04/13/23 1
Advancing Man-Machine Interfaces Through Embedded Force Measurement Technology
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 2
Man-Machine Interface Requirements
• Electronically controlled interfaces and control-by-wire becoming standard in industrial, agricultural and mining equipment applications.
• Robustness and survivability requirements are driven by need to minimize warranty repairs and equipment down time.
• Reliability requirements present in these environmentally challenging applications are significantly higher then those found in commercial and light industrial applications
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 3
Man-Machine Interface Applications
• Drive by Wire Applications• Control of various equipment appendages• Remote Operations• Computer input for mobile computing and
communications systems• Operation of Automation in explosive environment
operations
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 4
Three District Approaches
• Position Proportional• Force Proportional• Non-proportional
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 5
Position Proportional Approach
Advantages– Easier for untrained people to use
– More intuitive
– Has easily definable end conditions
Disadvantages– Requires extra space for movement of handle
– More complex internal mechanism
– More prone to wear and degradation in conventional joysticks
– Lower precision
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 6
Force Proportional Approach
Advantages– Highly precise
– Smaller Space requirements in system
– Less complexity in input device
– Higher reliability
Disadvantages– Not intuitive for untrained operators
– Over-force potential
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 7
Non-Proportional Approach
Advantages– Low Cost
– No over-force protection required
Disadvantages– Can only control on-off functionality
– Switches are unreliable
– No precision
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 8
Approaches to Man-Machine Interface
Standard Position Proportional Solutions– Potentiometer based joysticks
– Optical joysticks and input devices
– Hall-effect input devices
– Industrial high-rel switches
Force Proportional Solutions– Strain Gages based systems
Non-Proportional– Switches are activated when levers are moved
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 9
Conventional Man-Machine Interface Solutions
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 10
The Bokam Approach
Adapt High Reliability Sensor Technology to Input Devices to create systems that:
• High reliability and extreme live
• Have no moving or rubbing parts that can wear over time
• Provide Both a force proportional and a position proportional configuration in the same basic package size
• Develop an input device product line based on building blocks that can be combined to solve the most obscure application requirements without substantial NRE effort
• Create a cost sensitive product line.
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 11
The Base Technology
Engineering Inc.
Expanding technology limits through innovation
Bokam
� Application and firing of strain sensitive materials directly into the diaphragm or substrate.
� Resulting element contains an imbedded set of strain gauges that do not rely on bond lines or epoxy for adherence to the substrate.
� Elements are deposited onto the substrate in a full whetstone bridge configuration.
� New proprietary processing techniques have been developed to allow for the deposition of strain gauge materials onto stainless steels and pin-corrosion resistive steels while maintaining dielectric isolation between the gauge and the base material.
� Proprietary barrier creation materials and processes are used to limit ion migration and create extreme temp solder joints.
04/13/23 12
The Base Technology
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 13
The Base Technology
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 14
The Base Technology Capabilities
Engineering Inc.
Expanding technology limits through innovation
Bokam
� Un-amplified outputs of full bridge sensor with 10V applied can be as high as 150-200mV (with 100mV as typical output with high safety margin)
� Operating temperatures from cryogenic to 500F
� Output stable over time and temperature
� Technology and processes adaptable to low cost high volume OEM applications
04/13/23 15
The Bokam Approach - Notable Achievements
Engineering Inc.
Expanding technology limits through innovation
Bokam
Aurora product line named EDN Magazine Innovation of 1997 Finalist
DX-300 Series of Sensors named Editors Choice for
outstanding sensor development by Electronic Products Magazine
DX-300 Series named EDN Magazine Innovation of the year for 1998
DX-400 Series named Best of Sensors Show by Editors of Sensors Magazine for 1999
DX-300M Series named in best 100 new products for 1998/1999 by leading European Medical Design Magazine
The Smart Washer™ Named Best of Sensors Expo 2000
Developed an engine embedded, production bearing thrust measurement system
Developed a direct percent aeration, foam measurement and direct pump cavitation
detection system and technology
04/13/23 16
Technology Advantages
Engineering Inc.
Expanding technology limits through innovation
Bokam
Strain measurement circuitry embedded in the steel or ceramic surface. No organic materials High gage factor and sensitivity Increased stability and reliability Increased survivability and life expectancy Process highly automated and repeatable Manufacturing processes lend themselves to high volume production
04/13/23 17
Technology Advantages - Thermal Stability
Engineering Inc.
Expanding technology limits through innovation
Bokam
Room Temp Cal vs Cal at 140F
Pressure (PSI)
Ou
tpu
t (m
V)
Room Temp Cal
High Temp Cal
04/13/23 18
Technology Advantages - Repeatability and Stability
Engineering Inc.
