POWER ASSIST DEVICE AND CONTROL METHOD THEREFOR
First Claim
1. A control method for a power assist device having an operation section to be operated by an operator, an operation force detection unit that detects an operation force applied to the operation section and an orientation of the operation force, a robot arm that supports the operation section, and a drive unit that drives the robot arm, the method comprising:
- when an angle formed by the orientation of the operation force applied to the operation section detected by the operation force detection unit and a preset advancing direction of the operation section is within a predetermined angle range, controlling the drive unit so as to move the operation section along the advancing direction; and
when the angle formed by the orientation of the operation force applied to the operation section detected by the operation force detection unit and the advancing direction is outside the predetermined angle range, controlling the drive unit so as to move the operation section along the orientation of the applied operation force.
1 Assignment
0 Petitions
Accused Products
Abstract
A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.
36 Citations
15 Claims
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1. A control method for a power assist device having an operation section to be operated by an operator, an operation force detection unit that detects an operation force applied to the operation section and an orientation of the operation force, a robot arm that supports the operation section, and a drive unit that drives the robot arm, the method comprising:
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when an angle formed by the orientation of the operation force applied to the operation section detected by the operation force detection unit and a preset advancing direction of the operation section is within a predetermined angle range, controlling the drive unit so as to move the operation section along the advancing direction; and when the angle formed by the orientation of the operation force applied to the operation section detected by the operation force detection unit and the advancing direction is outside the predetermined angle range, controlling the drive unit so as to move the operation section along the orientation of the applied operation force. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A power assist device comprising:
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an operation section to be operated by an operator; an operation force detection unit that detects an operation force applied to the operation section and an orientation of the operation force; a robot arm that supports the operation section; a drive unit that drives the robot arm; and a control unit that, when an angle formed by the orientation of the operation force applied to the operation section detected by the operation force detection unit and a preset advancing direction of the operation section is within a predetermined angle range, controls the drive unit so as to move the operation section along the advancing direction; and
, when the angle formed by the orientation of the operation force applied to the operation section detected by the operation force detection unit and the advancing direction is outside the predetermined angle range, controls the drive unit so as to move the operation section along the orientation of the applied operation force. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. (canceled)
Specification