or neutral position. In a particularly preferred embodiment, the coupling means 32 are such that in order to take the manual interface 30 from the neutral operating position to any other operating position the pilot has to exert a greater force than any other force required to take the manual interface 30 between any two other possible operative configurations, so as to indicate to the pilot by tactile sensation that he is passing through the neutral position or that he is leaving such a position.

If so required, the coupling means 32 can be such as to make the manual interface 30 self-centring, in practice ensuring that it returns to the neutral position when not subjected to forces applied manually by the pilot.

Alternatively, the coupling means 32 can be such as to hold the manual interface 30 in any operative control position in which it is left by the pilot (non-self-centring mode) . To allow such a non-self-centring mode to be implemented it is sufficient for such coupling means to comprise (or be associated with) :

- a mechanical clutch system that can possibly be activated upon command through a suitable actuator; or - a magnetically activated mechanical clutch system; or coupling means comprising shape memory materials. In a further embodiment, it is possible to provide switching means that allow an operator to manually and selectively set the self-centring mode or the non-self-centring mode. It is possible to foresee that such setting takes place automatically based upon the mode of navigation of the craft.

In figures 4, 5 and 6 the manual interface 30 is schematically shown in respective operating configurations or positions that it can, for example, take up with respect to the support base 31 (not represented for the sake of simplicity in such figures) and that are distinct from the neutral operating configuration (figure 3a) .

In particular, in figure 4, it can be seen that following the application of a thrusting force along the direction and facing the way indicated by the arrow Fl and applied near to a rear end portion of the manual interface 30, it takes up an operative configuration in which such an interface 30 has undergone a rotation around the first preferential axis of rotation Zf with respect to the neutral operating configuration, indicated by the broken line marked with the reference numeral 40.

Again with reference to figure 4, following such moving of the manual interface 30 the control system 1 (figure 2) is such as to send controls suitable for moving the craft 14 through the manoeuvring control unit 13 (figure 2) to the means for manoeuvring and/or propelling the craft 14 so that it rotates around an instantaneous axis of rotation Zf i, or advanced instantaneous axis of rotation, which with respect to the barycentre of the craft 14 is biased, or displaced, towards the bow of the craft 14. In figure 5 it can be seen how following the application of a thrusting force along the direction and facing the way indicated by the arrow F2 and applied near to a front end portion of the manual interface 30, it takes up an operating configuration in which such an interface 30 has undergone a rotation around the third preferential axis of rotation Za with respect to the neutral operative configuration, indicated by the broken line marked with the reference numeral 40.

Again with reference to figure 5, following such moving of the manual interface 30 the control system 1 (figure 2) is such as to send controls suitable for moving the craft 14 through the manoeuvring unit 13 to the means for manoeuvring and/or propelling the craft 14 so that it rotates around an instantaneous axis of rotation Za i, or drawn back instantaneous axis of rotation, which with respect to the barycentre of the craft 14 is biased, or displaced, towards the stern of the craft 14.

In figure 6, on the other hand, it can be seen that following the simultaneous application of: a thrusting force along the direction and facing the way indicated by the arrow Fl and applied near to a rear end portion of the manual interface 30, and a thrusting force along the direction and facing the way indicated by the arrow F2 and applied near to a front end portion of the manual interface 30; the manual interface 30 takes up an operating configuration in which such an interface 30 has undergone a rotation around the preferential axis of rotation Z with respect to the neutral operating configuration (indicated by the broken line marked with the reference numeral 40) .

Again with reference to figure 6, following such moving of the manual interface 30 the control system 1 (figure 2) is such as to send control signals suitable for moving the craft 14 through the manoeuvring control unit 13 to the means for manoeuvring and/or propelling the craft 14 so that it rotates around an instantaneous axis of rotation Z i, or central instantaneous axis of rotation, substantially arranged at the barycentre of the craft 14. It is advantageously possible to foresee that in the case in which the pair of forces Fl, F2 applied to the interface 30 has a certain degree of unbalancing, the control system 10 ignores such unbalancing and controls the craft 14 so that it in any case performs a rotation about the axis Z i.

It should be observed that as well as performing the preferential rotations described with reference to figures 4, 5, 6 the manual interface 30 can take up different control configurations, like for example the one represented in figure 7, to perform so-called combo movements.

