Force-reflective teleoperation control system
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United States of America Patent
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Dec 10, 1991
Grant Date -
N/A
app pub date -
Feb 1, 1990
filing date -
Feb 1, 1990
priority date (Note) -
Expired
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Abstract
A teleoperation system includes a master station having a manually operable master link coupled to a master actuator which provides force resistance to operation and movement of the master link, and a slave station having a slave link moveable by a slave actuator in response to command signals. The system also includes a control unit for producing command signals in response to movement of the master link, such control unit having a position transducer for producing signals representing the position of the master link, a force transducer for producing signals representing the force applied to the master actuator by operation of the master link, a second force transducer for producing signals representing force applied to the slave link by the slave actuator, a second position transducer for producing signals representing position of the slave link, and a force controller responsive to the master link position signal, the master actuator force signal, the slave actuator force signal and the slave link position signal for producing a force command signal for supply to the slave actuator to cause the slave actuator to move the slave link in substantially faithful imitation of movement of the master link.
First Claim
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- 15 United States
- 10 France
- 8 Japan
- 7 China
- 5 Korea
- 2 Other
Patent Owner(s)
- UNIVERSITY OF UTAH RESEARCH FOUNDATION;SARCOS GROUP, A UT LIMITED PARTNERSHIP
International Classification(s)
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- [Patents Count]
Inventor(s)
Inventor Name | Address | # of filed Patents | Total Citations |
---|---|---|---|
Biggers, Klaus B | Park City, UT | 1 | 199 |
Davis, Clark C | Salt Lake City, UT | 144 | 8165 |
Iversen, Edwin K | Salt Lake City, UT | 15 | 558 |
Jacobsen, Stephen C | Salt Lake City, UT | 297 | 17467 |
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Fee | Large entity fee | small entity fee | micro entity fee |
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Surcharge after expiration - Late payment is unavoidable | $700.00 | $350.00 | $175.00 |
Surcharge after expiration - Late payment is unintentional | $1,640.00 | $820.00 | $410.00 |
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