Patent ID: 6272924
Filing Date: 2001-08-14
Classification: B62D,B66C

Abstract:
A controller for interfacing, a human operator and a physical object through a physical plant, wherein the physical plant is driven by at least one actuator, comprising:a. means for generating incoming signals, wherein the incoming signals comprise:i. contact force signals representative of forces from a hand of the human operator interacting with surrounding environment;ii. interacting force signals representative of forces caused at the physical plant by interaction between the physical plant and the physical object; andiii. actuating force signals representative of forces caused at the actuator by interaction between the physical plant and the physical object;b. means for compensating at least partially the incoming signals directly in response to variations of surrounding environment and providing a high feedback gain to reduce overshooting to a step response; andc. means for generating drive signals from the at least partially compensated incoming signals;wherein the actuator uses the drive signals to manipulate the physical object through the physical plant.