1334 results about "Control force" patented technology

Apparatus for controlling force applied to and for manipulation of a surgical instrument. Movement and / or forces applied to the surgical instrument are preferably sensed within the apparatus. An actuator is preferably used to apply force to the surgical instrument for control and manipulation of the instrument. The apparatus applies variable force feedback to apply force to the surgical instrument in one or more degrees of freedom to provide an enhanced haptic experience to the user.

An apparatus and method for controlling a robot may scale a motion of a surgical robot based on a type of object gripped by the surgical robot. In the robot controlling method, by scaling the motion of the surgical robot based on the type of object gripped by the surgical robot, the surgical robot may automatically perform the motion on objects using an optimized force although a user does not control a force minutely based on the type of object gripped by the surgical robot.

An insertion device and insertion set. The insertion device for inserting at least a portion of at least one piercing member of an insertion set through the skin of a patient includes a device housing, a carrier body and a driver. The carrier body is slidably received within the device housing for movement between an advanced position and a retracted position. The carrier body also includes a receiving structure to support the insertion set in a position with the at least one piercing member oriented for insertion through the skin of the patient at a predetermined angle relative to the skin of the patient upon movement of the carrier body from the retracted position to the advanced position. The driver is operatively coupled between the device housing and the carrier body to urge the carrier body with a controlled force and speed from the retracted position toward the advanced position to place at least a portion of the at least one piercing member of the insertion set thorough the skin of the patient to install the insertion set to the patient. The receiving structure of the carrier body is removable from the insertion set while maintaining the installation of the insertion set to the patient.

A method and apparatus for providing force feedback to a user operating a human / computer interface device in conjunction with a graphical user interface (GUI) displayed by a host computer system. A physical object, such as a joystick or a mouse, controls a graphical object, such as a cursor, within the GUI. The GUI allows the user to interface with operating system functions implemented by the computer system. A signal is output from the host computer to the interface device to apply a force sensation to the physical object using one or more actuators. This desired force sensation is associated with at least one of the graphical objects and operating system functions of the graphical user interface and is determined by a location of the cursor in the GUI with respect to targets that are associated with the graphical objects. The graphical objects include icons, windows, pull-down menus and menu items, scroll bars (“sliders”), and buttons. The force sensation assists the user to select a desired operating system function or physically informs the user of the graphical objects encountered by the cursor within the GUI. A microprocessor local to the interface apparatus and separate from the host computer can be used to control forces on the physical object.

An improved dental appliance system, and methods for using and fabricating the improved appliance, including a polymeric overlay or shell having a teeth-receiving cavity formed therein and a wire mounted on or embedded in the polymeric shell. The dental appliance having the necessary stiffness or strength to firmly secure the appliance on the teeth and provide controlled forces required for repositioning the teeth, until such time as removal of the appliance is desired. The appliance may be configured for use with a removal mechanisim. The removal mechanism undergoes a state change stimulated by an environmental stimulus or environmental switch.

Apparatus for controlling force applied to and for manipulation of a surgical instrument. Movement and / or forces applied to the surgical instrument are preferably sensed within the apparatus. An actuator is preferably used to apply force to the surgical instrument for control and manipulation of the instrument. The apparatus applies variable force feedback to apply force to the surgical instrument in one or more degrees of freedom to provide an enhanced haptic experience to the user.

A force sense presentation device for presenting a sense of force in virtual space to a user, comprises: a fixed unit which is gripped by the user; a force sense presentation unit which presents a sense of force; an actuator which supplies a driving force and operates the force sense presentation unit relative to the fixed unit; a joint unit which is provided between the fixed unit and the force sense presentation unit, and guides the relative operation of the force sense presentation unit; and a force sense rendering unit which controls the relative operation of the force sense presentation unit by the actuator, wherein the force sense presentation device simulates a device which is gripped and used by the user, and the force sense rendering unit controls the relative operation of the force sense presentation unit based on a position and orientation of the device in the virtual space.

A robot control apparatus for controlling force exerted between a working tool mounted at the forward end of a robot arm and a workpiece is disclosed. The apparatus includes a force measuring unit for acquiring the force data required for the control operation, a calculating unit for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value. As a result, the workpiece can be accurately machined even in the case where the forward end portion of the robot arm is changed a comparatively great degree in the direction of movement thereof.

