Apparatus for detecting forces directing the movement of a...

Details Apparatus for detecting forces directing the movement of a... Apparatus for detecting forces directing the movement of a...

B - Operations, Transporting

25

J

342/10, 294/4

B25J 9/00 (2006.01) B25J 13/02 (2006.01) G05B 19/423 (2006.01)

Patent

CA 1139404

APPARATUS FOR DETECTING FORCES DIRECTING THE MOVEMENT OF A MANIPULATING INSTRUMENT Abstract of the Disclosure An apparatus attached to a motor driven manipulating instrument for detecting and identifying specific forces employed in moving said instrument along a predetermined spatial track. The apparatus includes a center portion rigidly attached to the manipulating instrument and a sleeve member surrounding the center portion. A plurality of separate, flexible blades join the sleeve and center portions to each other, with a separate transducer fixedly attached to each flexible blade and capable of detecting bending forces employed to move the sleeve and attached instrument. The transducers generate output signals indicative of the magnitude and direction of the forces, which signals are used for establishing a program for controlling the actuation of the various motors to allow the instrument to repeatedly execute the course set forth in the program.

335986

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