The control device 10 must detect the movements of the manual interface 30, for example through a reference system like the one represented in figure 7, in which:

- Xf represents the displacement of the preferential axis of rotation Zf in the direction X;

- Xa represents the displacement of the preferential axis of rotation Za in the direction X;

Yf represents the displacement of the preferential axis of rotation Zf in the direction Y; - Ya represents the displacement of the preferential axis of rotation Za in the direction Y.

It should be observed that the displacement of the preferential axis of rotation Z in the direction X and in the direction Y, given by the coordinates Xz and Yz can, on the other hand, be obtained indirectly once the aforementioned displacements have been detected for the preferential axes of rotation Zf and Za.

The displacements of the manual interface 30 with respect to the support base 31 can be detected in the control device 10 according to different ways and based upon different physical effects and/or upon different detection technologies. For example, and without for this reason introducing any limitation, to detect such displacements it is possible to use:

- one or more joystick-type devices; - electrical resistance variation measurements;

- capacity variation measurements;

- magnetic field variation measurements for example exploiting the Hall effect;

- magnetic coupling variation measurements, for example carried out through an LVDT (acronym of Linear Variable

Differential Transformer) ;

- an optical surface absolute recognition system;

- a relative displacement optical recognition system (for example an optical mouse) . With reference to figure 2, once the displacements of the preferential axes of rotation have been detected through the control device 10, the control device 10 is such as to transmit, through a suitable signal, the detected displacements to the acquisition and processing unit 11. The latter is such as to process the information received to produce, from the variables detected from the control device 10, a set of information to send through the interface 12 to the manoeuvring control unit 13 to control corresponding movements of the craft 14 through the manoeuvring and/or propulsion means. In a currently preferred embodiment the acquisition and processing unit 11 is such as to produce in output, from the information acquired from the control device 10, the following set of information:

- FZF - Preferential axis of rotation Zf;

- FZ - Preferential axis of rotation Z; - FZA - Preferential axis of rotation Za;

- DS - Direction of displacement;

- MS - Displacement Modulus;

- RT - Rotation.

FZF, FZ and FZA are the binary digital variables with which it is possible to associate, for example, the following encoding: 1 - Axis in rest position; 0 - Axis outside of the rest position.

For example, there will be FZF=O and FZ= I and FZA=O if the manual interface 30, with respect to the rest position, has been rotated about the preferential axis of rotation Z.

For example, to check whether a generic preferential axis

"i" is or is not in the rest position it will be sufficient for the acquisition and processing unit 11 to check whether the following condition has or has not been satisfied: in which the parameters Mi are system parameters. It should

(_¥..'-^<- Y' <M. be observed that advantageously, by suitably sizing the value of the parameters Mi, it will be possible for the control system 1 to detect a rotation of the manual interface 30 about a preferential axis of rotation even when, due to mechanical clearances or an inaccuracy in the manipulation by the pilot, the manual interface 30 is rotated about an axis not exactly coinciding with such a preferential axis of rotation. To determine the magnitudes DS, MS and RT from the information acquired from the control device 10 one can proceed as explained below.

The transformation matrix of the system of coordinates ' :-^li- in the system \^;s> *& ' is defined as . The versor ^s:κ is given by:

Z D

Y — . f — n — y

The versor ^*'/F is given by the conditions of perpendicularity and of normalisation:

from which it derives that:

Setting:

We get:

It is thus possible to determine:

Z_r =TR - Z_r And therefore:

MS =Σ,D- Z, -2_* ■^■ -¹ .' -^f,'R

From whence the magnitudes :

M5 = IMS..' - MS_V ^~

Hereafter some examples of possible embodiments of a control device 10 in accordance with the present invention shall be schematically described.

Figure 9 represents a first so-called "single joystick" embodiment, since such an embodiment can be implemented through a joystick, for example of the commercial type. In such an embodiment, the control device 10 comprises a support base 31 and a manual interface 30 of the type already described earlier. The support base 31 comprises a joystick 40 comprising a joystick body 41, adapted to be fixed to the support base 31, and a joystick lever 42 essentially shaped like a shaft. The joystick 40 is such as to detect displacements of the lever 42 with respect to the axes X and Y.