Expanding technology limits through innovation
Bokam
Five Cycles with Version 05 Diaphragm and 0.030" Diaphragm Thickness
0
10
20
30
40
50
60
0 50 100 150 200 250 300 350
Pressure (PSI)
Ou
tpu
t (m
V)
04/13/23 19
Technology Advantages - Signal Integrity
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 20
Mechanical Interface Innovations
Addition of compliant elements to force sensor create a position proportional device without degradation in sensor configuration or performance
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 21
Modular System Approach
Two Axis Force Sensor
Force Proportional
Input Mechanism
Position Proportional
Input Mechanism
Analog Output
Switch Output
Cursor Control Output
(PS2/RS232)
CAN
USB
4-20 ma
Conventional Joystick Package
Submersible or Hermetic
Package
Miniature Package
Other Additional Bokam Input Devices
With Associated Electronics
Two Axis Force Sensor
Three Axis Force Sensor
Other Additional Conventional Input Devices/Switches
System Embedded
Package
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 22
Signal Processing
Engineering Inc.
Expanding technology limits through innovation
Bokam
Force Sensor Signal AmplifierMicroprocessor
Output Converter
* Dead Band* Span* Cruise Control* Dynamic Stability* Switching Functionality
* Analog Output* CAN* USB* PWM* Switching* 4-20 mA
* Number of Axis* Hand/ Finger/ Foot* Mechanical Package* Input Mechanism
04/13/23 23
Signal Processing
Engineering Inc.
Expanding technology limits through innovation
Bokam
Embedded Series electronics can be used both as alone packages and embedded in higher level assemblies
Both standards and custom packaging of various features are available
Various building block feature packages can be combined into multi-purpose signal conditioning boards
Building block configurations and electronics options include: Cursor Control – PS2 or RS232 CAN Bus USB based Human Interface Model Computer Interface with 12bit resolutions USB based Joystick Controller Model Computer Interface with 8 bit resolution Single and Multi-Channel Input Current Solid State Switching Single and Multi-Axis Analog output amplifiers with manual adjustments Single and Multi-Axis Analog output amplifiers with digitally programmable outputs Multi-Axis and Multi-input CAN Bus output signal conditioners/amplifiers Direct Valve control PWM output Signal Conditioners
04/13/23 24
The Position Proportional Gadol Joystick
Engineering Inc.
Expanding technology limits through innovation
Bokam
Fully assembled Joystick
Sensor/Spring/Post
Travel Restriction Plate And Mounting Flange
Signal Conditioning Electronics
Electronics Enclosure
04/13/23 25
The Gadol Joysticks
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 26
The M&I Joysticks
Engineering Inc.
Expanding technology limits through innovation
Bokam
No moving or rubbing parts
Position and Force proportional configurations with the same interface package
Meets/exceeds Automotive EMI/RFI susceptibility requirements
Modular design through hole design allows addition of any industrial grip and grip mounted feature throughput
Increased reliability and substantially longer life capability than potentiometric and optical joysticks
Meets the most stringent environmental requirements
04/13/23 27
Customized Military Controls
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 28
Force Proportional Joystick Module(P/N: GD-09000)
Engineering Inc.
Expanding technology limits through innovation
Bokam
Standard Gadol Mounting Flange
Through hole to feed various grip feature option cables
Customer specified length standard diameter post for grip interface
04/13/23 29
Engineering Inc.
Expanding technology limits through innovation
Bokam
High Precision Ball Style Input Device
Force proportionalBall Style Palm Interface
Square Mounting Flange
Signal Conditioning Enclosure
Cable Strain Relief
USB Cable Interface
• Two Independent Axis of Control• Force Proportional Device • 12 Bit output with 11th bit stability - Human Interface Model USB interface• 8 Bit output – Game controller USB interface• Low Profile Package Available with horizontal wire egress and manual re-set button• Package available with analog output electronics• Factory programmable dead-band or safety band• Factory programmable sensitivity• Custom adjustable sensitivity adjustment available on customized units
3633 W. MacArthur Blvd., Santa Ana, CA 92704 * Phone: 714-513-2200 * Fax: 714-513-2204 * e-mail: [email protected]
04/13/23 30
Military Grade Metal Grip With Thumb Controls
Engineering Inc.
Expanding technology limits through innovation
Bokam
3633 W. MacArthur Blvd., Santa Ana, CA 92704 * Phone: 714-513-2200 * Fax: 714-513-2204 * e-mail: [email protected]
Additional Top Mounted Guarded Input(Shown w/as On-Off Option)
One-Axis (Two Direction) Input(proportional or digital options)
Two Axis (Four Direction) Input (proportional or digital options)
Sealed Electronic Compartment
Optional Trigger (not shown)
Shaped Ergonomic Handle
Modular Two Part Box/Grip Interface
Locking Military Grade Connector
Output Options: Analog/RS232/RS422/USB/PS2/Digital
Grip Can be Used with umbilical, flange mounted or mounted onto a Gadol Joystick
Three Momentary Push-Buttons
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Anodized Aluminum Grip With Thumb Control Engineering Inc.
Expanding technology limits through innovation
Bokam
Pistol Grip Option
False Activation Guard
Four Directions of Activation
Tether Cable or Connector Electrical Interface
Other Thumb Interface Configurations
Omni-Directional Two Axis
One Axis
Electrical Output Options• 0-5V• Current/Voltage Switching
• Momentary• Latching
• Digital Signal• USB
3633 W. MacArthur Blvd., Santa Ana, CA 92704 * Phone: 714-513-2200 * Fax: 714-513-2204 * e-mail: [email protected]
04/13/23 32
Game Controller Man-Machine InterfaceEngineering Inc.
