Hydraulic control system with tactile force and position feedback

A manipulator for controlling the movement of a plurality of movable machine members motivated by hydraulic drivers using the natural motion of a human operator, the manipulator comprising:

• A plethora of operator input subassemblies, one operator subassembly for each moveable machine member to be controlled, wherein each operator input subassembly is connected to a fitment that can communicate with an anatomical feature of an operator, and wherein application of a force to the fitment causes the operator input subassembly to output a mechanical displacement and a first hydraulic fluid displacement in a hydraulic circuit associated with that fitment, and wherein an element of the hydraulic circuit associated with said fitment to which force has been applied has at least one member in communication with an associated moving member of a hydraulically powered machine such that the motion of the moving member is translated into a second hydraulic fluid displacement that augments the first hydraulic fluid displacement in the hydraulic circuit associated with the fitment to which force has been applied and opposes the output mechanical displacement;
• a power control subassembly associated with each operator input subassembly, each said power control subassembly having a driver operator, a controllable hydraulic power source, said controllable hydraulic power source producing a stream of pressurized hydraulic fluid, and at least one hydraulic fluid sampling conduit, wherein said driver operator receives the mechanical displacement imparted by the operator input subassembly, said mechanical displacement causing the power control subassembly to engage the controllable hydraulic power source directing the stream of pressurized hydraulic fluid therefrom to at least one hydraulic driver, and wherein a portion of the stream of pressurized hydraulic fluid directed to at least one hydraulic driver is diverted through at least one hydraulic fluid sampling conduit;
• and
• a feedback subassembly for each said power control subassembly, wherein each feedback subassembly is in communication with at least one hydraulic fluid sampling conduit of the driver operator of one said power control subassembly, wherein hydraulic fluid received from the hydraulic fluid sampling conduit is used to generate a force proportional to a resistance of the hydraulic driver to movement of an associated machine member, and wherein the proportional force is directed opposing the mechanical displacement received by the driver operator from the operator input subassembly.

An apparatus for controlling the movement of a machine member the movement of which is controlled by control of a hydraulic driver, the apparatus comprising:

• an operator input subassembly comprising at least one iteration of:
• a first input hydraulic cylinder assembly having a piston movable along a bore axis of the cylinder such that it divides the cylinder bore into two chambers and wherein a piston rod is connected to the piston such that when the piston rod is displaced along the cylinder bore one of the two chambers is reduced in volume while the other is correspondingly increased in volume such that when the piston rod is displaced hydraulic fluid is drawn into the chamber having an increased volume and expelled from the chamber having a reduced volume causing a first hydraulic fluid displacement;
• a fitment connected to said first input hydraulic cylinder assembly piston rod and capable of interfacing with an operator anatomical feature such that a force applied to said fitment having a vector component coincident with the cylinder bore axis displaces said first input hydraulic cylinder assembly piston rod;
• a second input hydraulic cylinder assembly having a second piston movable along a bore axis of a second hydraulic cylinder such that it divides the cylinder bore into two chambers, and wherein a second piston rod is connected to the second piston such that when hydraulic fluid is forced into one chamber of the cylinder the piston moves along the cylinder bore, and hydraulic fluid is expelled from the other chamber, and wherein movement of said second input hydraulic cylinder assembly second piston within the cylinder bore causes a corresponding displacement of said second input hydraulic cylinder assembly second piston rod from an initial position, and wherein the said two chambers of said second input hydraulic cylinder assembly are in fluid communication with the corresponding two chambers of said first input hydraulic cylinder assembly such that when the piston rod of said first input hydraulic cylinder assembly is displaced said first hydraulic fluid displacement is transferred to said second input hydraulic cylinder assembly thereby causing a corresponding mechanical displacement of said second input hydraulic cylinder assembly second piston rod;
• a third input hydraulic cylinder assembly having a third piston movable along a bore axis of a third hydraulic cylinder such that it divides the cylinder into two chambers and a third piston rod connected to the third input hydraulic cylinder assembly third piston such that when the third input hydraulic cylinder assembly third piston rod is displaced along the cylinder bore the attached third piston moves along the cylinder bore resulting in one of the third input hydraulic cylinder assembly said two chambers being reduced in volume whilst the other is correspondingly increased in volume such that when the third input hydraulic cylinder assembly third piston rod is displaced along the cylinder bore hydraulic fluid is drawn into the chamber having an increased volume and expelled from the chamber having a reduced volume causing a second hydraulic fluid displacement, and wherein said third input hydraulic cylinder assembly third piston rod is in communication with a machine member such that movement of said machine member causes displacement of said third input hydraulic cylinder assembly third piston rod, and wherein the two chambers of said third input hydraulic cylinder assembly are in fluid communication with said corresponding chambers of said first input hydraulic cylinder assembly and said second input hydraulic cylinder assembly such that the second hydraulic fluid displacement is communicated to said first and said second hydraulic cylinder assemblies in a manner that said second hydraulic fluid displacement augments the direction of flow of the first hydraulic fluid displacement in said first input hydraulic cylinder assembly and opposes the direction of flow of the first hydraulic fluid displacement in said second input hydraulic cylinder assembly, thereby permitting said fitment connected to said first input hydraulic cylinder assembly piston rod to move in the direction of said applied force and permitting said second input hydraulic cylinder second piston rod to return to an initial position;
• a power control subassembly comprising:
• a driver operator, said driver operator comprising:
• a feedback arm pivotally attached to a frame wherein said feedback arm is in communication with said second input hydraulic cylinder assembly second piston rod such that it undergoes a displacement from an initial position in response to a mechanical displacement of said second hydraulic cylinder assembly second piston rod from an initial position;
• a first and a second variable orifice member attached to said frame and in communication with said feedback arm such that the opening of said first and said second variable orifice members are varied in opposition to each other when said feedback arm is displaced such that, as the opening of said first variable orifice member is increased the opening of said second variable orifice member is decreased, and as the opening of said second variable orifice member is increased the opening of said first variable orifice member is decreased;