The control device 10 comprises mechanical coupling means to constrain the manual interface 30 to the support base 31. Preferably, such means include means suitable for constraining the lever 42 of the joystick 40 to the manual interface 30. In the example represented in figure 9, such means comprise, not limitingly, a ball joint 43 connected to a free end portion of the lever 42 so that the manual interface 30 can be moved parallel to the support base 31 and/or inclined with respect to it. In a particularly preferred embodiment the mechanical coupling means between the manual interface 30 and the base 31 also comprise suspension means suitable for keeping the manual interface 30 distanced and parallel to the support base 31. In the example represented, the suspension means comprise a system of runners 44, 45, each runner comprising a slider 45 slidably received in a suitable seat provided in the manual interface 30 and kept in position in contrast to the action of elastic means 44, like for example a coil spring. As can be seen in the upper part of figure 9, in the example described the system of runners comprises four runners 44,45 substantially arranged at the vertices of a quadrilateral.

Again with reference to figure 9 it should be observed that the axis of prevalent longitudinal extension of the lever 42 of the joystick 40 defines a first preferential axis of rotation Z of the interface 30 with respect to the base 31. A rotation of the interface about such a preferential axis Z can for example produce a rotation of the craft 14 about a first instantaneous axis of rotation, for example a vertical axis substantially passing through the barycentre of the craft or in the vicinity of it.

In the example represented in figure 9, the coupling means between interface 30 and base 31 advantageously comprise first locking means 46, 47 selectively able to be manually activated to pin, when activated, the manual interface 30 to the support base 31 substantially at a second preferential axis of rotation Zf. In a preferred embodiment, such locking means 46, 47 comprise a recess 46 and a pin 47 arranged facing one another and respectively provided on the interface 30 and on the base 31, or vice-versa.

Preferably, the coupling means between interface 30 and base 31 further comprise second locking means 48, 49 selectively able to be manually activated to pin, when activated, the manual interface 30 to the support base 31 substantially at a third preferential axis of rotation Za. In a preferred embodiment, such locking means 48, 49 comprise a recess 48 and a pin 49 arranged facing one another and respectively provided on the interface 30 and on the base 31, or vice-versa.

With reference to figure 10, it should be observed that a pressure (arrow VII) applied manually to the manual interface 30 and at an area thereof that is advanced with respect to the preferential axis of rotation Z, is such as to activate the locking means 46, 47 so that the pin 47 engages in the corresponding recess 46. In this way it is possible to constrain the manual interface 30 to the support base 31 so as to rotatably couple the interface 30 with the base 31 at the advanced preferential axis of rotation Zf. It is also clear how by starting from the neutral configuration represented in figure 9, by applying a pressure in an area of the manual interface 30 behind the central rotation axis Z, it is possible to similarly activate the locking means 48, 49 to rotatably couple the interface 30 with the base 31 at the drawn back preferential axis of rotation Za.

It is also clear how in the neutral position represented in figure 9 thanks to the presence of the lever 42 and of the ball joint 43 the manual interface 30 is rotatably coupled with the support base 31 at the central rotation axis Z.

Based upon what has been described above it can be seen that, thanks to the presence of the following coupling means between the manual interface and the base:

- ball joint 43 and lever 42 of the joystick 40;

- locking means 46, 47, 48, 49; the advanced, central and drawn back rotation axes Zf, Z, Za constitute three preferential axes of rotation. Again with reference to the embodiment represented in figures 9 and 10, it should also be observed that, due to the presence of the restriction imposed by the lever of the joystick, in the case of rotation around the preferential axes Za and Zf, the coupling means between the manual interface 30 and the base 31 allow relative rotations between these second arcs having limited magnitude.

In a preferred embodiment, the joystick 40 can be equipped with an elastic return system capable of taking the interface 30 back into the neutral position through the lever 42 (self- centring manual interface 30) . More preferably, such an elastic system can be made so as to define the axes X and Y as two preferential axes of translation.

In a further embodiment, the joystick 40 can optionally be equipped with a clutch system, optionally able to be activated upon command, so as to ensure that the manual interface 30 stops in the point of release (non-self-centring manual interface 30) .

Figure 11 represents a second so-called "double joystick embodiment, since such an embodiment can be implemented through a pair of joysticks, for example of the commercial type. In such an embodiment, the control device 10 comprises a support base 31 and a manual interface 30 similar to those already described earlier .

