Patent ID: 7991491

Claim:
Control device ( 1 ) comprising: an automatic control command system ( 2 ) for the automatic generation of control signals (S A ), a haptic control command input device ( 3 ) which has at least one actuator ( 5 ) for operating the control command input device ( 3 ) in dependence on the automatically generated control signals (S A ) and at least one sensor ( 6 ) for detecting manual control command inputs (S M ) by manual operation of the control command input device ( 3 ), an arbitration unit ( 4 ) for generating controlled system control signals (S R ) which are conducted to a controlled system ( 7 ) following the arbitration unit ( 4 ), in dependence on the automatically generated control signals (S A ) and the manual control command inputs (S M ), characterized in that the arbitration unit ( 4 ) is set up, in order, in the case of mutually contradictory or overriding manual control command inputs (S M ) and automatically generated control signals (S A ), and within an arbitration phase selected in dependence on a dead space of the haptic control command input device ( 3 ) or the controlled system ( 7 ), to continuously adjust the manual control command inputs (S M ) and the automatically generated control signals (S A ) to one another, by rule-based generation of one or more correction signals (S 1 , S 2 ) and feeding back the one or more correction signals (S 1 , S 2 ) to at least one actuator ( 5 ) of the haptic control command input device ( 3 ).