• a first conduit comprising a first end, and a second end, and a pilot opening residing between said first and said second end, wherein said first end is connected to said first variable orifice member;
• a second conduit having a first end and a second end, and a pilot opening residing between said first and said second end, wherein said first end is connected to said second variable orifice member;
• a controllable hydraulic power source;
• said controllable hydraulic power source comprising at least one iteration of:
• a hydraulic power conduit having an inlet and an outlet and having two sampling orifice openings located between the inlet and the outlet, wherein said second ends of said power control subassembly driver operator first and second conduits are attached to said sampling orifice openings such that a portion of the fluid conducted through the power conduit is diverted through said first and second conduits and thence through said power control subassembly driver operator variable orifice members;
• a motor driven hydraulic pump having at least one inlet and at least one outlet, said outlet being connected to said inlet of said hydraulic power conduit;
• a reservoir having at least one outlet and being capable of holding a quantity of a hydraulic fluid and wherein said at least one outlet is connected to said at least one hydraulic pump inlet such that hydraulic fluid flows from said reservoir to said hydraulic pump thereby supplying said hydraulic pump with fluid to pump;
• a four port directional control valve having main ports 1-4 wherein controllable hydraulic power source hydraulic power conduit outlet end is attached to port 1, and wherein the valve can be switched between three connection states such that in a first state port 1 is connected to port 3 whilst port 2 is connected to port 4, in a second state port 1 is connected to port 4 whilst port 2 is connected to port 3, and in a third state no port is connected to any other port, said four port directional control valve having additionally first and second pilot ports capable of switching said directional control valve between said three states, wherein said pilot opening of said power control subassembly driver operator first conduit is connected to said first pilot port, and said pilot opening of said power control subassembly driver operator second conduit is connected to said second pilot port, and whereby said four port directional control valve is switched between said three states by controlling a pressure differential across said first and said second pilot ports through movement of said power control subassembly driver operator feedback arm;
• a return conduit having an inlet end and an outlet end, wherein said inlet end is connected to said port 2 of said four port directional control valve and said outlet end is connected to said reservoir such that fluid is conducted from the four port directional control valve to the reservoir;
• a first hydraulic fluid diverting conduit having at least one inlet and at least one outlet, wherein said inlet is connected to port 3 of said four port directional control valve;
• a second hydraulic fluid diverting conduit having at least one inlet and at least one outlet, wherein said inlet is connected to port 4 of said four port directional control valve;
• a first hydraulic fluid sampling conduit comprising:
• a shunt conduit having a first end, a second end, and a transfer opening residing between said shunt conduit first and second end;
• a first orifice member having an inlet and an outlet, said first orifice member inlet being connected to said power control subassembly controllable hydraulic power source first hydraulic fluid diverting conduit said at least one outlet, and said first orifice member outlet being connected to said shunt conduit first end;
• a second orifice member having an inlet and an outlet, said second orifice member inlet being connected to said shunt conduit second end;
• a drain conduit connected between the reservoir and said second orifice member outlet;
• a transfer conduit having a first end and a second end, said transfer conduit first end being connected to said shunt conduit transfer opening;
• a second hydraulic fluid sampling conduit comprising:
• a shunt conduit having a first end, a second end, and a transfer opening residing between said shunt conduit first and second end;
• a first orifice member having an inlet and an outlet, said first orifice member inlet being connected to said power control subassembly controllable hydraulic power source second hydraulic fluid diverting conduit said at least one outlet, and said first orifice member outlet being connected to said shunt conduit first end;
• a second orifice member having an inlet and an outlet, said second orifice member inlet being connected to said shunt conduit second end;
• a drain conduit connected between the reservoir and said second orifice member outlet;
• a transfer conduit having a first end and a second end, said transfer conduit first end being connected to said shunt conduit transfer opening;
• a feedback subassembly comprising:
• a hydraulic driver assembly in communication with said power control subassembly driver operator feedback arm, said hydraulic driver assembly having at least two input ports and a mechanical displacement output member, wherein said hydraulic driver assembly has at least one input port connected to said power control subassembly first hydraulic fluid sampling conduit transfer conduit second end, and at least one other input port connected to said power control subassembly second hydraulic fluid sampling conduit transfer conduit second end such that a stream of hydraulic fluid directed to said power control subassembly first hydraulic fluid sampling conduit causes said hydraulic driver assembly to move in a direction in opposition to the direction of motion imparted to said hydraulic driver assembly by a stream of hydraulic fluid directed to said power control subassembly second hydraulic fluid sampling conduit, and wherein the movement of said hydraulic driver induced by a stream of hydraulic fluid directed to a hydraulic fluid sampling conduit opposes the motion imparted to said feedback arm by said displacement of said second hydraulic cylinder assembly second piston rod, and wherein a stream of hydraulic fluid directed to a port of said feedback subassembly hydraulic driver generates a force that tends to restore the power control subassembly driver operator feedback arm to an initial position;
• and
• a hydraulic driver assembly in communication with a movable machine member;
• said hydraulic driver assembly having at least two input ports and a mechanical displacement output member;
• said mechanical displacement output member moving in response to hydraulic power being applied to one input port such that movement is imparted to the movable machine member in communication with said hydraulic driver assembly;
• and
• wherein said hydraulic driver assembly has at least one input port connected to said power control subassembly controllable hydraulic power source four port directional control valve port 3, and at least one other input port is connected to said power control subassembly controllable hydraulic power source four port directional control valve port 4 such that a stream of hydraulic fluid issuing from said directional control valve port 3 causes said hydraulic driver assembly to move in a direction opposite to that movement induced by a stream of hydraulic fluid issuing from said directional control valve port 4.