The support base 31 comprises two joysticks 40, for example of the type already described with reference to figures 9 and 10. Preferably, each of the two joysticks 40 is equipped with an acquisition system of the displacements along the axes X and Y. In the example, the manual interface 30 is coupled with each of the two joysticks through respective ball joints 43.

In an advantageous embodiment, the joysticks 40 can be equipped with an elastic return system capable of taking the respective lever 42 back into the neutral position. Such an elastic system can also be made so as to define the two directions X and Y as preferential directions of translation.

In the device represented in figure 11 a suspension system with runners of the type already described with reference to figures 9 and 10 is also provided.

All that which has already been described with reference to figures 9 and 10 should also be considered valid with reference to the embodiment of figure 11, except for the fact that it does not include the selectively activatable locking means 46, 47, 48, 49.

It should be observed that in the neutral position represented in figure 11 thanks to the presence of the two levers 42 and of the ball joints 43 the manual interface 30 is rotatably coupled with the support base 31 at a first and a second preferential axis of rotation Zf, Za. It should also be observed that in the embodiment shown in figure 11 the coupling means between the manual interface 30 and the base 31 allow relative rotations of the first with respect to the second about the preferential axes Za and Zf according to arcs having limited size.

By adding elastic mechanical coupling means to the embodiment of figure 11 it is also possible to define a third preferential axis of rotation. The use of elastic coupling means to constrain the manual interface 30 to the base 31 shall be described in greater detail hereafter with reference to the examples of figures 12, 13 and 15.

Figure 12 schematically shows a further embodiment of the present invention. In such an embodiment the coupling means between the manual interface 30 and the base 31 comprise elastic coupling means 50, 51 suitable for constraining the manual interface 30 to the base 31 so as to define a pair of preferential axes of rotation Zf and Za. Preferably, such elastic coupling means 50, 51 also act as support means for the manual interface 30, in practice also performing the function of suspension means. In particular, in the example described the elastic coupling means 50, 51 comprise coil springs 50, 51, having one end portion fixed to the manual interface 30 and an opposite end portion fixed to the support base 31. On the side of the interface 30 facing towards the base 31 recesses 52 open out, each of which is suitable for housing a portion of a respective coil spring 50, 51. Preferably, such recesses 52 are generally cone-shaped, or they are frsto-conical shaped. As an alternative to the coil springs 50, 51 it is possible to provide any type of elastic element for example, but not limitingly, tubular or cylindrical in shape. For example, the springs 50, 51 can be replaced with respective elastic elements made from rubber having one end portion fixed to the manual interface 30 and an opposite end portion fixed to the support base 31.

In the particular example represented in figure 12, three coil springs 50, 51 are provided arranged at the vertices of a triangle. This arrangement allows it to be ensured that the interface 30 is parallel to the support base 31, and therefore to a reference plane Pr. This arrangement is also such that the front coil spring 50 defines the advanced preferential axis of rotation Zf. The resultant of the elastic forces of the two rear springs 51 is such as to define the drawn back preferential axis Za of rotation.

It should be observed that the rotation movements, or more generally the roto-translation movements of the interface 30 with respect to the reference plane Pr, determine a torsion of the springs 50, 51. The acquisition of the movements of the interface 30 can take place using sensors 53 of the type already described in the part of this description relating to the acquisition of the displacements in the control device 10. The sensors 53 can without distinction be provided on the support base 31 or on the manual interface 30, or be of the distributed type, i.e. associated in part with the manual interface 30 and in part with the base 31. The sensors 53 are for example optical sensors, preferably infrared sensors. By adding further elastic coupling elements it is possible to define preferential directions of translation of the interface 30. The same result can be obtained by pre-loading the elastic coupling elements. Regarding this see, for example, the embodiment represented in figure 13, in which the two rear coil springs 51, in the rest position of the manual interface 30, are pre-loaded with torsion to define the longitudinal axis Y as a preferential direction of translation.

