Apparatus and method for providing useful audio feedback to aid in the operation of remotely controlled powered manipulators
First Claim
1. An audio feedback system for monitoring and aiding in user control of a remotely operated, powered manipulator comprising:
- means providing an electrical signal proportional to manipulator force;
means providing an electrical signal proportional to manipulator speed;
a signal generator;
frequency modulation means connected to one of said electrical signals for varying the output frequency of said signal generator in proportion to said signal;
amplitude modulation means connected to the other of said electrical signals for varying the output amplitude of said signal generator in proportion to said other signal; and
means for audibly reproducing the output of said signal generator.
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Accused Products
Abstract
The user of a remotely controlled, powered manipulator is provided with audible feedback signals which provide useful information relating to the force and speed of the motor. An audio tone is generated and is frequency modulated by a signal which corresponds to motor speed. The tone is amplitude modulated by a signal corresponding to motor force thus providing the user with an intuitively interpretable feedback signal having a speed-proportional pitch and force-proportional volume. In the case of an electric motor, voltage and current can be monitored to provide speed and force signals respectively. Additional modulation means are disclosed for introducing a force-proportional warble component to said tone.
22 Citations
23 Claims
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1. An audio feedback system for monitoring and aiding in user control of a remotely operated, powered manipulator comprising:
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means providing an electrical signal proportional to manipulator force; means providing an electrical signal proportional to manipulator speed; a signal generator; frequency modulation means connected to one of said electrical signals for varying the output frequency of said signal generator in proportion to said signal; amplitude modulation means connected to the other of said electrical signals for varying the output amplitude of said signal generator in proportion to said other signal; and means for audibly reproducing the output of said signal generator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for generating an audio tone useful as a feedback signal for user control of remotely operated, powered manipulators comprising the steps of:
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generating a force signal proportional to manipulator force; generating a speed signal proportional to manipulator speed; generating an audio tone; varying the frequency of said tone in proportion to said speed signal; and varying the amplitude of said tone in proportion to said force signal. - View Dependent Claims (18, 19, 20, 21)
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22. A method for improving user control of the displacement of a remotely operated, powered manipulator by providing an audio tone useful in controlling displacement of said manipulator, the method comprising the steps of:
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generating an audio tone; varying the frequency of said tone in proportion to the speed of displacement of said manipulator; varying the amplitude of said tone in proportion to the force resisting displacement of said manipulator; and controlling the displacement of said manipulator as said tone varies.
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23. A method of controlling the displacement of a remotely operated, powered manipulator including the steps of displacing said manipulator by control means, providing a feedback signal from said manipulator as to manipulator displacement, and varying the operation of said control means based upon said feedback signal, wherein the improvement in said method is comprised of:
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said step of providing a feedback signal being accomplished by generating an audio tone; varying the frequency of said tone in proportion to the speed of manipulator displacement; varying the amplitude of said tone in proportion to the force resisting manipulator displacement; and feeding the varying tone back to enable operation of said control means.
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Specification