Method for controlling a dynamic system
AssigneeMassachusetts Institute of Technology
InventorsStephen Buerger, Neville Hogan
Life of this patent
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Abstract
A method for providing a controlled force to a dynamic system includes applying a force to a first actuator, transmitting the force from the first actuator to a second actuator through a closed fluid path containing a captured volume of fluid, and providing, via the second actuator, a controlled force to the dynamic system.
Claims37
A method for providing a controlled force to a dynamic system, the method comprising:
- applying a first force to a first actuator;
- in response to the force applied to the first actuator, transmitting a second force from the first actuator to a second actuator through a closed fluid path containing a captured volume of fluid;
- and
- providing, via the second actuator, a controlled force to the dynamic system.
A method of operating a fluid transmission system adapted to provide a controlled force to a dynamic system, the method comprising:
- providing a plurality of force feedback and motion feedback control values from a controller to a drive system;
- in response to at least some of the plurality of force feedback and motion feedback control values, moving a first actuator with the drive system;
- transmitting a first force from the first actuator to a second actuator through a fluid path having one end coupled to the first actuator and having one end coupled to the second actuator and having a captured amount of fluid contained therein;
- controlling, within the fluid path, at least one of:
- a compliance characteristic of the fluid within the fluid path;
- a damping characteristic of the fluid within the fluid path;
- and an inertia characteristics of fluid within the fluid path;
- and
- in response to the force provided to the second actuator, providing the controlled force to an interface with the dynamic system.
A method of operating a fluid transmission system coupled to a dynamic system, comprising:
- providing one or more force feedback and/or motion feedback control values from a controller to a drive system;
- in response to the one or more force feedback and/or motion feedback control values, moving a first actuator with the drive system;
- transmitting a force from the first actuator to a second actuator through at least one fluid path;
- and
- providing a damping force in the at least one fluid path.
Dependencies are inferred from the claim text.