Patent ID: 9260278
Filing Date: 2016-02-16
CPC Classification: B66C,B66D,G06F

Claim Text:
1. A remote handling apparatus for a load object, comprising: a joystick device in which a counterforce generator, which generates a counterforce to allow an operator to recognize the counterforce via a stick that accepts manual operation according to a value indicated by a received-counterforce command signal, is connected to the stick; a load lifting device that is installed away from the joystick device and that allows a load object to ascend, stop or descend according to either an input coordinate value of the stick or a velocity command value corresponding to the input coordinate value; and a pulsed counterforce controller that calculates a time rate of change of a dynamic load value of the load object and that outputs a counterforce command signal, which indicates a counterforce command value for generating a pulsed counterforce according to the time rate of change, to the counterforce generator.