Kwang Kyu Lee,San Lim,Kyung Won Moon,Kyung Shik Roh
申请号：
US13317999
公开号：
US09298194B2
申请日:
2011.11.02
申请国别(地区):
US
年份:
2016
代理人:
摘要：
A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment may be moved.
