SYSTEM AND METHOD FOR PROVIDING FEEDBACK DURING MANUAL JOINT POSITIONING
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United States of America Patent
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Issued Date -
Sep 5, 2024
app pub date -
May 8, 2024
filing date -
Mar 17, 2015
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Abstract
Techniques for providing feedback during manual joint positioning include a computer-assisted device comprising an articulated structure comprising a joint and a brake associated with the joint and a control unit coupled to the articulated structure. To provide feedback during manual positioning of the joint due to manual force applied by an operator, the control unit is configured to determine a target position for the joint, determine kinematics of the joint relative to the target position, lock the joint when the joint is at the target position, release the brake when the kinematics of the joint indicate that the joint is moving towards the target position, and apply the brake when the kinematics of the joint indicate that the joint is moving away from the target position.
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