Method of inferring intentions of an operator to move a robotic system

1. A method of inferring intentions of an operator to move a robotic system, the method comprising:

monitoring the intentions of the operator, with a controller, with respect to the robotic system, wherein the controller has an algorithm configured for inferring the intentions of the operator and processing the inferred intentions;

inferring the intentions of the operator to be at least one of a desired acceleration, a desired deceleration and a desired velocity;

modifying values of a virtual mass and a virtual damping of the robotic system, within the controller, as a function of at least one of the inferred acceleration, deceleration, and velocity such that the values of the virtual mass and the virtual damping decrease when the intention of acceleration is inferred and the values of the virtual mass and the virtual damping are increased when the intention of deceleration is inferred; and

determining a desired speed of the robotic system, as a function of the modified values of the virtual mass and virtual damping.

2. A method, as set forth in claim 1 , further comprising:

selecting default values for the values of the virtual mass and the virtual damping; and

applying the default values when no desired acceleration and no desired deceleration is deduced.

3. A method, as set forth in claim 1 , wherein monitoring is further defined as determining a magnitude and a direction of the desired acceleration.

4. A method, as set forth in claim 3 , wherein monitoring further includes detecting a force applied by the operator to move the robotic system.

5. A method, as set forth in claim 4 , further comprising:

determining a current velocity of the robotic system; and

taking an absolute value of the current velocity to determine a magnitude of the desired velocity;

wherein modifying the values of the virtual mass and the virtual damping, within the controller, as a function of at least one of the inferred acceleration, deceleration, and velocity is further defined as modifying the values of the virtual mass and the virtual damping as a function of at least one of the inferred acceleration, deceleration, and the magnitude of the desired velocity.

6. A method, as set forth in claim 5 , further comprising comparing the direction of the desired velocity to the direction of the desired acceleration;

wherein acceleration is deduced when the desired acceleration and the desired velocity are in the same direction; and

wherein deceleration is deduced when the desired acceleration and the desired velocity are in opposite directions.

7. A method, as set forth in claim 1 , wherein the values of the virtual mass and the virtual damping move to a default value when no intention of the operator is deduced.

8. A method, as set forth in claim 1 , wherein monitoring the motion of the robotic system desired by the operator is further defined as:

sensing a force imparted by the operator on the robotic system; and

determining the motion of the robotic system desired by the operator to be a velocity and one of an acceleration and a deceleration, as a function of the sensed force.

9. A robotic system comprising:

a trolley configured for movement along a first axis;

a sensing handle operatively connected to the trolley and configured to be grasped by an operator such that the sensing handle measures a force between the operator and the robotic system;

a controller operatively connected to the sensing handle and including an algorithm, wherein the algorithm is configured for:

monitoring the intentions of the operator, with respect to the robotic system;

inferring the intentions of the operator to be at least one of a desired acceleration, a desired deceleration, and a desired velocity;

modifying values of a virtual mass and a virtual damping of the robotic system, within the controller, as a function of at least one of the inferred acceleration, deceleration, and velocity such that the values of the virtual mass and the virtual damping decrease when the intention of acceleration is inferred and the values of the virtual mass and the virtual damping are increased when the intention of deceleration is inferred; and

determining a desired speed of the robotic system, as a function of the modified values of the virtual mass and the virtual damping.

10. A robotic system, as set forth in claim 9 , wherein the sensing handle includes at least one force sensor configured to measure the force between the operator and the robotic system.

11. A robotic system, as set forth in claim 10 , further comprising a motor operatively connected to the trolley;

wherein the motor is configured to propel the trolley along the first axis in response to the deduced intentions of the operator.

12. A robotic system, as set forth in claim 10 , wherein the controller is an admittance controller configured to accept the force measured by the at least one force sensor and, in turn, output a displacement of the trolley.

13. A method of moving a robotic system along a first axis, the method comprising:

providing a controller having an algorithm configured for inferring intentions of an operator and processing the inferred intentions;

monitoring the intentions of the operator, with the controller, with respect to the robotic system;

deducing the intentions of the operator to be one of a desired acceleration and a desired deceleration;

adjusting values of a virtual mass and a virtual damping of the robotic system, within the controller, as a function of one of a magnitude of the desired acceleration and the desired deceleration;

wherein the values of the virtual mass and the virtual damping of the robotic system are decreased when the intention of acceleration is deduced;

wherein the values of the virtual mass and the virtual damping of the robotic system are increased when the intention of deceleration is deduced;

determining a desired speed of a trolley along the first axis as a function of the virtual mass and virtual damping of the robotic system; and

transmitting power to a motor to move the trolley along the first axis, at the desired speed.

14. A method, as set forth in claim 13 , further comprising:

selecting default values for the values of the virtual mass and the virtual damping of the robotic system; and

applying the default values when no desired acceleration and no desired deceleration is deduced.

15. A method, as set forth in claim 13 , wherein monitoring is further defined as determining a magnitude and a direction of the desired acceleration.

16. A method, as set forth in claim 15 , wherein monitoring further includes detecting a force applied by the operator to move the robotic system.

17. A method, as set forth in claim 16 , wherein monitoring further includes determining a magnitude and a direction of the desired velocity.

18. A method, as set forth in claim 17 , further comprising comparing the direction of the desired velocity to the direction of the desired acceleration;

wherein acceleration is deduced when the desired acceleration and the desired velocity are in the same direction; and

wherein deceleration is deduced when the desired acceleration and the desired velocity are in opposite directions.

19. A method, as set forth in claim 13 , wherein the values of the virtual mass and the virtual damping of the robotic system move to a default value when no intention of the operator is deduced.