By adding further elastic elements and possibly suitably designing the distribution of the elastic constants of such elements it is also possible to create areas of movement with different constraint reaction so that the pilot perceives by touch which area is in use. Advantageously, it is possible to associate different operating modes of the control device 10 with the different areas. For example, with reference to figure 14, it is possible to distribute the elastic loads so that, for example, to obtain a certain displacement of the manual interface 30 along the axis of translation Y the pilot is required to apply a force Fy that varies in relation to the displacement according to a law of the type represented in the graph of figure 14. In particular, in such a graph two areas can be identified, regulated by respective laws and arranged to the left and to the right of the line IX respectively, each of which can optionally be associated with a different operative mode of the control device 10.

Figure 15 shows a variant embodiment of the control device 10 represented in figure 12. Such a variant embodiment differs from the one already described with reference to figure 12 exclusively for the fact that a further elastic mechanical coupling element 54 is provided. Such a further elastic element allows a third preferential axis of rotation to be defined, in practice the central preferential axis Z.

Also in the embodiments described above with reference to figures 12, 13, 14 it is possible to provide in the control system 1 a clutch system, optionally able to be activated upon command, to allow the manual interface 30 to be locked in the point in which the latter is released.

In figures 16 and 17 a further embodiment of a control device 10 in accordance with the present invention is shown. Such an embodiment foresees that the displacement of the manual interface 30 with respect to the support base 31 takes place indirectly, i.e. through an active moving system, i.e. motorised, in the example with three degrees of freedom. Such an active moving system is controlled by a processing and control system, based upon measurements representing forces applied by the pilot to the manual interface 30. The control device 10 represented in figures 16 and 17 is preferably made by integrating the following four distinct systems : an active moving system with three degrees of freedom; - a measurement system of the forces applied by the pilot to the manual interface 30; a measurement system of the position of the manual interface 30;

- a processing and control system.

In the particular example represented, the control device 10 comprises a manual interface 30 and a support base 31. The control device 10 also comprises coupling means between the interface 30 and the support base 31.

The coupling means comprise a first guide 60 fixed to the support base 31 and defining a first preferential axis of translation Y, or longitudinal axis Y.

The guide 60 has two sliding carriages 63, only one of which is visible in the figures. Preferably, just one of such sliding carriages, for example the sliding carriage 63 visible in figure 17, is such as to be able to be moved along the guide 60 in a motorised way, the other of such sliding carriages (i.e. the one not visible in the figures) being able to freely slide along the guide 60. The sliding carriage 63 can be moved along the guide 60 through motor means without distinction of the reversible type or of the irreversible type. The coupling means further comprise two further guides 61, 62, each of which is fixedly coupled with a respective sliding carriage 63 of the guide 60. The two further guides 61 and 62 are parallel to one another and arranged perpendicular to the guide 60. In the example represented, such guides 61, 62 extend along respective axes Xa and Xf parallel to one another and parallel to a second preferential axis of translation, or axis of translation X.

Based upon what has been stated above, it can be worked out that the guide 61 is able to slide on the guide 60 through the motorised sliding carriage 63 (figure 17) and the other guide 62 is able to slide on the guide 60 through the other sliding carriage, i.e. the one that is not motorised.

In figure 16, the magnitude D fa represents the distance between the guides 61 and 62. Such a distance is variable according to the orientation of the manual interface 30 with respect to the reference plane Pr. In practice, the two guides 61 and 62, based upon the orientation of the manual interface 30 with respect to the reference plane Pr, can come together or move apart. As can be seen, in the neutral configuration represented in figure 16 such a distance D fa takes on the maximum value.

Each of the two guides 61 and 62 is equipped with a respective sliding carriage. Both of such sliding carriages are motorised. The motorisation can without distinction be of the reversible type or of the irreversible type. Only one of such sliding carriages, i.e. the sliding carriage 64, sliding on the guide 61, is visible in the figures (figure 17) .

The manual interface 30 is rotatably connected to each of the two sliding carriages respectively arranged along the guide 61 and along the guide 62. In the example represented in figures 16 and 17, the manual interface 30 is hinged to each of such sliding carriages at the axes indicated in the figures with Zf and Za.

The control device 10 in the example represented comprises a force measurement system for measuring the forces applied by the pilot to the manual interface 30. The force measurement system preferably comprises three sensors schematically represented with Sl, S2, S3 respectively provided for measuring: a component of the force applied along the axis Xf, a component of the force applied along the axis Xa and a component of the force applied along the longitudinal axis Y. The control device 10 also comprises a processing and control system, not represented in the figures, suitable for receiving the magnitudes supplied in output by the force sensors Sl, S2, S3 to supply in output control signals for the motors associated with the two motorised sliding carriages respectively sliding along the guides 61, 62 and for the motor associated with the sliding carriage 63.

