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Human-in-the-loop machine control loop

  • US 5,116,180 A
  • Filed: 05/03/1990
  • Issued: 05/26/1992
  • Est. Priority Date: 07/18/1988
  • Status: Expired due to Fees
First Claim
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1. A human-in-the-loop control loop for a machine having a plurality of joints and an operative part, said plurality of joints adapted for moving said operative part, comprising:

  • (a) a hand controller having at least one degree of freedom so as to be deflectable in order to provide hand controller position signals for moving said operative part, said hand controller, in each degree of freedom, controlling motion of said operative part along one path;

    (b) position mapping means to map each of said hand controller position signals to an operative part position command signal indicative of a position for said operative part along each of said at least one path;

    (c) velocity mapping means to map each of said hand controller position signals to an operative part velocity command signal indicative of a velocity for said operative part along each of said at least one path;

    (d) selector means to selectively activate said position mapping means and deactivate said velocity mapping means or activate said velocity mapping means and deactivate said position mapping means; and

    (e) resolving means responsive to said selector means for resolving operative part position command signals to joint command signals and operative part velocity command signals to joint command signals for controlling the movement of each of said joints.

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