Patent ID: 6299139
Filing Date: 2001-10-09
Classification: B66C,B66D

Abstract:
An end-effector for use in a human power amplifier system including a lift device and a controller, said end-effector comprising a load interface subsystem for making contact between said end-effector and a load; a human interface subsystem comprising a handle, a force sensor, and a switch, said force sensor being arranged for measuring a force imposed on said handle by a human operator, and said switch being operated by said operator and arranged so that when said switch is a first position, said human power amplifier system is in a first mode of operation and said end-effector speed ""v"", is determined by the following equation:v=GK f.sub.R +S(f.sub.R +p)-V.sub.UPwhereG is an actuator transfer function of the lift deviceS is an actuator sensitivity transfer function of the lift devicef.sub.R is the human forcep is a load forceK is a transfer function of the controller operating on measured operator forceV.sub.UP is upward biased upward velocity.