Telematic interface with control signal scaling based on force sensor feedback
US8918215B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 19, 2011 |
| Grant date | Dec 23, 2014 |
| Priority date | — |
| Expiry date | Jan 9, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B19/427
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Method and system for telematic control of a slave device. A stiffness of a material physically contacted by a slave device (202) is estimated based on information obtained from one or more slave device sensors (216, 217). Based on this stiffness estimation, a motion control command directed to the slave device is dynamically scaled. A data processing system (204) is in communication with a control interface (203) and the slave device. The data processing system (204) is configured to generate the motion control commands in response to sensor data obtained from the control interface. The system (200) also includes a stiffness estimator (602) configured for automatically estimating a stiffness of a material physically contacted by the slave device based on information obtained from the slave device sensors. A scaling unit (607) is responsive to the stiffness estimator and is configured for dynamically scaling the motion control command.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.