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Title: Apparatus and methods for a human de-amplifier system

Patent ·
OSTI ID:873074
 [1];  [2]
  1. Oak Ridge, TN
  2. Knoxville, TN
+ Show Author Affiliations

A human de-amplifier system for interfacing a human operator and a physical object through a physical plant, wherein the physical object has dimensions in the range of 1 micrometer to 1 mm. The human de-amplifier system uses an inner-feedback loop to increases 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 de-amplifier system of the present invention is greatly enhanced over that of the prior art, the de-amplifier system is able to manipulate the physical object has dimensions in the range of 1 micrometer to 1 mm with high stability and accuracy. The system also has a monitoring device to monitor the motion of the physical object under manipulation.

Research Organization:
Oak Ridge National Laboratory (ORNL), Oak Ridge, TN (United States)
DOE Contract Number:
AC05-84OR21400
Assignee:
Lockheed Martin Energy Research Corporation (Oak Ridge, TN)
Patent Number(s):
US 6084371
OSTI ID:
873074
Country of Publication:
United States
Language:
English

References (7)

Issues on the Control of Robotic Systems Worn by Humans conference June 1991
Dynamics and Control of Robotic Systems Worn by Humans journal September 1991
A virtual exercise machine
  • Kazerooni, H.; Her, M. G.
  • [1993] IEEE International Conference on Robotics and Automation, [1993] Proceedings IEEE International Conference on Robotics and Automation https://doi.org/10.1109/ROBOT.1993.291988
conference January 1993
Human Extenders journal June 1993
On the Control and Stability of Robots Worn by Human: Theory conference June 1989
Human-robot interaction via the transfer of power and information signals journal January 1990
On the Control and Stability of Robots Worn by Human: Experiments conference June 1989

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Related Subjects

apparatus
methods
human
de-amplifier
interfacing
operator
physical
plant
dimensions
range
micrometer
inner-feedback
loop
increases
equivalent
damping
operating
stabilize
contacts
environment
reduces
impact
variation
utilizing
feedback
determined
root
locus
sketch
stability
greatly
enhanced
prior
manipulate
accuracy
monitoring
device
monitor
motion
manipulation
monitoring device
feedback loop
human de-amplifier
greatly enhanced
human operator
inner-feedback loop
equivalent damping
physical plant
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