Audio feedback for remotely controlled manipulators.

摘要

The user of a remotely contolled, powered manipulator (4) is provided with audible feedback signals which provide useful information relating to the force and speed of the motor (1, 104). An audio tone is generated and is frequency modulated by a signal which corresponds to motor speed. tone is amplitude modulated by a signal corresponding to motor force thus providing the user with an intutitively interpretable feedback signal having a speedproportional pitch and force-proportional volume. In the case of an electric motor (104), voltage and current can be monitored to provide speed and force signals respectively. Additional modulation means are disclosed for introducing a force-proportional warble component to said tone.