An apparatus for controlling the movement of a machine member the movement of which is controlled by control of a hydraulic driver, the apparatus comprising:

• an operator input subassembly comprising at least one iteration of:
• a first input hydraulic cylinder assembly having a piston movable along a bore axis of the cylinder such that it divides the cylinder bore into two chambers and wherein a piston rod is connected to the piston such that when the piston rod is displaced along the cylinder bore one of the two chambers is reduced in volume while the other is correspondingly increased in volume such that when the piston rod is displaced hydraulic fluid is drawn into the chamber having an increased volume and expelled from the chamber having a reduced volume causing a first hydraulic fluid displacement;
• a fitment connected to said first input hydraulic cylinder assembly piston rod and capable of interfacing with an operator anatomical feature such that a force applied to said fitment having a vector component coincident with the cylinder bore axis displaces said first input hydraulic cylinder assembly piston rod;
• a second input hydraulic cylinder assembly having a second piston movable along a bore axis of a second hydraulic cylinder such that it divides the cylinder bore into two chambers, and wherein a second piston rod is connected to the second piston such that when hydraulic fluid is forced into one chamber of the cylinder the piston moves along the cylinder bore, and hydraulic fluid is expelled from the other chamber, and wherein movement of said second input hydraulic cylinder assembly second piston within the cylinder bore causes a corresponding displacement of said second input hydraulic cylinder assembly second piston rod from an initial position, and wherein the said two chambers of said second input hydraulic cylinder assembly are in fluid communication with the corresponding two chambers of said first input hydraulic cylinder assembly such that when the piston rod of said first input hydraulic cylinder assembly is displaced said first hydraulic fluid displacement is transferred to said second input hydraulic cylinder assembly thereby causing a corresponding mechanical displacement of said second input hydraulic cylinder assembly second piston rod;
• a third input hydraulic cylinder assembly having a third piston movable along a bore axis of a third hydraulic cylinder such that it divides the cylinder into two chambers, and a third piston rod connected to the third input hydraulic cylinder assembly third piston such that when the third input hydraulic cylinder assembly third piston rod is displaced along the cylinder bore the attached third piston moves along the cylinder bore resulting in one of the third input hydraulic cylinder assembly two chambers being reduced in volume whilst the other is correspondingly increased in volume, such that when the third input hydraulic cylinder assembly third piston rod is displaced along the cylinder bore hydraulic fluid is drawn into the chamber having an increased volume and expelled from the chamber having a reduced volume causing a second hydraulic fluid displacement, and wherein said third input hydraulic cylinder assembly third piston rod is in communication with a machine member such that movement of said machine member causes displacement of said third input hydraulic cylinder assembly third piston rod, and wherein the two chambers of said third input hydraulic cylinder assembly are in fluid communication with said corresponding chambers of said first input hydraulic cylinder assembly and said second input hydraulic cylinder assembly such that the second hydraulic fluid displacement is communicated to said first and said second hydraulic cylinder assemblies in a manner that said second hydraulic fluid displacement augments the direction of flow of the first hydraulic fluid displacement in said first input hydraulic cylinder assembly and opposes the direction of flow of the first hydraulic fluid displacement in said second input hydraulic cylinder assembly, thereby permitting said fitment connected to said first input hydraulic cylinder assembly piston rod to move in the direction of said applied force and permitting said second input hydraulic cylinder piston rod to return to an initial position;
• a power control subassembly comprising:
• a driver operator, said driver operator comprising:
• a feedback arm slidably attached to a frame wherein said feedback arm is in communication with said second input hydraulic cylinder assembly second piston rod such that it undergoes a displacement from an initial position in response to a mechanical displacement of said second hydraulic cylinder assembly second piston rod from an initial position;
• a first and a second variable orifice member attached to said frame and in communication with said feedback arm such that the opening of said first and said second variable orifice members are varied in opposition to each other when said feedback arm is displaced such that, as the opening of said first variable orifice member is increased the opening of said second variable orifice member is decreased, and as the opening of said second variable orifice member is increased the opening of said first variable orifice member is decreased;
• a first conduit comprising a first end, and a second end, and a pilot opening residing between said first and said second end, wherein said first end is connected to said first variable orifice member;
• a second conduit having a first end and a second end, and a pilot opening residing between said first and said second end, wherein said first end is connected to said second variable orifice member;
• a controllable hydraulic power source comprising at least one iteration of:
• a hydraulic power conduit having an inlet and an outlet and having two sampling orifice openings located between the inlet and the outlet, wherein said second ends of said power control subassembly driver operator first and second conduits are attached to said sampling orifice openings such that a portion of the fluid conducted through the power conduit is diverted through said first and second conduits and thence through said power control subassembly driver operator variable orifice members;
• a motor driven hydraulic pump having at least one inlet and at least one outlet, said outlet being connected to said inlet of said hydraulic power conduit;
