Material or article handling – Article manipulator moves analogous with human hand – finger,... – Having flexible motion transmission means
Patent
1983-08-03
1986-08-05
Underwood, Donald W.
Material or article handling
Article manipulator moves analogous with human hand, finger,...
Having flexible motion transmission means
414 5, 74471XY, 74501M, B25J 300
Patent
active
046040161
ABSTRACT:
A hand controller or `cursor` for the actuation of slaved apparatus. The cursor includes a handle extending from a line attachment member comprised of four equally spaced legs. The ends of these legs define vertices of a regular tetrahedron. The cursor is supported within a subtending structure by a plurality of tension lines which may be connected to torque motors or to another controlled device. A control computer preferably interfaces the present controller with the slaved apparatus wherein signals representative of the several tension line lengths are translated by the computer into control signals actuating the slaved device. In addition, force transducers on the slaved mechanism generate signals representative of the forces encountered by the slaved device which, in turn, are translated by the computer into torque motor control signals thereby providing interactive cursor force-feedback.
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patent: 3263824 (1966-08-01), Jones et al.
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patent: 4216467 (1980-08-01), Colston
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