US4604559A
Expired / Lapsed
US
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Apparatus and method for providing useful audio feedback to aid in the operation of remotely controlled powered manipulators
Assignee: EARLE SYLVIA A AS TENANTS IN COMMON
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Filing: 1983-02-15
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Granted: 1986-08-05
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Expires: 2003-02-15
Abstract
Abstract The user of a remotely controlled, powered manipulator is provided with audible feedback signals which provide useful information relating to the force and speed of the motor. An audio tone is generated and is frequency modulated by a signal which corresponds to motor speed. The tone is amplitude modulated by a signal corresponding to motor force thus providing the user with an intuitively interpretable feedback signal having a speed-proportional pitch and force-proportional volume. In the case of an electric motor, 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.
Inventors
- 👤 Graham S. Hawkes
- 👤 Walter I. Glz
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 19:53
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/06; B25J19/061; B25J13/00; B25J13/08; B25J13/081; Y; Y10; Y10S; Y10S388/00; Y10S388/907; Y10S388/909
Claims Analysis
Total Claims: 27
Claim 1
Independent Claim
100 words
An audio feedback system for monitoring and aiding in user control of a remotely operated, powered manipulator comprising: means providing an electrical signal proportional to manipulator force; means providing an electrical signal proportional to manipulator speed; a signal generator; frequency modulation means connected to one of said electrical signals for varying the output frequency of said signal generator in proportion to said signal; amplitude modulation means connected to the other of said electrical signals for varying the output amplitude of said signal generator in proportion to said other signal; and means for audibly reproducing the output of said signal generator.
Claim 2
Dependent Claim
100 words
An audio feedback system for monitoring and aiding in user control of a remotely operated, powered manipulator comprising: means providing an electrical signal proportional to manipulator force; means providing an electrical signal proportional to manipulator speed; a signal generator; frequency modulation means connected to one of said electrical signals for varying the output frequency of said signal generator in proportion to said signal; amplitude modulation means connected to the other of said electrical signals for varying the output amplitude of said signal generator in proportion to said other signal; and means for audibly reproducing the output of said signal generator.
Claim 3
Dependent Claim
57 words
The device of claim 1 wherein: said manipulator is powered by an electric motor; said first named means is a motor current sensor; said second named means is a motor voltage sensor; said amplitude modulation means is connected to said first named electrical signal; and said frequency modulation means is connected to said second named electrical signal.
Claim 4
Dependent Claim
68 words
The device of claim 1 wherein: said manipulator is powered by an electric motor; motor speed is controlled by a user-adjustable speed control signal; said first named means is a motor current sensor; said second named means is a speed control signal sensor; said amplitude modulation means is connected to said first named electrical signal; and said frequency modulator means is connected to said second named electrical signal.
Claim 5
Dependent Claim
30 words
The device of claim 3 wherein: said user adjustable speed control signal is a DC voltage; and said DC voltage is amplified to supply drive power for said electric motor.
Claim 6
Dependent Claim
12 words
The device of claim 2 wherein: said electrical signals are DC voltages.
Claim 7
Dependent Claim
37 words
The device of claim 1 further comprising: additional modulation means connected to one of said electrical signals for repetitively varying a user-detectable output characteristic of said signal generator at a repetition rate proportional to said electrical signal.
Claim 8
Dependent Claim
49 words
The device of claim 6 wherein: said user-detectable output characteristic is frequency; said additional modulation means is a sweep frequency modulator for repetitively sweeping the output frequency of said generator up and down to produce a warble effect having a warble repetition rate proportional to said connected electrical signal.
Claim 9
Dependent Claim
34 words
The device of claim 7 wherein: said sweep frequency modulator is connected to said first named electrical signal for producing a signal generator output frequency warble having a repetition rate proportional to manipulator force.
Claim 10
Dependent Claim
27 words
The device of claim 8 further comprising: means for adjusting said sweep frequency modulator to vary the bandwidth over which the signal generator output frequency is swept.
Claim 11
Dependent Claim
47 words
The device of claim 2 further comprising: a variable rate sweep frequency modulator connected to said first-named electrical signal for producing a cyclical variation in generator output frequency at a repetition rate proportional to manipulator force; and an earphone for audibly reproducing the output of said generator.
Claim 12
Dependent Claim
40 words
The device of claim 10 wherein the audibly reproduced output of said signal generator is a warbling tone having a center frequency proportional to manipulator speed, a warble rate proportional to manipulator force, and an amplitude proportional to manipulator force.
Claim 13
Dependent Claim
36 words
The device of claim 1 further comprising: gating means connected to said signal generator and connected to said electrical signals for silencing generator output when signals indicating zero manipulator speed and zero manipulator force are detected.