In a particularly preferred embodiment, the processing and control system is such as to control the moving of the manual interface 30, through the aforementioned motors, based upon the forces applied by the pilot to the manual interface 30 and therefore determining a movement, through such motorised sliding carriages, of the manual interface 30 so as to impart upon the manual interface 30 the translations and the rotations with respect to the reference plane Pr set by the pilot.

In a particularly preferred embodiment, a so-called self- centring way of operating is provided, optionally able to be activated and deactivated on command, based upon which the processing and control system is adapted to take the manual interface 30 back into the neutral position represented in figure 16 in the case in which the pilot releases the manual interface 30.

If such a self-centring way of operating is not provided or is deactivated, in the case of release of the manual interface 30 by the pilot, the processing and control system is such as to leave the manual interface 30 in the position taken up before being released.

The control device 10 further includes a system for measuring the position of the manual interface 10 with respect to the reference plane and for example with respect to the neutral position. Such system for measuring includes, for example, linear encoders associated with the guides 60, 61, 62. The position measurements acquired by such a system are, for example :

- used by the acquisition and processing system 11 (figure 2) of the control system 1 for the synthesis of control signals to be sent, through the interface 12, to the manoeuvring control unit 13 of the craft 14; and

- used by the processing and control system that controls the moving of the manual interface 30 with respect to the reference plane Pr.

It should be observed that the two systems indicated above at the logic level are two distinct systems, but they could be integrated in a single processing system.

It should be observed that in the embodiment represented in figures 16 and 17, it is possible to programme the processing and control means so that the mechanical coupling means between the manual interface 30 and the base 31 allow a first and second preferential axis of rotation Zf, Za, two preferential axes of translation Y, X and possibly also a third preferential axis Z of rotation to be defined. For example, with reference to figure 16, the processing and control system of the movement of the manual interface 30, comparing the force measurements supplied by the sensors Sl and S2 can control the motorisations of the motorised sliding carriages so as to allow the preferential axes of rotation to be defined. To make a practical example, such a processing and control system can make the manual interface 30 move around the preferential axis Zf of rotation, if the force detected by the sensor Sl is relatively small (for example below a predetermined threshold or zero) and if the force detected by the sensor S2 is relatively large (above a predetermined threshold) . In practice, the processing and control system "feels" that the pilot is applying a force only on the rear part of the manual interface 30, because essentially he intends to rotate the interface around the advanced preferential axis Zf, for example with the intention of controlling a rotation of the craft around an instantaneous axis of rotation shifted towards the bow of the craft.

Conversely, the processing and control system can make the manual interface 30 move about the axis Za, if the force detected by the sensor S2 is relatively small (for example below a predetermined threshold or zero) and if the force detected by the sensor Sl is relatively large (above a predetermined threshold) . In practice, the processing and control system in this case "feels" that the pilot is applying a force only on the front part of the manual interface 30, because essentially he intends to rotate the interface around the drawn back preferential axis Za, for example with the intention of controlling a rotation of the craft around an instantaneous axis of rotation shifted towards the stern of the craft.

Moreover, the processing and control system can make the manual interface 30 move about the axis Z, if the forces detected by the sensor Sl and S2 are relatively large (for example above a predetermined threshold) , if such forces have a substantially similar value and if they are in opposite directions (the situation is the one already described with reference to figure 6) . In practice, the processing and control system in this case "feels" that the pilot is applying a pair of substantially balanced forces on the manual interface 30, because essentially he intends to rotate the interface around the central preferential axis Z of rotation, for example with the intention of controlling a rotation of the craft around an instantaneous axis of rotation passing substantially through the barycentre of the craft.

As is clear from the different example described above, it can be seen that the coupling means between the manual interface 30 and the support base can comprise both coupling means of the exclusively mechanical type (described for example with reference to the embodiments of figures 9 to 15) , and coupling means of the electromechanical type (described in the example of figures 16 and 17) . It should be observed that, in particular, in the embodiment of figure 16 and 17, it is the particular interaction of the mechanical coupling means (guides and sliding carriages), of the electromechanical means (motorisations) and of the relative control and processing system based upon the measurement of forces applied to the manual interface 30 that allows the preferential axes of rotation to be defined.

