Apparatus and methods for a human extender
Abstract
A human extender controller for interface between a human operator and a physical object through a physical plant. The human extender controller uses an inner-feedback loop to increase the equivalent damping of the operating system to stabilize the system when it contacts with the environment and reduces the impact of the environment variation by utilizing a high feedback gain, determined by a root locus sketch. Because the stability of the human extender controller of the present invention is greatly enhanced over that of the prior art, the present invention is able to achieve a force reflection ratio 500 to 1 and capable of handling loads above the two (2) ton range.
- Inventors:
-
- Knoxville, TN
- Issue Date:
- Research Org.:
- Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
- OSTI Identifier:
- 873923
- Patent Number(s):
- 6272924
- Assignee:
- Lockheed Martin Energy Research Corporation (Oak Ridge, TN)
- Patent Classifications (CPCs):
-
B - PERFORMING OPERATIONS B62 - LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS B62D - MOTOR VEHICLES
B - PERFORMING OPERATIONS B66 - HOISTING B66C - CRANES
- DOE Contract Number:
- AC04-76
- Resource Type:
- Patent
- Country of Publication:
- United States
- Language:
- English
- Subject:
- apparatus; methods; human; extender; controller; interface; operator; physical; plant; inner-feedback; loop; increase; equivalent; damping; operating; stabilize; contacts; environment; reduces; impact; variation; utilizing; feedback; determined; root; locus; sketch; stability; greatly; enhanced; prior; achieve; force; reflection; ratio; 500; capable; handling; loads; ton; range; feedback loop; human extender; greatly enhanced; extender controller; human operator; inner-feedback loop; equivalent damping; physical plant; /73/318/
Citation Formats
Jansen, John F. Apparatus and methods for a human extender. United States: N. p., 2001.
Web.
Jansen, John F. Apparatus and methods for a human extender. United States.
Jansen, John F. Mon .
"Apparatus and methods for a human extender". United States. https://www.osti.gov/servlets/purl/873923.
@article{osti_873923,
title = {Apparatus and methods for a human extender},
author = {Jansen, John F},
abstractNote = {A human extender controller for interface between a human operator and a physical object through a physical plant. The human extender controller uses an inner-feedback loop to increase the equivalent damping of the operating system to stabilize the system when it contacts with the environment and reduces the impact of the environment variation by utilizing a high feedback gain, determined by a root locus sketch. Because the stability of the human extender controller of the present invention is greatly enhanced over that of the prior art, the present invention is able to achieve a force reflection ratio 500 to 1 and capable of handling loads above the two (2) ton range.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Mon Jan 01 00:00:00 EST 2001},
month = {Mon Jan 01 00:00:00 EST 2001}
}
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