Pneumatic human power amplifer module

A human power amplifier apparatus comprising:

• a lifting device;
• a pneumatic actuator;
• and
• a pneumatic human power amplifier module coupled to said pneumatic actuator for driving said lifting device to lift or lower a load, said module comprising:
• an end-effector for engaging the load, said end-effector including a sensor for detecting a human force on the end-effector;
• a controller arranged to receive an output signal from said sensor;
• and
• a pneumatic circuit coupled to said pneumatic actuator, said pneumatic circuit being arranged to receive an output signal from said controller and to control an air flow into and out of said pneumatic actuator such that said pneumatic actuator causes said lifting device to impose a device force on the load such that said human force and said device force together lift the load.

A method by which a human operator manipulates a load comprising the steps of:

• gripping an end-effector with said operator's hand;
• using the end-effector to engage the load;
• applying an operator force against said end-effector;
• measuring said operator force;
• using said measured operator force to control a flow of air into a pneumatic actuator;
• and
• controlling said flow of air into said pneumatic actuator such that said pneumatic actuator causes a lifting device to transmit a device force to said end-effector such that said end-effector and said load follow said operator's hand.

A human power amplifier apparatus comprising:

• a lifting device;
• a pneumatic actuator;
• and
• a pneumatic human power actuator module coupled to said pneumatic actuator for driving said lifting device to lift or lower a load, said module comprising:
• an end-effector for engaging the load, said end-effector including a sensor for detecting a human hand motion in the end-effector;
• a controller arranged to receive an output signal from said sensor;
• and
• a pneumatic circuit coupled to said pneumatic actuator, said pneumatic circuit being arranged to receive an output signal from said controller and to control an air flow into said pneumatic actuator such that said pneumatic actuator causes said lifting device to impose a device force on the load such that said human force and said device force together lift the load.