Method of controlling force assisting device and control apparatus using the same
US6216056A · kind A · utility
33Cited by
11References
14Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Dec 16, 1997 |
| Grant date | Apr 10, 2001 |
| Priority date | — |
| Expiry date | Dec 16, 2017 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J9/16
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
With an operation handle arranged in the neighborhood of e.g. a microscope for operation as an appliance to be supported attached to the tip of plural arms rotatably coupled with one another, the operation force applied to the operation handle is detected as a signal in directions of plural axes by a force/torque sensor, the detected force/torque information in each of the directions of the plural axes is impedance-control and track-control to compute an operation command for each joint in the plural arms, and on the basis of the operation command for each joint, the plural arms are moved in the direction of the operation force.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.