| 摘要 |
<p>A human power amplifier includes an end-effector (14) which is grasped by a human operator and applied to a load. The end-effector is suspended, via a rope (13), from a take-up pulley, winch, or drum (11), which is driven by an actuator (12) to lift or lower the load. The end-effector includes a force sensor which measures the vertical force imposed on the end-effector by the operator and delivers a signal to a controller (20). The controller and actuator are structured in such a way that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The load thus feels lighter to the operator, but the operator does not lose the sense of lifting against both the gravitational and inertial forces originating in the load. The operator has direct contact with the load through the end-effector, and there is no need for switches, valves, keyboards, teach pendants, or pushbuttons in the human power amplifier to control the lifting speed of the load.</p> |
