Feedback for a manipulator

Patent 5103404 Issued on April 7, 1992. Estimated Expiration Date:

December 20, 2009. Estimated Expiration Date is calculated based on simple USPTO term provisions. It does not account for terminal disclaimers, term adjustments, failure to pay maintenance fees, or other factors which might affect the term of a patent.

Abstract Claims Description Full Text

Patent References

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Inventor

McIntosh, James L.

Application

No. 453325 filed on 12/20/1989

US Classes:

318/568.22, With particular compensation (e.g., gain, offset, etc.)414/5, Having means to transmit feedback signal from manipulator means to hand, finger, or arm700/260, Having control of force901/9, Closed loop (sensor feedback controls arm movement)901/34Force feedback

Examiners

Primary: Cangialosi, Salvatore

Attorney, Agent or Firm

Sheridan, Ross & McIntosh

International Class

B25J 013/00

Abstract

A programmable variable degree of tactile feedback for the operation of a manipulator by a pair of motors, one connected to the load and one to the control. Computer controlled four quadrant regulators for each motor are used to drive the load motor shaft to the same position as the control motor shaft and to vary the feedback force on the control motor in proportion to selected forces developed during the manipulation process.