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Force controlling system

  • US 5,012,591 A
  • Filed: 10/25/1989
  • Issued: 05/07/1991
  • Est. Priority Date: 11/30/1983
  • Status: Expired due to Fees
First Claim
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1. A tactile apparatus comprising:

  • a base element;

    a movable member;

    an elastic member movably connecting said movable member to said base element;

    a contact probe, mounted on said movable member to apply a force corresponding to a predetermined force to an object;

    detecting means, provided in said elastic member. for detecting elastic deformation of said elastic member in a displacement direction and for generating a displacement signal responsive to the detected elastic deformation;

    driving means for driving said movable member along the displacement direction;

    control means, operatively connected to said detecting means and to said driving means, for controlling said driving means by positive feedback of the displacement signal so as to contradict the reactive force due to the displacement of said elastic member applied to the object, and so that said movable member substantially applies only the predetermined force to the object; and

    measuring means, operatively connected to said detecting means, for measuring the shape of the object based on the displacement signal.

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