The invention relates to the field of computers and data storage, in particular to a data file security privacy storage and sharing method based on a block chain, which comprises a user layer, a blockchain layer and a data storage layer, and is characterized in that the user layer is used by a user to encrypt and upload data, encrypt and share data and receive data shared by other users; the blockchain layer is used for public storage of hash check codes of double encrypted ciphertext data and cloud storage data, and files are shared among users through transaction id; the data storage layeris used for storing and downloading ciphertext data; according to the invention, the availability and integrity of cloud storage data are effectively ensured; the user can conveniently verify the access permission, multi-user sharing of the data is achieved, the storage overhead and management overhead of the user on the secret key are reduced, the control force of the data owner on the data is improved, ciphertext sharing of the data is achieved, and the safety and privacy of the storage system are improved.

An active suspension for a driver seat of a bus or a heavy vehicle which comprises an electric actuator allowing the exertion of the force between the floor of the vehicle and the bottom of the seat. The adjustment of the height of the seat is accomplished by an electric actuator or by an independent mechanical system. A controller generates a control force calculated from measurements obtained by sensors located at different locations on the suspension. Forces exerted by the electric actuator can be relieved by passive element placed in parallel which cannot assume by themselves the role of a suspension for a given application.

The cantilever of a probe-based metrology instrument such as an AFM is deflected by directing a beam of ultrasonic energy at the cantilever to apply ultrasonically generated acoustic radiation pressure to the cantilever. The energy is generated by an ultrasonic actuator such as a ZnO transducer driven by a power source such an RF signal generator. The transmitted beam preferably is shaped by focusing, collimation, or the like so that it impinges at least primarily on a region of interest of the cantilever such as the free end. The ultrasonic actuator produces a much better controlled force on the cantilever than can be achieved through the use of a traditional piezoelectric actuator and, accordingly, produces a response free of spurious effects (at least when the cantilever is operating in liquid). It also has a frequency bandwidth in the MHz range.

An apparatus and method for controlling a robot may scale a motion of a surgical robot based on a type of object gripped by the surgical robot. In the robot controlling method, by scaling the motion of the surgical robot based on the type of object gripped by the surgical robot, the surgical robot may automatically perform the motion on objects using an optimized force although a user does not control a force minutely based on the type of object gripped by the surgical robot.

A method and apparatus for controlling and providing force feedback using an interface device manipulated by a user. A microprocessor is provided local to the interface device and reads sensor data from sensors that describes the position and / or other information about a user object moved by the user, such as a joystick. The microprocessor controls actuators to provide forces on the user object and provides the sensor data to a host computer that is coupled to the interface device. The host computer sends high level host commands to the local microprocessor, and the microprocessor independently implements a local reflex process based on the high level command to provide force values to the actuators using sensor data and other parameters. A provided host command protocol includes a variety of different types of host commands and associated command parameters. By providing a relatively small set of high level host commands and parameters which are translated into a panoply of forces, the protocol further shifts the computational burden from the host computer to the local microprocessor and allows a software developer to easily create force feedback applications.

An insertion device and insertion set. The insertion device for inserting at least a portion of at least one piercing member of an insertion set through the skin of a patient includes a device housing, a carrier body and a driver. The carrier body is slidably received within the device housing for movement between an advanced position and a retracted position. The carrier body also includes a receiving structure to support the insertion set in a position with the at least one piercing member oriented for insertion through the skin of the patient at a predetermined angle relative to the skin of the patient upon movement of the carrier body from the retracted position to the advanced position. The driver is operatively coupled between the device housing and the carrier body to urge the carrier body with a controlled force and speed from the retracted position toward the advanced position to place at least a portion of the at least one piercing member of the insertion set thorough the skin of the patient to install the insertion set to the patient. The receiving structure of the carrier body is removable from the insertion set while maintaining the installation of the insertion set to the patient.

An orthopedic impacting tool comprises a motor, an energy storage means, a striker, and an anvil. The motor stores energy in the energy storage means and then releases it, causing the striker to apply a controlled force on an adapter to create a precise impact for use in a surgical setting. The tool may further comprise a combination anvil and adapter. The tool further allows forward or backward impacting for expanding the size or volume of the opening or for facilitating removal of a broach, implant, or other surgical implement from the opening. An energy adjustment control of the tool allows a surgeon to increase or decrease the impact energy. A light source and hand grips improve ease of operation of the tool.

A deformable mirror arrangement has a plurality of constraint mechanisms contacting a deformable mirror at specified contact positions. At least three of these constraint mechanisms are rigid body servo control mechanisms such as high-bandwidth servo control mechanisms, each including a force actuator contacting the mirror at a corresponding one of the contact positions, a position sensor assisting to measure position of the mirror and a servo control unit for controlling the force actuator.

