Patent ID: 6084371
Filing Date: 2000-07-04
Classification: A61B,B25J,G05B

Abstract:
A system for interfacing a human operator and a physical object through a physical plant, wherein the physical plant is driven by at least one actuator and the physical object has dimensions in the range of 1 micrometer to 1 mm, comprising:a. means for providing drive signals, comprising:i. means for generating incoming signals, wherein the incoming signals include contact force signals representative of forces from the hand of the human operator interacting with the surrounding environment, interacting force signals representative of forces caused at the physical plant by the interaction between the physical plant and the physical object and actuating force signals representative of forces caused at the actuator by the interaction between the physical plant and the physical object;ii. means for compensating at least partially the incoming signals directly in response to variations of the environment; andiii. means for generating drive signals from the at least partially compensated incoming signals;b. means for using the drive signals to manipulate the physical object through the physical plant; andc. means for monitoring the motion of the physical object.