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:
Dec. 30, 2014
Filed:
Feb. 11, 2010
Robert Riener, Wangen, CH;
Heike Vallery, Zürich, CH;
Alexander Duschau-wicke, Zürich, CH;
Hocoma AG, Volketswil, CH;
Abstract
A method to control a robot device that includes at least one manipulator which is moveable in an operating space, at least one actuator which actuates the manipulator, a sensor arrangement having at least one position sensor to determine the actual position of the manipulator and a controller which controls the actuator. The manipulator moves along an actual trajectory by means of an external force provided by an operator. The actuator provides compensation forces onto the manipulator influencing the torques or forces exchanged between operator and manipulator. The controller includes a conservative force field module having a conservative force field. The controller provides control signals for the actuator which provides the compensation force based on the control signals. The control signals are based on the conservative force field and on the actual position of the manipulator.