A portable active fluid-powered ankle foot orthosis. A lower leg mount and a foot bed are pivotally coupled at or proximate to an ankle position. A fluid powered rotary actuator is configured to receive power from a wearable fluid power source and provide controlled force and resistance to aid or inhibit relative rotation of the foot bed and the lower leg mount. An integral controller is provided for receiving data from sensors and controlling the fluid powered rotary actuator to actively assist gait of a user.

The invention provides a tiltrotor controlled by a double-propeller vertical duct. The tiltrotor, using the design of parallel twin-rotor and conventional aerodynamic configuration, consists of a fuselage, straight wings, rotors, a nacelle, an aileron, a vertical empennage, a rudder, an elevator, a horizontal empennage, a duct end cover, a vertical duct, an undercarriage, a power and decelerationsystem, a propeller power input shaft, a lower propeller, an upper propeller, louver-type slipstream sheets, a propeller gearing and collective-pitch controlling device, a propeller gear box supporting structure, a duct end cover driving device, a duct end cover motion slide rail and a slipstream sheet controlling device. Compared with the cyclic pitch control mode, the tiltrotor of the inventionsimplifies the operations during the vertical flight and the flight conversion and improves the reliability by using the structure of the double-propeller vertical duct to control the vertical flightand the conversion of the flight mode, and the tiltrotor has the advantages of long control force arm, high control efficiency and simple structure. Therefore, the tiltrotor constitutes a novel aircraft with significant development potential and promising future.

A vehicle, particularly a VTOL air vehicle, includes a duct carried by the vehicle frame with the longitudinal axis of the duct perpendicular to the longitudinal axis of the vehicle frame; a propeller rotatably mounted within the duct about the longitudinal axis of the duct to force an ambient fluid therethrough from its inlet at the upper end of the duct through its exit at the lower end of the duct, and thereby to produce an upward lift force applied to the vehicle, and a plurality of spaced vanes mounted to and across the inlet and exit ends of the duct about axes substantially perpendicular to the longitudinal axis of the duct and selectively operational to produce a desired horizontal control force in addition to the lift force applied to the vehicle.

A device for controlling vehicles having a manual control unit configured to influence the direction of movement of a vehicle. The manual control unit provides, in a neutral position of the manual control unit, a trim point to determine a preferred direction of movement. The device further includes a force generating device, generating at least one force acting in the direction of the neutral position of the manual control unit; a trim coupling operable to reduce the at least one force acting on the manual control unit; and a trim control unit configured to store and retain the trim point existing prior to an operation of the trim coupling.

A portable active pneumatically-powered ankle foot orthosis. A lower leg mount and a foot bed are pivotally coupled at or proximate to an ankle position. A pneumatically powered rotary actuator is configured to receive power from a wearable fluid power source and provide controlled force and resistance to aid or inhibit relative rotation of the foot bed and the lower leg mount. Embedded sensors provide feedback from the device.

A bi-directional clutch assembly of the present invention is provided that comprises an inner race, an outer race, and an engagement mechanism disposed between said inner race and said outer race. The engagement mechanism is operable to move between a disengaged position wherein the inner and outer races may freely rotate relative to one another and an engaged position wherein the inner and outer races are locked so as to translate torque therebetween. The present invention also includes at least one actuator that is operatively connected to the engagement mechanism and responsive to a first momentary control force to selectively move the engagement mechanism to the engaged position and to hold the engagement mechanism in the engaged position after the first control force has been terminated. The actuator is further responsive to a sequentially applied second momentary control force to move the engagement mechanism to the disengaged position and to hold the engagement mechanism in the disengaged position after the second control force has been terminated and pending the selective application of a sequentially applied first control force.

The invention provides an engine vibration isolation system which is based on a combination suspension and a control method, relating to the automatic control technical field. The invention forms the combination suspension by a plurality of passive rubber elastomers and a single controllable magneto-rheological damper which is obliquely arranged between the middle part of the engine and a base; an acceleration sensor and a force sensor respectively extract the vertical and transverse vibration acceleration of the engine body and the vertical vibration force of the base, so as to calculate the vibration excitation frequency and the transverse vibration speed of the engine; an engine vertical vibration isolation fuzzy control rule and a transverse damping state control rule are established in a controller, and an oblique control force of the magneto-rheological damper is calculated; the driving current of the magneto-rheological damper is determined by an oblique control force, the damping force of the combination suspension is adjusted in real-time, the transmission of the vibration energy of the engine is restricted. The invention can lead to effective vibration isolation of the engine in wide-frequency range, reduces the self vibration of the engine, and improves the durability and the riding comfort of a carrier.

