Inventors:
J. Edward Colgate - Evanston IL
Michael A. Peshkin - Evanston IL
Alex Makhlin - Skokie IL
Paul F. Decker - Chicago IL
Stephen H. Klostermeyer - Arlington Heights IL
Assignee:
The Stanley Works - New Britain CT
International Classification:
G06F 1900
US Classification:
700245, 700249, 700259, 700260, 700262, 31856811, 31856816, 318628, 318632, 901 3, 901 9, 901 15, 414730
Abstract:
A method and system for controlling an intelligent assist device, robot, or other powered system that is partially or fully directed by the intent of a human operator. The method and system includes measuring a force or motion imparted by the human operator to a control. The measurement is determined with respect to the motion of the machine at a point of the machine that allows the benefit of collocation of sensing and actuation, or of approximation of such collocation. The system includes a support attached to the machine at the beneficial point, and a plurality of sensors to measure the force, torque, or motion imparted by the human operator to the support with respect to the beneficial point. The method and system provide improved stability of control of the system, and improved responsiveness to the intent of the human operator.