Patent attributes
A system includes a manually manipulatable component configured to generate signals when movements of the component are detected and a control module. The control module is configured to determine that there is uncontrolled movement of the component by determining that a distance of a movement of the component relative to a previous position of the component is greater than a threshold distance or determining that a first mechanical degree of freedom (DOF) of the component has moved and a second mechanical DOF of the component has not moved, and command the system to switch from an operating mode to a safe mode in response to determining that there is uncontrolled movement of the component. The previous position is associated with when a last definitive movement of the component was detected. The first mechanical DOF is affected by gravity and the second mechanical DOF is not affected by gravity.