Claim 14
Dependent Claim
21 words
The device of claim 1 wherein: said manipulator utilizes hydraulic power; and said first named means is a hydraulic pressure sensor.
Claim 15
Dependent Claim
20 words
The device of claim 1 wherein said manipulator utilizes hydraulic power and said second-named means is a hydraulic flow sensor.
Claim 16
Dependent Claim
35 words
The device of claim 13 wherein said hydraulic pressure sensor is of the differential pressure sensing type and is mounted to sense the difference between ambient outside pressure and pressure within the hydraulic power system.
Claim 17
Dependent Claim
34 words
The device of claim 14 wherein: said hydraulic flow sensor is mounted to sense hydraulic fluid flow rate at a point in the hydraulic system where said flow rate is proportional to manipulator speed.
Claim 18
Independent Claim
69 words
A method for generating an audio tone useful as a feedback signal for user control of remotely operated, powered manipulators comprising the steps of: generating a force signal proportional to manipulator force; generating a speed signal proportional to manipulator speed; generating an audio tone; varying the frequency of said tone in proportion to said speed signal; and varying the amplitude of said tone in proportion to said force signal.
Claim 19
Independent Claim
69 words
A method for generating an audio tone useful as a feedback signal for user control of remotely operated, powered manipulators comprising the steps of: generating a force signal proportional to manipulator force; generating a speed signal proportional to manipulator speed; generating an audio tone; varying the frequency of said tone in proportion to said speed signal; and varying the amplitude of said tone in proportion to said force signal.
Claim 20
Dependent Claim
24 words
The method of claim 17 further comprising: cyclically varying the frequency of said tone at a repetition rate in proportion to said force signal.
Claim 21
Dependent Claim
63 words
The method of claim 18 further comprising the steps of: powering said manipulator by an electric motor; sensing manipulator speed by monitoring motor current; sensing manipulator speed by monitoring motor voltage; providing said force signal in the form of a DC voltage; providing said speed signal in the form of a DC voltage; and amplifying and supplying said audio tone to a speaker.
Claim 22
Dependent Claim
44 words
The method of claim 18 further including the steps of: powering said manipulator by an electric motor; controlling motor speed by a user adjustable speed control signal; sensing manipulator force by monitoring motor current; and monitoring manipulator speed by sensing said speed control signal.
Claim 23
Dependent Claim
25 words
The method of claim 18 further including the steps of: powering said manipulator with hydraulic power; and sensing manipulator force by monitoring manipulator hydraulic pressure.
Claim 24
Independent Claim
80 words
A method for improving user control of the displacement of a remotely operated, powered manipulator by providing an audio tone useful in controlling displacement of said manipulator, the method comprising the steps of: generating an audio tone; varying the frequency of said tone in proportion to the speed of displacement of said manipulator; varying the amplitude of said tone in proportion to the force resisting displacement of said manipulator; and controlling the displacement of said manipulator as said tone varies.
Claim 25
Independent Claim
80 words
A method for improving user control of the displacement of a remotely operated, powered manipulator by providing an audio tone useful in controlling displacement of said manipulator, the method comprising the steps of: generating an audio tone; varying the frequency of said tone in proportion to the speed of displacement of said manipulator; varying the amplitude of said tone in proportion to the force resisting displacement of said manipulator; and controlling the displacement of said manipulator as said tone varies.
Claim 26
Independent Claim
110 words
A method of controlling the displacement of a remotely operated, powered manipulator including the steps of displacing said manipulator by control means, providing a feedback signal from said manipulator as to manipulator displacement, and varying the operation of said control means based upon said feedback signal, wherein the improvement in said method is comprised of: said step of providing a feedback signal being accomplished by generating an audio tone; varying the frequency of said tone in proportion to the speed of manipulator displacement; varying the amplitude of said tone in proportion to the force resisting manipulator displacement; and feeding the varying tone back to enable operation of said control means.
Claim 27
Independent Claim
110 words
A method of controlling the displacement of a remotely operated, powered manipulator including the steps of displacing said manipulator by control means, providing a feedback signal from said manipulator as to manipulator displacement, and varying the operation of said control means based upon said feedback signal, wherein the improvement in said method is comprised of: said step of providing a feedback signal being accomplished by generating an audio tone; varying the frequency of said tone in proportion to the speed of manipulator displacement; varying the amplitude of said tone in proportion to the force resisting manipulator displacement; and feeding the varying tone back to enable operation of said control means.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1989-08-04 | 1990-02-03 | 1990-08-05 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-08-04 | 1994-02-03 | 1994-08-05 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-08-04 | 1998-02-03 | 1998-08-05 | $7700.00 | Window Closed / Lapsed |