# US 5,390,104 A · Adaptive control man-augmentation system for a suspended work station

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- Number: US 5,390,104 A
- Document ID: US5390104A
- Status: Granted
- Kind: A
- Application number: 08/031,956
- Filed: 1993-03-16
- Granted: 1995-02-14
- Earliest claimed: 1990-04-02
- Inventors: Francis M. Fulton
- Web page: https://patentgrep.com/patent/US5390104A

## CPC

- B25J 9/1689: {Teleoperation}
- B66F 11/046: {of the telescoping type}
- G05B 19/427: Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower control (G05B19/423 takes precedence)
- G05B 2219/31018: Virtual factory, modules in network, can be selected and combined at will
- G05B 2219/40298: Manipulator on vehicle, wheels, mobile
- G05B 2219/45071: Aircraft, airplane, ship cleaning manipulator, paint stripping
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

An adaptive control man-augmentation system controls the movement of a suspended work station. A support structure, usually mounted on a chassis, has an extendible boom and a work station at the end of the boom. A directing member pivots in accordance with operator movements and the pivotal movement is resolved along three axes, normal to each other and at any point in time having a fixed but readily alterable relationship the boom. Resolving of the movement provides signals for moving the boom so as to move the work station to any desired location and orienting the work station, in response to operator movements. The position of the work station and other selected functional system are monitored. The signals are continuously processed and outputs adapted with respect to situation variables to produce immediate and accurate operational responses of the workstation to match operator requirements.

## Claims

### Claim 1

An adaptive control man-augmentation system for controllably moving a load manipulator, comprising:
a support structure including at least one movable member supporting a load manipulation means;
means for moving said at least one movable member to move said load manipulation means in preselected directions;
means for continuously monitoring the position of said load manipulating means relative to a predetermined support structure coordinate;
a directing member means including means for connection of said directing member to an operator's body part for movement therewith, said directing member means being an arm-mounted controller interface means;
said arm-mounted controller interface means comprising trough-shaped sections attached to upper and lower arm sections respectively, and motion responsive means in said trough-shaped sections responsive to relative movement of said upper and lower arm;
control means for determining movement of said directing member by said operator and resolving said movement relative to two axes normal to each other and in a substantially horizontal plane and having a substantially fixed relationship to said support structure;
said control means including means for producing control signals related to the direction of said movement relative to said axes and related to the displacement of said directing member, to move said load manipulation means in the direction of said movement at a speed relative to said displacement, and further including a micro-processor adapted to receive signals produced by said operator's body part positioning and to generate said control signals, said micro-processor being programmable so as to transpose said operator's body reflex generated movements into precise work station movements, maintaining said load manipulator at a predetermined position.

### Claim 2 (depends on 1)

The system according to claim 1 in which said motion responsive means comprise gravity-driven planar inclinometer for generating precision electrical outputs proportional to angular orientation of said upper and lower arm.

### Claim 3 (depends on 2)

The system according to claim 2 in which said gravity-driven planar inclinometer comprises; a non-conducting face section; a flat-faced, ribbon-shaped linear resistive strip bonded to said non-conductive face section; terminal connecting means connecting supply voltage across said linear resistive strip; a rear-section attached to said face-section behind said linear resistive strip, said rear section having a circumferential groove; a low-resistance conductive material in said circumferential groove; an output terminal connected to said low resistance conductive material; gravity responsive contact wiping means connecting said linear resistive strip to said output terminal through said low-resistance conductive material in said circumferential groove; whereby the relative position of said gravity responsive contact wiping means indicates the position of a body part.

### Claim 4 (depends on 3)

The system according to claim 3 in which said gravity driven planar inclinometer means is in a horse-shoe shape for connecting to the wrist to indicate wrist movement.

### Claim 5 (depends on 1)

The system according to claim 1 in which said directing member means includes a motion responsive means mounted on the wrist of said arm for generating electrical outputs proportional to angular rotation of the wrist.

### Claim 6 (depends on 5)

The system according to claim 5 including a thumb glove for mounting on the thumb of said arm; switch means on said thumb glove for activating operation of said means for moving said load manipulating means.

### Claim 7

An adaptive control man-augmentation system for controllably moving a load manipulator, comprising:
a support structure including at least one movable member supporting a load manipulation means;
means for moving said at least one movable member to move said load manipulation means in preselected directions;
means for continuously monitoring the position of said load manipulating means relative to a predetermined support structure coordinate;
a directing member means including means for connection of said directing member to an operator's body part for movement therewith, said directing member means being a body mounted interface attached to and responsive to movements of the upper torso;
said body mounted interface comprises a vest-back attached biaxial inclinometer sensor means, said biaxial inclinometer means responsive to forward, backward, and side to side movements of said torso for generating electrical outputs proportional to said torso movements;
control means for determining movement of said directing member by said operator and resolving said movement relative to two axes normal to each other and in a substantially horizontal plane and having a substantially fixed relationship to said support structure;
said control means including means for producing control signals related to the direction of said movement relative to said axes and related to the displacement of said directing member, to move said load manipulation means in the direction of said movement at a speed relative to said displacement, and further including a micro-processor adapted to receive signals produced by said operator's body part positioning and to generate said control signals, said micro-processor being programmable so as to transpose said operator's body reflex generated movements into precise work station movements, maintaining said load manipulator at a predetermined position.

### Claim 8

A gravity-driven inclinometer for indicating relative body movements comprising; a non-conducting face section; a flat-faced, ribbon-shaped linear resistive strip bonded to said non-conductive face section; terminal connecting means connecting supply voltage across said linear resistive strip; a rear-section attached to said face-section behind said linear resistive strip, said rear section having a circumferential groove; a low-resistance conductive material in said circumferential groove; an output terminal connected to said low resistance conductive material; gravity responsive contact wiping means connecting said linear resistive strip to said output terminal through said low-resistance conductive material in said circumferential groove; whereby the relative position of said gravity responsive contact wiping means indicates the position of a body part.

### Claim 9 (depends on 8)

The inclinometer according to claim 8 in which said gravity driven planar inclinometer means is in a horse-shoe shape for connecting to the wrist to indicate wrist movement.