Is a
Patent attributes
Current Assignee
Patent Jurisdiction
Patent Number
Patent Inventor Names
Gunter D. Niemeyer0
Date of Patent
December 13, 2005
0Patent Application Number
108642730
Date Filed
June 8, 2004
0Patent Citations Received
0
...
Patent Primary Examiner
Patent abstract
Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.
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