Manually operated hydraulic actuator control having feel-back

Claim 1

A REMOTELY CONTROLLED MANIPULATOR DEVICE INCLUDING A HAND MECHANISM FOR PERFORMING GRIPPING MOTIONS, SAID HAND MECHANISM HAVING A PAIR OF RELATIVELY MOVABLE GRIPPING MEMBERS, FIRST PRESSURE RESPONSIVE ACTUATOR MEANS FOR EFFECTING GRIPPING MOVMENT OF SAID GRIPPING MEMBERS, MEANS FOR OPERATING SAID OUTPUT ACTUATOR INCLUDING A SOURCE OF PRESSURE, CONDUIT MEANS CONNECTING SAID ACTUATOR TO THE PRESSURE SOURCE, VALVE MEANS FOR PERMITTING THE FLOW OF A FLUID MEDIUM FROM THE PRESSURE SOURCE TO THE ACTUATOR, SAID VALVE MEANS ALSO ADAPTED TO PREVENT THE FLOW TO SAID FLUID MEDIUM TO SAID ACTUATOR, LEVER MEANS FOR OPENING AND CLOSING SAID VALVE MEANS BY DIRECT CONTACT WITH SAID VALVE MEANS, SECOND PRESSURE RESPONSIVE ACTUATOR MEANS PROVIDING MANUAL SENSING OF THE MAGNITUDE OF THE GRIPPING FORCE BEING EXERTED BY THE GRIPPING MEMBERS ON AN OBJECT, SAID SECOND PRESSURE RESPONSIVE ACTUATOR MEANS OPERATIVELY CONNECTED BETWEEN THE VALVE MEANS AND THE FIRST ACTUATOR MEANS, SAID SECOND ACTUATOR MEANS PROVIDED WITH AN OUTPUT MEMBER WHICH DIRECTLY CONTACTS THE LEVER MEANS AND EXERTS A FORCE AGAINST SAID LEVER MEANS, AND MEANS FOR VARYING THE EFFECTIVE RELATIVE POSITION OF SAID SECOND PRESSURE RESPONSIVE ACTUATOR MEANS WITH RESPECT TO THE LEVER MEANS WHEREBY THE RATIO OF THE FORCE EXERTED BY THE GRIPPING MEMBERS WITH RESPECT TO THE FORCE EXERTED BY THE OPERATOR OF THE MANIPULATOR MAY BE VARIED.