CONTROL SYSTEM AND DEVICE FOR PATIENT ASSIST

摘要

Systems and methods for use with haptic devices. A control system for haptic devices determines a first course of action based on a user's motion. Prior to implementing the first course of action, the control system determines if the first course of action would lead to instability in the haptic device which could cause an unsafe situation such as failure of its components. If the first course of action would lead to instability, the control device determines a second course of action that would not lead to instability and implements this second course of action. To assist in this second course of action and to prevent potential oscillation in the haptic device, the control system also selectively dampens a projected action of the haptic device. A haptic device using such a control system is also disclosed.

主权项

1. A method for controlling a haptic device, the method comprising:
receiving a data input derived from sensors indicating a motion of said device; determining at least one stability boundary for said device, the or each of said stability boundary being based at least on a current position and velocity of said device; determining a first reaction course of action based on said data input, said first reaction course of action being based on predetermined rules which determine how said haptic device reacts to said motion of said device; determining if said first reaction course of action will exceed said stability boundary and destabilize a running condition of said haptic device; in the event said first reaction course of action will destabilize said running condition of said haptic device, determining a second reaction course of action which will not destabilize said running condition and implementing said second reaction course of action.