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    Computer controlled exercise system
    5.
    发明授权
    Computer controlled exercise system 失效
    计算机控制运动系统

    公开(公告)号：US4934694A

    公开(公告)日：1990-06-19

    申请号：US166031

    申请日：1988-03-09

    申请人： James L. McIntosh

    发明人： James L. McIntosh

    IPC分类号： A63B21/005 ,  A63B24/00 ,  B23P19/06 ,  G05B19/23 ,  G05B19/414

    CPC分类号： B23P19/066 ,  A63B24/00 ,  G05B19/237 ,  G05B19/4142 ,  A63B21/0058 ,  A63B2220/16 ,  G05B2219/37297 ,  G05B2219/37388 ,  G05B2219/37391 ,  G05B2219/37612 ,  G05B2219/37621 ,  G05B2219/41023 ,  G05B2219/42152 ,  G05B2219/42168 ,  Y10S482/90 ,  Y10S482/901 ,  Y10S482/902 ,  Y10S601/22

    摘要： A DC motor is connected to a driveshaft the rotation of which is directly coupled to movement of an exercise member. The DC motor is operated in the current control mode wherein current direction and value through the winding of the motor determines its torque. An encoder is connected to the shaft of the motor to monitor its angular position. A program controlled processor monitors the angular position of the shaft and controls the current to the motor to vary the torque thereof and, thus, the force of resistance or assistance to the exercise member in accordance with preprogrammed values and as a function of angular position. A plurality of encoder/motor assemblies control exercise about a plurality of axes of bodily movement.

    摘要翻译： 直流电动机连接到驱动轴上，该驱动轴的旋转直接与锻炼部件的运动耦合。 直流电动机在电流控制模式下工作，其中通过电动机绕组的电流方向和值确定其转矩。 编码器连接到电机的轴，以监测其角度位置。 程序控制的处理器监视轴的角度位置并控制到电动机的电流，以根据预编程的值和角位置的函数来改变其扭矩，从而改变对运动部件的阻力或辅助力。 多个编码器/马达组件控制关于多个人体运动轴的运动。

    Method and apparatus for generating position or path control programs using force feedback
    6.
    发明授权
    Method and apparatus for generating position or path control programs using force feedback 失效
    使用力反馈产生位置或路径控制程序的方法和装置

    公开(公告)号：US4278920A

    公开(公告)日：1981-07-14

    申请号：US929490

    申请日：1978-07-31

    申请人： Carl F. Ruoff, Jr.

    发明人： Carl F. Ruoff, Jr.

    IPC分类号： G05B19/423 ,  H02K7/00

    CPC分类号： G05B19/423 ,  G05B2219/36429 ,  G05B2219/37357 ,  G05B2219/42168

    摘要： A program controlled workpiece manipulator has a load cell supported between the manipulator clamp and the positioning elements which generate signals proportional to the various components of the forces exerted on the workholder by external instrumentalities. To generate a desired control program for the manipulator the outputs of the load cell and of the position transducers for the manipulator drive servos are used to generate command signals for the drive servos which urge motion of the clamp to reduce the externally imposed forces. The clamp is then manually grasped and urged toward the desired motion and the outputs of the position sensors are recorded during the motion to create a control program which may be replaced to control the manipulator to duplicate the motion.

    摘要翻译： 程序控制的工件操纵器具有负载传感器，该负载传感器支撑在操纵器夹具和定位元件之间，该定位元件通过外部手段产生与施加在所述夹持器上的力的各种部件成比例的信号。 为了产生用于机械手的期望的控制程序，用于操纵器驱动伺服的测力传感器和位置传感器的输出用于产生驱动伺服机构的命令信号，该驱动伺服装置促使夹具的运动减小外部施加的力。 然后手动抓住夹具并将其推向期望的运动，并且在运动期间记录位置传感器的输出以产生可被替换的控制程序，以控制操纵器复制运动。