• a reservoir having at least one outlet and being capable of holding a quantity of a hydraulic fluid and wherein said at least one outlet is connected to said at least one hydraulic pump inlet such that hydraulic fluid flows from said reservoir to said hydraulic pump thereby supplying said hydraulic pump with fluid to pump;
• a four port directional control valve having main ports 1-4 wherein controllable hydraulic power source hydraulic power conduit outlet end is attached to port 1, and wherein the valve can be switched between three connection states such that in a first state port 1 is connected to port 3 whilst port 2 is connected to port 4, in a second state port 1 is connected to port 4 whilst port 2 is connected to port 3, and in a third state no port is connected to any other port, said four port directional control valve having additionally first and second pilot ports capable of switching said directional control valve between said three states, wherein said pilot opening of said power control subassembly driver operator first conduit is connected to said first pilot port, and said pilot opening of said power control subassembly driver operator second conduit is connected to said second pilot port, and whereby said four port directional control valve is switched between said three states by controlling a pressure differential across said first and said second pilot ports through movement of said power control subassembly driver operator feedback arm;
• a return conduit having an inlet end and an outlet end, wherein said inlet end is connected to said port 2 of said four port directional control valve and said outlet end is connected to said reservoir such that fluid is conducted from the four port directional control valve to the reservoir;
• a first hydraulic fluid diverting conduit having at least one inlet and at least one outlet, wherein said inlet is connected to port 3 of said four port directional control valve;
• a second hydraulic fluid diverting conduit having at least one inlet and at least one outlet, wherein said inlet is connected to port 4 of said four port directional control valve;
• a first hydraulic fluid sampling conduit comprising:
• a shunt conduit having a first end, a second end, and a transfer opening residing between said shunt conduit first and second end;
• a first orifice member having an inlet and an outlet, said first orifice member inlet being connected to said power control subassembly controllable hydraulic power source first hydraulic fluid diverting conduit said at least one outlet, and said first orifice member outlet being connected to said shunt conduit first end;
• a second orifice member having an inlet and an outlet, said second orifice member inlet being connected to said shunt conduit second end;
• a drain conduit connected between the reservoir and said second orifice member outlet;
• a transfer conduit having a first end and a second end, said transfer conduit first end being connected to said shunt conduit transfer opening;
• a second hydraulic fluid sampling conduit comprising:
• a shunt conduit having a first end, a second end, and a transfer opening residing between said shunt conduit first and second end;
• a first orifice member having an inlet and an outlet, said first orifice member inlet being connected to said power control subassembly controllable hydraulic power source second hydraulic fluid diverting conduit said at least one outlet, and said first orifice member outlet being connected to said shunt conduit first end;
• a second orifice member having an inlet and an outlet, said second orifice member inlet being connected to said shunt conduit second end;
• a drain conduit connected between the reservoir and said second orifice member outlet;
• a transfer conduit having a first end and a second end, said transfer conduit first end being connected to said shunt conduit transfer opening;
• a feedback subassembly comprising:
• a hydraulic driver assembly in communication with said power control subassembly driver operator feedback arm, said hydraulic driver assembly having at least two input ports and a mechanical displacement output member, wherein said hydraulic driver assembly has at least one input port connected to said power control subassembly first hydraulic fluid sampling conduit transfer conduit second end, and at least one other input port connected to said power control subassembly second hydraulic fluid sampling conduit transfer conduit second end such that a stream of hydraulic fluid directed to said power control subassembly first hydraulic fluid sampling conduit causes said hydraulic driver assembly to move in a direction in opposition to the direction of motion imparted to said hydraulic driver assembly by a stream of hydraulic fluid directed to said power control subassembly second hydraulic fluid sampling conduit, and wherein the movement of said hydraulic driver induced by a stream of hydraulic fluid directed to a hydraulic fluid sampling conduit opposes the motion imparted to said feedback arm by said displacement of said second hydraulic cylinder assembly second piston rod, and wherein a stream of hydraulic fluid directed to a port of said feedback subassembly hydraulic driver generates a force that tends to restore the power control subassembly driver operator feedback arm to an initial position;
• and
• a hydraulic driver assembly in communication with a movable machine member, said hydraulic driver assembly having at least two input ports and a mechanical displacement output member, said mechanical displacement output member moving in response to hydraulic power being applied to one input port such that movement is imparted to the movable machine member in communication with said hydraulic driver assembly, and wherein said hydraulic driver assembly has at least one input port connected to said power control subassembly controllable hydraulic power source four port directional control valve port 3 and at least one other input port is connected to said power control subassembly controllable hydraulic power source four port directional control valve port 4 such that a stream of hydraulic fluid issuing from said directional control valve port 3 causes said hydraulic driver assembly to move in a direction opposite to that movement induced by a stream of hydraulic fluid issuing from said directional control valve port 4.