It should also be observed that in the particular embodiment of figures 16 and 17 it is relatively simple to implement touch- sensitive feedback effects. For example, it is possible to define the processing and control system of the motorisations of the sliding carriages so that every time the pilot tries to make the interface 30 rotate 10 according to different rotation axes from the preferential ones, or to make it slide along different axes to the longitudinal one Y and to the transversal one X, the processing and control system requires the pilot to apply greater force to perform such movements, so as to communicate a sensation of greater effort and therefore of departure from the preferential axes of rotation or directions. It is also possible to design the processing and control system of the motorisations of the sliding carriages so that every time the movement by the pilot of the interface 30 is such as to produce controls that, based upon a current way of navigation or based upon external factors (currents, winds, etc.), correspond to risky or unpermitted manoeuvres, the processing and control system, through the interface 30, produces a corresponding touch- sensitive effect that communicates to the pilot that it is impossible to perform the manoeuvre or the fact that such a manoeuvre is risky.

As is clear from what has been described above in relation to different embodiments, given as examples and not for limiting purposes, a control device in accordance with the present invention allows the preset objectives to be fully achieved, allowing the pilot to control an object in an easier and more intuitive way.

It should be observed that in the particular case of piloting crafts, a control device 10 of the type described above in its various embodiments lends itself excellently, by suitably designing the acquisition and processing system 11 (figure 2) and the system for controlling manoeuvring 13, to the implementation of different modes of piloting a craft 14, to be selectively activated based upon the condition of use. The selective actuation of such modes can take place automatically or based upon a selection made directly by the pilot.

In particular, it is possible to ensure that the movements of the manual interface 30 with respect to the reference plane Pr allow different controls and functions to be obtained based upon the particular piloting mode activated.

Although in the present description reference has mainly been made to a control device for piloting crafts, it should be observed that a control device in accordance with the present invention can have other different applications not limited to the field of crafts. With reference to figures 19 and 20, as an example, the use of a control device of the type described above to control the movement of a moving trolley 70, or more generally any vehicle or means having a front pair of steering wheels 71 and back pair of steering wheels 72, is shown.

In figure 19 it can be seen how by bringing forward the manual interface 30 and rotating it at an advanced axis of rotation it is possible to vary intuitively control a corresponding forward movement of the trolley 70 together with a rotation around a steering axis shifted towards the front part of the trolley 70.

In figure 20 it can be seen how by bringing forward the manual interface 30 and rotating it at a drawn back axis of rotation it is possible to very intuitively control a corresponding forward movement of the trolley 70 together with a rotation around a steering axis shifted towards the rear part of the trolley 70.

It should be observed that the control of the movement of the trolley 70 is particularly intuitive since an operator acts upon the manual interface 30 as if he were directly moving the trolley 60 with his hands to make it directly carry out the desired movement.

Without affecting the principle of the invention, the embodiments and the embodiment details can be widely varied with respect to what has been described and illustrated purely as non-limiting examples, without for this reason departing from the scope of the invention as defined in the attached claims.

Claims

1. Manual control device (10) for controlling the movement of a real or virtual object (14), the control device (10) comprising : - a support base (31);

- a manual interface (30) adapted to be moved with respect to the support base (31) to control the movement of said object (14); and coupling means (32) adapted for constraining the manual interface (30) to the support base (31), said coupling means being adapted to constrain the manual interface (30) to the base so as to define a first preferential axis (Z) of rotation of said interface, the manual interface (30) being rotatable around said first preferential axis (Z) to control the movement of said object (14) so that it rotates around a first instantaneous axis of rotation (Z_i) , characterised in that the coupling means are such as to constrain the interface (30) to the base (31) so as to define at least one second preferential axis (Zf) of rotation of the interface, the interface (30) being rotatable around said second preferential axis (Zf) to control the movement of said object (14) so that it rotates around a second instantaneous axis of rotation (Zf_i) .

2. Manual control device (10) according to claim 1, wherein said first and second preferential axis of rotation (Z, Zf) are two parallel axes.

