CA2487979A1 - Human power amplifier for lifting load including apparatus for preventing slack in lifting cable - Google Patents

Human power amplifier for lifting load including apparatus for preventing slack in lifting cable Download PDF

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Publication number
CA2487979A1
CA2487979A1 CA002487979A CA2487979A CA2487979A1 CA 2487979 A1 CA2487979 A1 CA 2487979A1 CA 002487979 A CA002487979 A CA 002487979A CA 2487979 A CA2487979 A CA 2487979A CA 2487979 A1 CA2487979 A1 CA 2487979A1
Authority
CA
Canada
Prior art keywords
load
operator
lifting
effector
power amplifier
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002487979A
Other languages
French (fr)
Other versions
CA2487979C (en
Inventor
Homayoon Kazerooni
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US09/443,278 external-priority patent/US6386513B1/en
Application filed by Individual filed Critical Individual
Priority claimed from CA002373247A external-priority patent/CA2373247C/en
Publication of CA2487979A1 publication Critical patent/CA2487979A1/en
Application granted granted Critical
Publication of CA2487979C publication Critical patent/CA2487979C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

A human power amplifier assist device (10) includes an end-effector (14) that is grasped by a human operator and applied to a load (25). The end-effector (14) is suspended, via a line (13), from a take-up pulley (11), winch or drum that is driven by an actuator (12) to lift or lower the load (25). The end-effector (14) includes a force sensor (31) that measures the vertical force imposed on the end-effector (14) by the operator and delivers a signal to a controller (20). The controller (20) and actuator (12) are structured in such a way that a predetermined percentage of the force necessary to lift or lower the load (25) is applied by the actuator (12), with the remaining force being supplied by the operator. The load (25) thus feels lighter to the operator, but the operator does not lose the sense of lifting against both the gravitation and inertial forces originating in the load (25).
CA002487979A 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable Expired - Lifetime CA2487979C (en)

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
US13400299P 1999-05-13 1999-05-13
US60/134,002 1999-05-13
US14653899P 1999-07-30 1999-07-30
US14654199P 1999-07-30 1999-07-30
US60/146,538 1999-07-30
US60/146,541 1999-07-30
US09/443,278 US6386513B1 (en) 1999-05-13 1999-11-18 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable
US09/443,278 1999-11-18
CA002373247A CA2373247C (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CA002373247A Division CA2373247C (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable

Publications (2)

Publication Number Publication Date
CA2487979A1 true CA2487979A1 (en) 2000-11-23
CA2487979C CA2487979C (en) 2009-06-02

Family

ID=34139840

Family Applications (2)

Application Number Title Priority Date Filing Date
CA002487979A Expired - Lifetime CA2487979C (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable
CA002487992A Expired - Lifetime CA2487992C (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable

Family Applications After (1)

Application Number Title Priority Date Filing Date
CA002487992A Expired - Lifetime CA2487992C (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable

Country Status (1)

Country Link
CA (2) CA2487979C (en)

Also Published As

Publication number Publication date
CA2487992C (en) 2008-05-20
CA2487979C (en) 2009-06-02
CA2487992A1 (en) 2000-11-23

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Legal Events

Date Code Title Description
EEER Examination request
MKEX Expiry

Effective date: 20200217