An apparatus for controlling the movement of a machine member the movement of which is controlled by control of a hydraulic driver, the apparatus comprising:

• an operator input subassembly comprising at least one iteration of:
• a first input hydraulic cylinder assembly having a piston movable along a bore axis of the cylinder such that it divides the cylinder bore into two chambers and wherein a piston rod is connected to the piston such that when the piston rod is displaced along the cylinder bore one of the two chambers is reduced in volume while the other is correspondingly increased in volume such that when the piston rod is displaced hydraulic fluid is drawn into the chamber having an increased volume and expelled from the chamber having a reduced volume causing a first hydraulic fluid displacement;
• a fitment connected to said first input hydraulic cylinder assembly piston rod and capable of interfacing with an operator anatomical feature such that a force applied to said fitment having a vector component coincident with the cylinder bore axis displaces said first input hydraulic cylinder assembly piston rod;
• a second input hydraulic cylinder assembly having a second piston movable along a bore axis of a second hydraulic cylinder such that it divides the cylinder bore into two chambers and wherein a second piston rod is connected to the second piston such that when hydraulic fluid is forced into one chamber of the cylinder the second piston moves along the cylinder bore and hydraulic fluid is expelled from the other chamber, and wherein movement of said second input hydraulic cylinder assembly second piston within the cylinder bore causes a corresponding displacement of said second input hydraulic cylinder assembly second piston rod from an initial position, and wherein the said two chambers of said second input hydraulic cylinder assembly are in fluid communication with the corresponding two chambers of said first input hydraulic cylinder assembly such that when the piston rod of said first input hydraulic cylinder assembly is displaced said first hydraulic fluid displacement is transferred to said second input hydraulic cylinder assembly thereby causing a corresponding mechanical displacement of said second input hydraulic cylinder assembly second piston rod;
• a third input hydraulic cylinder assembly having a third piston movable along a bore axis of a third hydraulic cylinder such that it divides the cylinder into two chambers and a third piston rod connected to the third input hydraulic cylinder assembly third piston such that when the third input hydraulic cylinder assembly third piston rod is displaced along the cylinder bore the attached piston moves along the cylinder bore resulting in one of the third input hydraulic cylinder assembly said two chambers being reduced in volume whilst the other is correspondingly increased in volume such that when the third input hydraulic cylinder assembly third piston rod is displaced along the cylinder bore hydraulic fluid is drawn into the chamber having an increased volume and expelled from the chamber having a reduced volume causing a second hydraulic fluid displacement, and wherein said third input hydraulic cylinder assembly third piston rod is in communication with a machine member such that movement of said machine member causes displacement of said third input hydraulic cylinder assembly third piston rod, and wherein the two chambers of said third input hydraulic cylinder assembly are in fluid communication with said corresponding chambers of said first input hydraulic cylinder assembly and said second input hydraulic cylinder assembly such that the second hydraulic fluid displacement is communicated to said first and said second hydraulic cylinder assemblies in a manner that said second hydraulic fluid displacement augments the direction of flow of the first hydraulic fluid displacement in said first input hydraulic cylinder assembly and opposes the direction of flow of the first hydraulic fluid displacement in said second input hydraulic cylinder assembly, thereby permitting said fitment connected to said first input hydraulic cylinder assembly piston rod to move in the direction of said applied force and permitting said second input hydraulic cylinder second piston rod to return to an initial position;
• a power control subassembly comprising:
• a driver operator, said driver operator comprising:
• a feedback arm pivotally attached to a frame wherein said feedback arm is in communication with said second input hydraulic cylinder assembly second piston rod such that it undergoes a displacement from an initial position in response to a mechanical displacement of said second hydraulic cylinder assembly second piston rod from an initial position;
• a first and a second variable orifice member attached to said frame and in communication with said feedback arm such that the opening of said first and said second variable orifice members are varied in opposition to each other when said feedback arm is displaced such that, as the opening of said first variable orifice member is increased the opening of said second variable orifice member is decreased, and as the opening of said second variable orifice member is increased the opening of said first variable orifice member is decreased;
• a first conduit comprising a first end, and a second end, and a pilot opening residing between said first and said second end, wherein said first end is connected to said first variable orifice member;
• a second conduit having a first end and a second end, and a pilot opening residing between said first and said second end, wherein said first end is connected to said second variable orifice member;
• a controllable hydraulic power source comprising at least one iteration of:
• a hydraulic power conduit having an inlet and an outlet and having two sampling orifice openings located between the inlet and the outlet, wherein said second ends of said power control subassembly driver operator first and second conduits are attached to said sampling orifice openings such that a portion of the fluid conducted through the power conduit is diverted through said first and second conduits and thence through said power control subassembly driver operator variable orifice members;
• a motor driven hydraulic pump having at least one inlet and at least one outlet, said outlet being connected to said inlet of said hydraulic power conduit;