3. Manual control device (10) according to any one of the previous claims, wherein said coupling means allow said manual interface (30) to be moved so as to translate with respect to said support base (31) along a longitudinal translation axis

(Y) , a transversal translation axis (X) or along an oblique direction having one component along said longitudinal axis (Y) and one component along said transversal axis (X) .

4. Control device according to claim 3, wherein said longitudinal axis (Y) and said transversal axis (X) constitute two preferential axes of translation of said interface (30) with respect to said support base (31) .

5. Manual control device (10) according to any one of the previous claims, wherein the coupling means allow the manual interface (30) to be constrained to the base (31) so as to define a third preferential axis (Za) of rotation of said interface, the interface (30) being rotatable around said third preferential axis (Za) to control the movement of said object

(14) so that it rotates around a third instantaneous axis of rotation (Zf_i) .

6. Manual control device (10) according to claims 3 and 5, wherein said first, second and third preferential axis of rotation (Z, Zf, Za) are aligned along said longitudinal translation axis (Y) .

7. Manual control device (10) according to any one of the previous claims, also comprising at least one first joystick

(40) coupled with said base (30) and comprising a control lever (42), the coupling means comprising means (43) adapted for constraining the manual interface (30) to the control lever (42), and wherein said first preferential axis of rotation (Z) is defined by an axis of prevalent longitudinal extension of said control lever (42) .

8. Manual control device (10) according to claim 7, wherein the coupling means also comprise locking means (46, 47) adapted to be manually activated to hinge the manual interface (30) to the support base (31) so that it is able to rotate around said second preferential axis of rotation.

9. Manual control device (10) according to claims 5 and 8, wherein said coupling means comprise further locking means (48, 49) adapted to be manually activated to hinge the manual interface (30) to the support base (31) so that it is able to rotate around said third preferential axis (Za) of rotation.

10. Manual control device (10) according to claim 7, further comprising a second joystick, coupled with said base and comprising a control lever (42), said coupling means comprising further means (43) for constraining the manual interface (30) to the control lever (42) of the second joystick, and wherein said second preferential axis of rotation is defined by an axis of prevalent longitudinal extension of the control lever of the second joystick.

11. Manual control device (10) according to any one of the previous claims, wherein said coupling means comprise elastic suspension means (44,45) adapted to keep the manual interface (30) distanced from and parallel to said support base (3) .

12. Manual control device (10) according to claim 11, wherein the elastic suspension means comprise a system of runners (44, 45), each runner comprising a slider (45) slidably received in a respective seat provided in the manual interface (30) and kept in position in contrast to the action of elastic means .

13. Manual control device (10) according to any one of the previous claims 1 to 6, wherein the coupling means comprise elastic coupling means (50, 51) having one end portion fixed to the manual interface (30) and an opposite end portion fixed to the support base (31) .

14. Manual control device (10) according to claim 13, wherein said elastic coupling means comprise coil springs (50,

51) .

15. Manual control device (10) according to claims 13 or 14, wherein rotation movements of the manual interface (30) with respect to the support base (31) are such as to determine a torsion of said elastic elements (50, 51) .

16. Manual control device (10) according to any one of the previous claims 1 to 6, wherein the coupling means comprise an active moving system of said manual interface (30) and sensor means suitable for detecting forces applied by an operator to said manual interface (30), said manual control device (10) also comprising a system for processing and controlling said moving system to move said manual interface (30) based upon said detected forces.

17. Manual control device (10) according to claim 16, wherein said moving system comprises: - a first guide (60) having a first and second sliding carriage;

- a second guide (61) fixed to the first sliding carriage;

- a third guide (62) fixed to the second sliding carriage.

18. Manual control device (10) according to claim 17, wherein the second (61) and third guides (62) include a third and fourth sliding carriage and wherein the manual interface (30) is rotatably hinged to said third and to said fourth sliding carriage.

19. Manual control device (10) according to any one of the previous claims, wherein the manual interface (30) has the stylised shape resembling said object (14) .

20. Manual control device (10) according to any one of the previous claims, wherein the control device (10) is a control device for controlling the movement of a craft.

21. Control system for crafts (1) comprising a manual control device (10) according to any one of the previous claims.

22. Craft (14) comprising a manual control device (10) according to claim 20 or a control system (1) according to claim 21.

23. Control system for moving trolleys comprising a manual control device (10) according to any one of the previous claims

1 to 19.

(Fig. 9)