Expanding technology limits through innovation
Bokam
Emergency Stop
Dual Redundant Solid State Dead-Man
Controls
Redundant Solid State Triggers
Spring Loaded Trigger Guards
Solid State Four Direction ToggleOr Proportional
Two Direction Solid State Toggle or Proportional
Two axis (four direction) Proportional Inputs
Solid State Redundant Trigger Safety
3633 W. MacArthur Blvd., Santa Ana, CA 92704 * Phone: 714-513-2200 * Fax: 714-513-2204 * e-mail: [email protected]
04/13/23 33
Engineering Inc.
Expanding technology limits through innovation
Bokam
3633 W. MacArthur Blvd., Santa Ana, CA 92704 * Phone: 714-513-2200 * Fax: 714-513-2204 * e-mail: [email protected]
WRIST MOUSE
Right and Left Click
Solid State Two Axis Input Device
Ergonomic,Concave, Thumb Interface Stable Two Position
Velcro Strap and Ergonomic Base
Water Tight Enclosure• All Welded Steel Construction• Sealed Anodized Aluminum
Input devices submersed inside the housing to prevent inadvertent activation
Various Electrical Interface:• Cursor or Game USB• PS2 Cursor
04/13/23 34
Fully Submersible Position/Force Proportional Joystick
Engineering Inc.
Expanding technology limits through innovation
Bokam
Two Axis Secondary Input
Rubberized Grip
Position or Force ProportionalInterfaceForce Proportional
Two Axis Sensing Element
Hermetically SealedSignal Conditioning Compartment
Water submersible connector
3633 W. MacArthur Blvd., Santa Ana, CA 92704 * Phone: 714-513-2200 * Fax: 714-513-2204 * e-mail: [email protected]
All welded SS construction
04/13/23 35
Miniature Well Mounted Neptune Series Device
Engineering Inc.
Expanding technology limits through innovation
Bokam
Non-compliant Stiff Stick Interface No contacting, rubbing or optical elements Non-magnetic construction to minimize system detection Fully submergible field tested and qualified by US NAVY for underwater use applications Embedded strain sensor technology allows for incredible reliability and long life at
continuous operation in an abusive environments Works with all embedded series signal conditioning electronics Applications Include:
Cursor control Motion control Multi-direction switching
3633 W. MacArthur Blvd., Santa Ana, CA 92704 * Phone: 714-513-2200 * Fax: 714-513-2204 * e-mail: [email protected]
Double o-ring configuration
Standard post interfaces with all position or force proportional hand and finger interface packages
Submersible connector or pig-tail cable outputs available
04/13/23 36
Miniature Flange Mounted Neptune Input Devices
Engineering Inc.
Expanding technology limits through innovation
Bokam
Palm Operation Human Interface in various material of construction and colors
Hastelloy C22 or Stainless Steel Construction Options AvailableFully welded package for high depth dive capability
Standard bulkhead flange mount
Two o-ring seal for deep dive capabilities
Submersible connector or pig-tail cable output avaialble
Input device works with all embedded series signal conditioning electronics(shown in picture with function cursor control electronics)
Signal conditioners can be located remotely from the input device due to high signal to noise ration of sensing element
3633 W. MacArthur Blvd., Santa Ana, CA 92704 * Phone: 714-513-2200 * Fax: 714-513-2204 * e-mail: [email protected]
04/13/23 37
Products - The Neptune Series
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 38
Engineering Inc.
Expanding technology limits through innovation
Bokam
Submersible Military Grade Cursor Control Assembly
3633 W. MacArthur Blvd., Santa Ana, CA 92704 * Phone: 714-513-2200 * Fax: 714-513-2204 * e-mail: [email protected]
Hermitically Sealed Electronics Compartment
Neptune SeriesTwo Axis Input Device
Neptune SeriesOne Axis Input Device
Left Click Right Click
Cursor Control
PS2 Output(w/ or w/o Connector)Note:
Non Military Grade and/or Non-Submersible Packages Availablewith the same Functionality
04/13/23 39
Neptune Series - Systems
Engineering Inc.
Expanding technology limits through innovation
Bokam
04/13/23 40
Solid Steel Push Buttons
Engineering Inc.
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Bokam
04/13/23 41
Pedals and Foot Operated Controls
Engineering Inc.
Expanding technology limits through innovation
Bokam
• Position Proportional
• Force Sensor Based
• Redundant Springs
• Fail-to-off configuration
• Adaptable to standard pedals
04/13/23 42
The Bokam Advantage
• High Precision of movement
• High reliability and life in excess of 10,000,000 cycles
• Resistance to environmental exposure
• Modular system configurations and interfaces
• Force and position proportional interfaces in the same package size
• Diver proven devices
• Extensive Heritage of force sensors and input devices
• Cost effective
Engineering Inc.
Expanding technology limits through innovation
Bokam
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