• a reservoir having at least one outlet and being capable of holding a quantity of a hydraulic fluid and wherein said at least one outlet is connected to said at least one hydraulic pump inlet such that hydraulic fluid flows from said reservoir to said hydraulic pump thereby supplying said hydraulic pump with fluid to pump;
• a four port directional control valve having main ports 1-4 wherein controllable hydraulic power source hydraulic power conduit outlet end is attached to port 1, and wherein the valve can be switched between three connection states such that in a first state port 1 is connected to port 3 whilst port 2 is connected to port 4, in a second state port 1 is connected to port 4 whilst port 2 is connected to port 3, and in a third state no port is connected to any other port, said four port directional control valve having additionally first and second pilot ports capable of switching said directional control valve between said three states, wherein said pilot opening of said power control subassembly driver operator first conduit is connected to said first pilot port, and said pilot opening of said power control subassembly driver operator second conduit is connected to said second pilot port, and whereby said four port directional control valve is switched between said three states by controlling a pressure differential across said first and said second pilot ports through movement of said power control subassembly driver operator feedback arm;
• a return conduit having an inlet end and an outlet end, wherein said inlet end is connected to said port 2 of said four port directional control valve and said outlet end is connected to said reservoir such that fluid is conducted from the four port directional control valve to the reservoir;
• a first hydraulic fluid diverting conduit having at least one inlet and at least one outlet, wherein said inlet is connected to port 3 of said four port directional control valve;
• a second hydraulic fluid diverting conduit having at least one inlet and at least one outlet, wherein said inlet is connected to port 4 of said four port directional control valve;
• a first hydraulic fluid sampling conduit comprising:
• a shunt conduit having a first end, a second end, and a transfer opening residing between said shunt conduit first and second end;
• a first orifice member having an inlet and an outlet, said first orifice member inlet being connected to said power control subassembly controllable hydraulic power source first hydraulic fluid diverting conduit said at least one outlet, and said first orifice member outlet being connected to said shunt conduit first end;
• an outlet manifold having an inlet and at least two outlet openings, said inlet being connected to said shunt conduit second end;
• a plethora of second orifice members, each having an inlet and an outlet, each said second orifice member inlet being connected to one opening of each said outlet opening of said outlet manifold;
• a drain conduit connected between the reservoir and said second orifice member outlet;
• a transfer conduit having a first end and a second end, said transfer conduit first end being connected to said shunt conduit transfer opening;
• a second hydraulic fluid sampling conduit comprising:
• a shunt conduit having a first end, a second end, and a transfer opening residing between said shunt conduit first and second end;
• a first orifice member having an inlet and an outlet, said first orifice member inlet being connected to said power control subassembly controllable hydraulic power source second hydraulic fluid diverting conduit said at least one outlet, and said first orifice member outlet being connected to said shunt conduit first end;
• an outlet manifold having an inlet and at least two outlet openings, said inlet being connected to said shunt conduit second end;
• a plethora of second orifice members, each having an inlet and an outlet, each said second orifice member inlet being connected to one opening of each said outlet opening of said outlet manifold;
• a drain conduit connected between the reservoir and said second orifice member outlet;
• a transfer conduit having a first end and a second end, said transfer conduit first end being connected to said shunt conduit transfer opening;
• a feedback subassembly comprising:
• a hydraulic driver assembly in communication with said power control subassembly driver operator feedback arm, said hydraulic driver assembly having at least two input ports and a mechanical displacement output member, wherein said hydraulic driver assembly has at least one input port connected to said power control subassembly first hydraulic fluid sampling conduit transfer conduit second end, and at least one other input port connected to said power control subassembly second hydraulic fluid sampling conduit transfer conduit second end such that a stream of hydraulic fluid directed to said power control subassembly first hydraulic fluid sampling conduit causes said hydraulic driver assembly to move in a direction in opposition to the direction of motion imparted to said hydraulic driver assembly by a stream of hydraulic fluid directed to said power control subassembly second hydraulic fluid sampling conduit, and wherein the movement of said hydraulic driver induced by a stream of hydraulic fluid directed to a hydraulic fluid sampling conduit opposes the motion imparted to said feedback arm by said displacement of said second hydraulic cylinder assembly second piston rod, and wherein a stream of hydraulic fluid directed to a port of said feedback subassembly hydraulic driver generates a force that tends to restore the power control subassembly driver operator feedback arm to an initial position;
• and
• a hydraulic driver assembly in communication with a movable machine member, said hydraulic driver assembly having at least two input ports and a mechanical displacement output member, said mechanical displacement output member moving in response to hydraulic power being applied to one input port such that movement is imparted to the movable machine member in communication with said hydraulic driver assembly, and wherein said hydraulic driver assembly has at least one input port connected to said power control subassembly controllable hydraulic power source four port directional control valve port 3 and at least one other input port is connected to said power control subassembly controllable hydraulic power source four port directional control valve port 4 such that a stream of hydraulic fluid issuing from said directional control valve port 3 causes said hydraulic driver assembly to move in a direction opposite to that movement induced by a stream of hydraulic fluid issuing from said directional control valve port 4.

