Apparatus and methods for a human de-amplifier system

A system for interfacing a human operator and a physical object through a physical plant, wherein the physical plant is driven by at least one actuator and the physical object has dimensions in the range of 1 micrometer to 1 mm, comprising:

• a. a controller including:
• i. at least one first force sensitive device for generating contact force signals representative of forces from the hand of the human operator interacting with the surrounding environment;
• ii. at least one second force sensitive device for generating interacting force signals representative of forces caused at the physical plant by the interaction between the physical plant and the physical object;
• iii. at least one third force sensitive device for generating actuating force signals representative of forces caused at the actuator by the interaction between the physical plant and the physical object;
• iv. a compensator for compensating the contact and interacting force signals, wherein the compensator is capable of producing high feedback gain;
• v. an inner-feedback loop having a constant gain for compensating the actuating force signals, the inner-feedback loop comprising a load cell;
• and
• vi. a limiter receiving the compensated contact force signals, interacting force signals and actuating force signals, and thereby generating drive signals for manipulating the physical object;
• and
• b. a monitoring device connected to the controller, providing the controller information related to the positions of the physical object, wherein the monitoring device comprises a visual display, whereby the actuator receives the drive signals and uses the drive signals to manipulate the physical object through the physical plant.

A method for interfacing a human operator and a physical object through a physical plant, wherein the physical plant is driven by at least one actuator and the physical object has dimensions in the range of 1 micrometer to 1 mm, comprising the steps of:

• a. providing drive signals;
• b. using the drive signals to manipulate the physical object;
• and
• c. monitoring the motion of the physical object.