Patent ID: 9085083
Filing Date: 2015-07-21
Classification: A61B,B25J,G05B,G16Z,Y10S

Abstract:
1. An apparatus comprising: input grip handles; a biasing element for increasing resistance to gripping of the input grip handles beginning at a nominal closed position; a processor; a memory storing instructions for causing the processor to: identify mounting of an end effector on a manipulator controlled by the processor, the end effector comprising end effector elements; drive one or more motors of the manipulator with a commanded torque to move the end effector elements relative to each other in response to gripping of the input grip handles; monitor a joint position of the end effector elements relative to the commanded torque; determine a joint position of mutual engagement of the end effector elements based on change in the commanded torque; and set the nominal closed position of the input grip handles as corresponding to the joint position of mutual engagement of the end effector elements.