An apparatus for controlling the movement of a machine member the movement of which is controlled by control of a hydraulic driver, the apparatus comprising:

• an operator input subassembly comprising at least one iteration of:
• a first input hydraulic cylinder assembly having a piston movable along a bore axis of the cylinder such that it divides the cylinder bore into two chambers and wherein a piston rod is connected to the piston such that when the piston rod is displaced along the cylinder bore one of the two chambers is reduced in volume while the other is correspondingly increased in volume such that when the piston rod is displaced hydraulic fluid is drawn into the chamber having an increased volume and expelled from the chamber having a reduced volume causing a first hydraulic fluid displacement;
• a fitment connected to said first input hydraulic cylinder assembly piston rod and capable of interfacing with an operator anatomical feature such that a force applied to said fitment having a vector component coincident with the cylinder bore axis displaces said first input hydraulic cylinder assembly piston rod;
• a second input hydraulic cylinder assembly having a second piston movable along a bore axis of a second hydraulic cylinder such that it divides the cylinder bore into two chambers and wherein a second piston rod is connected to the piston such that when hydraulic fluid is forced into one chamber of the cylinder the piston moves along the cylinder bore and hydraulic fluid is expelled from the other chamber, and wherein movement of said second input hydraulic cylinder assembly second piston within the cylinder bore causes a corresponding displacement of said second input hydraulic cylinder assembly second piston rod from an initial position, and wherein the said two chambers of said second input hydraulic cylinder assembly are in fluid communication with the corresponding two chambers of said first input hydraulic cylinder assembly such that when the piston rod of said first input hydraulic cylinder assembly is displaced said first hydraulic fluid displacement is transferred to said second input hydraulic cylinder assembly thereby causing a corresponding mechanical displacement of said second input hydraulic cylinder assembly second piston rod;
• a third input hydraulic cylinder assembly having a third piston movable along a bore axis of a third hydraulic cylinder such that it divides the cylinder into two chambers and a third piston rod connected to the third input hydraulic cylinder assembly third piston such that when the third input hydraulic cylinder assembly third piston rod is displaced along the cylinder bore the attached third piston moves along the cylinder bore resulting in one of the third input hydraulic cylinder assembly said two chambers being reduced in volume whilst the other is correspondingly increased in volume such that when the third input hydraulic cylinder assembly third piston rod is displaced along the cylinder bore hydraulic fluid is drawn into the chamber having an increased volume and expelled from the chamber having a reduced volume causing a second hydraulic fluid displacement, and wherein said third input hydraulic cylinder assembly third piston rod is in communication with a machine member such that movement of said machine member causes displacement of said third input hydraulic cylinder assembly third piston rod, and wherein the two chambers of said third input hydraulic cylinder assembly are in fluid communication with said corresponding chambers of said first input hydraulic cylinder assembly and said second input hydraulic cylinder assembly such that the second hydraulic fluid displacement is communicated to said first and said second hydraulic cylinder assemblies in a manner that said second hydraulic fluid displacement augments the direction of flow of the first hydraulic fluid displacement in said first input hydraulic cylinder assembly and opposes the direction of flow of the first hydraulic fluid displacement in said second input hydraulic cylinder assembly, thereby permitting said fitment connected to said first input hydraulic cylinder assembly piston rod to move in the direction of said applied force and permitting said second input hydraulic cylinder second piston rod to return to an initial position;
• a power control subassembly comprising:
• a driver operator, said driver operator comprising:
• a feedback arm slidably attached to a frame wherein said feedback arm is in communication with said second input hydraulic cylinder assembly second piston rod such that it undergoes a displacement from an initial position in response to a mechanical displacement of said second hydraulic cylinder assembly second piston rod from an initial position;
• a first and a second variable orifice member attached to said frame and in communication with said feedback arm such that the opening of said first and said second variable orifice members are varied in opposition to each other when said feedback arm is displaced such that, as the opening of said first variable orifice member is increased the opening of said second variable orifice member is decreased, and as the opening of said second variable orifice member is increased the opening of said first variable orifice member is decreased;
• a first conduit comprising a first end, and a second end, and a pilot opening residing between said first and said second end, wherein said first end is connected to said first variable orifice member;
• a second conduit having a first end and a second end, and a pilot opening residing between said first and said second end, wherein said first end is connected to said second variable orifice member;
• a controllable hydraulic power source comprising at least one iteration of:
• a hydraulic power conduit having an inlet and an outlet and having two sampling orifice openings located between the inlet and the outlet, wherein said second ends of said power control subassembly driver operator first and second conduits are attached to said sampling orifice openings such that a portion of the fluid conducted through the power conduit is diverted through said first and second conduits and thence through said power control subassembly driver operator variable orifice members;
• a motor driven hydraulic pump having at least one inlet and at least one outlet, said outlet being connected to said inlet of said hydraulic power conduit;
• a reservoir having at least one outlet and being capable of holding a quantity of a hydraulic fluid and wherein said at least one outlet is connected to said at least one hydraulic pump inlet such that hydraulic fluid flows from said reservoir to said hydraulic pump thereby supplying said hydraulic pump with fluid to pump;
• a four port directional control valve having main ports 1-4 wherein controllable hydraulic power source hydraulic power conduit outlet end is attached to port 1, and wherein the valve can be switched between three connection states such that in a first state port 1 is connected to port 3 whilst port 2 is connected to port 4, in a second state port 1 is connected to port 4 whilst port 2 is connected to port 3, and in a third state no port is connected to any other port, said four port directional control valve having additionally first and second pilot ports capable of switching said directional control valve between said three states, wherein said pilot opening of said power control subassembly driver operator first conduit is connected to said first pilot port, and said pilot opening of said power control subassembly driver operator second conduit is connected to said second pilot port, and whereby said four port directional control valve is switched between said three states by controlling a pressure differential across said first and said second pilot ports through movement of said power control subassembly driver operator feedback arm;
