Hard stop protection system and method
US11998296B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 30, 2019 |
| Grant date | Jun 4, 2024 |
| Priority date | — |
| Expiry date | Jun 1, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40598
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to resist movement of the joint in response to the joint state indicating the joint is moving toward a mechanical limit location with a joint velocity meeting a first velocity criterion. The controller can also command the actuator resist movement of the joint at a second joint position when the joint velocity meets a second criterion.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.