Manual control device and method
First Claim
1. A machine having an actuator operating to displace an implement of the machine based on a command provided by an operator, the command provided in the form of a displacement of a handle of a manual control device by the operator, the displacement occurring in an activation direction of the handle, the machine comprising:
- a variable damper associated with the handle and being extendible or retractable upon motion of the handle, the variable damper configured to selectively alter a stiffness thereof in response to a control signal;
a displacement sensor associated with the variable damper and configured to provide a displacement signal indicative of a displacement of the handle in a direction associated with the variable damper; and
a controller associated with the manual control device, the displacement sensor, the variable damper, and the actuator, the controller disposed to;
determine a then present operating state of the actuator,determine a command provided to the actuator based on the displacement signal, andprovide the control signal to stiffen the variable damper such that the displacement of the handle is limited to an additional displacement of the handle that corresponds to a difference between the then present operating state of the actuator and a maximum allowable operating state of the actuator.
1 Assignment
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Accused Products
Abstract
A manual control device for a machine includes a handle having a variable damper configured to alter a stiffness thereof in response to a control signal. A displacement sensor provides a displacement signal indicative of the displacement of the handle. A controller is associated with the variable damper, the manual control device, the displacement sensor, and the actuator. The controller determines a then present operating state of the actuator and a command provided to the actuator based on the displacement signal, and provides the control signal to stiffen the variable damper such that the displacement of the handle is limited to an additional displacement of the handle that corresponds to a difference between the then present operating state of the actuator and a maximum allowable operating state of the actuator.
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Citations
20 Claims
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1. A machine having an actuator operating to displace an implement of the machine based on a command provided by an operator, the command provided in the form of a displacement of a handle of a manual control device by the operator, the displacement occurring in an activation direction of the handle, the machine comprising:
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a variable damper associated with the handle and being extendible or retractable upon motion of the handle, the variable damper configured to selectively alter a stiffness thereof in response to a control signal; a displacement sensor associated with the variable damper and configured to provide a displacement signal indicative of a displacement of the handle in a direction associated with the variable damper; and a controller associated with the manual control device, the displacement sensor, the variable damper, and the actuator, the controller disposed to; determine a then present operating state of the actuator, determine a command provided to the actuator based on the displacement signal, and provide the control signal to stiffen the variable damper such that the displacement of the handle is limited to an additional displacement of the handle that corresponds to a difference between the then present operating state of the actuator and a maximum allowable operating state of the actuator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for providing haptic information to an operator of a manual control device for a system, the manual control device including a handle adapted for use by the operator to issue commands, the commands provided in the form of a displacement of the handle in an activation direction, the extent of displacement being indicative of a magnitude of each command, the method comprising:
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selectively altering a stiffness of a variable damper associated with the handle; determining a then present command based on the displacement of the handle; determining a maximum possible command that is allowable based on a capability of the system; and limiting the displacement of the handle to an additional displacement of the handle that corresponds to a difference between the then present command and the maximum possible command by stiffening the variable damper when the then present command approaches the maximum possible command. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A positive-force generating device mounted via at least one variable damper to a machine, the variable damper configured to selectively alter a stiffness thereof in response to a control signal, the device being moveable in a direction of application of an impulse force by compression or extension of the variable damper, comprising:
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a displacement sensor associated with the variable damper and configured to provide a displacement signal indicative of a displacement of the device; and a controller associated with the variable damper, the device and the displacement sensor, the controller disposed to selectively provide the control signal to alter the stiffness of the variable damper; a motor responsive to a command signal from the controller; a mass connected to an output shaft of the motor and having a center of gravity that is offset relative to an axis of rotation of the output shaft of the motor; an encoder configured to provide a rotational signal to the controller that is indicative of a rotational position of the mass relative to the device; wherein the controller is configured to provide the command signal to the motor and the control signal to the variable damper based on the rotational signal and the displacement signal such that the impulse force is selectively provided along a predetermined direction. - View Dependent Claims (19, 20)
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Specification