• a return conduit having an inlet end and an outlet end, wherein said inlet end is connected to said port 2 of said four port directional control valve and said outlet end is connected to said reservoir such that fluid is conducted from the four port directional control valve to the reservoir;
• a first hydraulic fluid diverting conduit having at least one inlet and at least one outlet, wherein said inlet is connected to port 3 of said four port directional control valve;
• a second hydraulic fluid diverting conduit having at least one inlet and at least one outlet, wherein said inlet is connected to port 4 of said four port directional control valve;
• a first hydraulic fluid sampling conduit comprising:
• a shunt conduit having a first end, a second end, and a transfer opening residing between said shunt conduit first and second end;
• a first orifice member having an inlet and an outlet, said first orifice member inlet being connected to said power control subassembly controllable hydraulic power source first hydraulic fluid diverting conduit said at least one outlet, and said first orifice member outlet being connected to said shunt conduit first end;
• an outlet manifold having an inlet and at least two outlet openings, said inlet being connected to said shunt conduit second end;
• a plethora of second orifice members, each having an inlet and an outlet, each said second orifice member inlet being connected to one opening of each said outlet opening of said outlet manifold;
• a drain conduit connected between the reservoir and said second orifice member outlet;
• a transfer conduit having a first end and a second end, said transfer conduit first end being connected to said shunt conduit transfer opening;
• a second hydraulic fluid sampling conduit comprising:
• a shunt conduit having a first end, a second end, and a transfer opening residing between said shunt conduit first and second end;
• a first orifice member having an inlet and an outlet, said first orifice member inlet being connected to said power control subassembly controllable hydraulic power source second hydraulic fluid diverting conduit said at least one outlet, and said first orifice member outlet being connected to said shunt conduit first end;
• an outlet manifold having an inlet and at least two outlet openings, said inlet being connected to said shunt conduit second end;
• a plethora of second orifice members, each having an inlet and an outlet, each said second orifice member inlet being connected to one opening of each said outlet opening of said outlet manifold;
• a drain conduit connected between the reservoir and said second orifice member outlet;
• a transfer conduit having a first end and a second end, said transfer conduit first end being connected to said shunt conduit transfer opening;
• a feedback subassembly comprising:
• a hydraulic driver assembly in communication with said power control subassembly driver operator feedback arm, said hydraulic driver assembly having at least two input ports and a mechanical displacement output member, wherein said hydraulic driver assembly has at least one input port connected to said power control subassembly first hydraulic fluid sampling conduit transfer conduit second end, and at least one other input port connected to said power control subassembly second hydraulic fluid sampling conduit transfer conduit second end such that a stream of hydraulic fluid directed to said power control subassembly first hydraulic fluid sampling conduit causes said hydraulic driver assembly to move in a direction in opposition to the direction of motion imparted to said hydraulic driver assembly by a stream of hydraulic fluid directed to said power control subassembly second hydraulic fluid sampling conduit, and wherein the movement of said hydraulic driver induced by a stream of hydraulic fluid directed to a hydraulic fluid sampling conduit opposes the motion imparted to said feedback arm by said displacement of said second hydraulic cylinder assembly second piston rod, and wherein a stream of hydraulic fluid directed to a port of said feedback subassembly hydraulic driver generates a force that tends to restore the power control subassembly driver operator feedback arm to an initial position;
• and
• a hydraulic driver assembly in communication with a movable machine member, said hydraulic driver assembly having at least two input ports and a mechanical displacement output member, said mechanical displacement output member moving in response to hydraulic power being applied to one input port such that movement is imparted to the movable machine member in communication with said hydraulic driver assembly, and wherein said hydraulic driver assembly has at least one input port connected to said power control subassembly controllable hydraulic power source four port directional control valve port 3 and at least one other input port is connected to said power control subassembly controllable hydraulic power source four port directional control valve port 4 such that a stream of hydraulic fluid issuing from said directional control valve port 3 causes said hydraulic driver assembly to move in a direction opposite to that movement induced by a stream of hydraulic fluid issuing from said directional control valve port 4.

A process for controlling the motion of a machine member motivated by a hydraulic driver, said process comprising the steps of:

• translating the force exerted by the anatomy of a human operator into a first hydraulic fluid displacement in a closed loop hydraulic control system;
• displacing a control member from an initial position with the first hydraulic fluid displacement;
• actuating a directional control valve with said control member displacement, thereby directing a stream of hydraulic fluid to a first hydraulic driver and thereby operating said hydraulic driver;
• communicating the motion of the first hydraulic driver to a machine member, thereby moving said machine member;
• diverting a portion of said stream of hydraulic fluid directed to the first hydraulic driver to a feedback driver such that the feedback driver outputs a force proportionate to the force exerted by the first hydraulic driver;
• applying the output force of said feedback driver to the control member, thereby imposing upon the control member a force that tends to restore it to said initial position, wherein the restoring force is proportionate to the force exerted by the first hydraulic driver;
• translating the motion of the machine member being moved by the first hydraulic driver to a second hydraulic fluid displacement proportionate to the motion of the machine member;
• directing the second hydraulic fluid displacement into the closed loop hydraulic control system such that it augments the first hydraulic fluid displacement and opposes said control member displacement;
• and
• transferring the second hydraulic fluid displacement and the restoring force exerted against said control member to the anatomy of a human operator, thereby imparting information on a tactile level regarding the position, speed, direction of movement, and resistance to movement of an associated machine member.