    Program controlled force measurement and control system
    8.
    发明授权
    Program controlled force measurement and control system 失效
    程控受力测量与控制系统

    公开(公告)号：US4891764A

    公开(公告)日：1990-01-02

    申请号：US131991

    申请日：1987-12-11

    申请人： James L. McIntosh

    发明人： James L. McIntosh

    IPC分类号： A63B21/005 ,  A63B24/00 ,  B23P19/06 ,  G05B19/23 ,  G05B19/414

    CPC分类号： G05B19/237 ,  A63B24/00 ,  B23P19/066 ,  G05B19/4142 ,  A63B21/0058 ,  A63B2220/16 ,  G05B2219/37297 ,  G05B2219/37388 ,  G05B2219/37391 ,  G05B2219/37612 ,  G05B2219/37621 ,  G05B2219/41023 ,  G05B2219/42152 ,  G05B2219/42168 ,  Y10S482/901

    摘要： A microprocessor based electric actuator control system is provided which allows accurate determination of the forces opposing movement of manipulator driveshaft. The control system electronically sets a predetermined current through an actuator to produce an electromagnetic force. A displacement measuring device, in conjunction with a time clock measures velocity and calculates acceleration of the actuator in response to the current. The force on the shaft is computer varied such that the acceleration is determined. For the acceleration to be zero, the electromagnetic force be exactly balanced by forces equal but opposite in magnitude. Since the force value is determined by the computer, the opposing force is also accurately determined with no external sensing device needed.

    摘要翻译： 提供了一种基于微处理器的电动执行器控制系统，其允许精确地确定相对于操纵器驱动轴的运动的力。 控制系统通过致动器电子地设定预定电流以产生电磁力。 位移测量装置结合时钟测量速度并且响应于电流计算致动器的加速度。 轴上的力是计算机变化的，从而确定加速度。 对于加速度为零，电磁力由大小相等但相反的力精确地平衡。 由于力值由计算机确定，所以在没有需要外部感测装置的情况下也可以精确地确定相反的力。

    Servo-motor control system including a two phase digital shaft position detector
    9.
    发明授权
    Servo-motor control system including a two phase digital shaft position detector 失效
    伺服电机控制系统，包括两相数字轴位置检测器

    公开(公告)号：US3843915A

    公开(公告)日：1974-10-22

    申请号：US32926873

    申请日：1973-02-02

    申请人： NCR CO

    发明人： HELMBOLD J

    IPC分类号： G01P13/04 ,  B41J11/42 ,  B41J29/38 ,  G01D5/36 ,  G05B19/23 ,  G05B19/28

    CPC分类号： B41J11/42 ,  B41J29/38 ,  G01D5/363 ,  G05B19/23 ,  G05B2219/37175 ,  G05B2219/41326 ,  G05B2219/42168

    摘要： Apparatus for providing digital signals indicating the direction and amount of rotation of a stepping motor which apparatus utilizes a code element having at least two code tracks positioned thereon such that each track is located at a different radius from the center of the code element. The code element is rotated past an index point by any rotating device. Means are provided for reading the code in each track and for providing pulse signals indicative of the code in each track. Logic means are utilized for counting the number of pulses from one or both provided signals to determine the amount of code element rotation with respect to the index point, and for comparing the relative occurrence of pulses in at least two provided signals to determine the direction of rotation of the code element.

    摘要翻译： 用于提供指示步进电动机的方向和旋转量的数字信号的装置，该装置利用其上定位有至少两个码轨迹的码元，使得每个轨道位于与码元中心不同的半径处。 代码元素通过任何旋转设备旋转过索引点。 提供了用于读取每个轨道中的代码并提供指示每个轨道中的代码的脉冲信号的装置。 利用逻辑装置对来自一个或两个提供的信号的脉冲数进行计数，以确定代码元素相对于索引点的旋转量，并用于比较至少两个提供的信号中的脉冲的相对出现以确定 代码元素的旋转。