A servo-controlled system is disclosed for providing simulated feel equivalent to that of traditional mechanical hand controllers. Processed position and force sensor signals are used in a feedback loop that controls the motor mechanically connected to the stick. The feedback loop comprises a low-level motor feedback loop, and high-level force feel loop. The latter comprises static and dynamic performance components. The system allows variable and additional force cues to be specified externally to the system and felt by the operator, and / or external signal to backdrive the stick to follow a specified motion. The control framework permits the electronic coupling of the motion and applied forces by pilots in a dual arrangement while retaining the above-mentioned features. It simulates cross-coupling mechanical compliance due to force fight between pilots, detents and asymmetric force feel gradients. Parameters associated with loops and performance components can be specified independently.

The present invention relates to the field of aerodynamics. More particularly, the present invention relates to manipulating air flow over a surface, such as the surface of a duct of a ducted fan vehicle. By controlling air flow over, at, or around the surface of a duct, the flight of the vehicle can be controlled. One embodiment of the invention provides a vertical take-off and landing (VTOL) ducted-fan vehicle comprising means for producing steady or unsteady blowing at a surface of a duct for producing control forces and moments for controlling flight. The means for unsteady blowing can be provided by synthetic jets and the means for steady blowing can be provided by a pressurized air supply. The synthetic jets can be integrated into the ducted-fan vehicles in numerous ways, including at the surface of the leading and / or trailing edge of the ducts. The synthetic jets can be independently operated to control the flight of the vehicle. A novel use of these inventive flow control concepts is to apply the control asymmetrically to the duct in order to produce an imbalance in forces, thus resulting in a moment or torque, which can be used to control flight.

A mechanical scribing apparatus with controlling force of a scribing cutter for adaptively separating each unit of thin film solar cells formed on a single substrate, which is always capable of performing a predetermined minute scribing of a work in accordance with a wear loss of a scribing cutter. This apparatus is provided with a scribing means for placing a scribing cutter having a cylindrical body tapered at a specified tapering angle and having a flat tip face at a specified surface position of the work, pressing the cutter with a specified pressure force to the surface of the work and moving the cutter on the surface of the work, a means for measuring the size of a flat tip face of the scribing cutter and a means for variably controlling the pressure force of the scribing cutter in accordance with the measured size of the flat tip face of the cutter.

An improved dental appliance system, and methods for using and fabricating the improved appliance, including a polymeric overlay or shell having a teeth-receiving cavity formed therein. The dental appliance having the necessary stiffness or strength to firmly secure the appliance on the teeth and provide controlled forces required for repositioning the teeth, until such time as removal of the appliance is desired. The appliance may be configured for use with a removal mechanism. The removal mechanism provides for selective release of the appliance from the teeth as the removal mechanism undergoes a state change stimulated by an environmental stimulus or environmental switch.

The invention discloses a motion planning-based adaptive control method for a bridge crane. The method comprises the following steps of: formulating a motion planning, and designing an expected position-time curve for a crane trolley, wherein if the trolley moves along the curve, the trolley can reach a target position relatively quickly, and the load swing angle is in a small acceptable range; meanwhile, adjusting parameters of the trolley aiming at different conditions and requirements so that the maximum transport speed and the acceleration performance of the trolley meet the requirements and constraints of actual working conditions; and designing an adaptive tracking controller, and acquiring a control output by measuring trolley position, speed, load swing angle and angular speed on line in real time. When the resistance parameters such as load quality, sling length, friction and the like of the crane trolley are unknown, the controller can well track the set motion curve, and finally the error, swing angle and control force are fully kept in a small range and finally converged to 0. Therefore, the invention has the advantages of the locus planning and adaptive tracking control method.

The invention is a light flight simulator, belonging to a simulator to simulate air flight, comprising 6-freedom moving platform, movement controller, pattern processing computer, helmet, master control force feedback unit, sound synthesis and reproducing device, computer for processing models and kernel calculation, driving handle, pedals, switches and handgrips, where the 6-freedom moving platform comprises main beam, truss structure, driving handle, pedal, screw, motor, and chassis, as well as switches, handgrips and other parts equipped on cabin. And the invention implements 6-freedom full dynamic simulation, effectively reduces structural height, and has features of small volume, lightweight, simulation reality and low price.