The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 09, 2025
Filed:
Dec. 27, 2023
Southeast University, Jiangsu, CN;
Huijun Li, Jiangsu, CN;
Ye Lu, Jiangsu, CN;
Aiguo Song, Jiangsu, CN;
Ye Li, Jiangsu, CN;
Baoguo Xu, Jiangsu, CN;
SOUTHEAST UNIVERSITY, Jiangsu, CN;
Abstract
A cable force control method includes: establishing a friction model, and calibrating parameters; and calculating the parameters in real time, and controlling a force: identifying the parameters according to the friction model to obtain parameters of an auxiliary cable Bowden system and a power Bowden system: a friction coefficient μof the auxiliary cable Bowden system, and a friction coefficient μof the power cable Bowden system; calculating the auxiliary cable Bowden system θin real time according to the model and a force value of a sensor, and using same as a cable bending angle of the power cable Bowden system θ; and obtaining an inverse control formula F=F·eaccording to the friction model, and bringing the power cable Bowden system θinto the inverse control formula to serve as a feedforward controller, so as to achieve an effect of real-time force control.
Data source: USPTO (United States Patent and Trademark Office) public patent records. Weekly synchronization. How IDiyas builds this profile