Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1986-09-11
1987-08-25
Dobeck, Benjamin
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
901 22, 901 37, G05B 1942
Patent
active
046895388
ABSTRACT:
A driving device having tactility includes at least one set of two elastic extensible and contractible bodies having one ends connected to a stationary portion of the device and the other ends connected to a driven member driven by contractive force in axial directions of said elastic bodies caused by expanded diameters by introducing pressurized fluid into the elastic bodies. The driving device comprises detecting means for detecting movements of said driven member, valve means for supplying and exhausting the pressurized fluid into and out of the respective elastic bodies, positioning means for actuating the valve means in response to output signals from the detecting means to position the driven member in predetermined positions, and control means for comparing output signals from the detecting means produced by external actions on the driven member positioned in at least one predetermined position with a reference level to control the positioning means. The driving device can perceive external actions acting on the overall device without requiring any separate tactile sensor.
REFERENCES:
patent: Re28089 (1974-07-01), Devol
patent: Re28437 (1975-06-01), Devol
patent: 4601000 (1986-07-01), Montabert
patent: 4645084 (1987-02-01), Deike
Sakaguchi Yuji
Terahama Tatuo
Bridgestone Corporation
Dobeck Benjamin
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