Beall Law Offices
Balancer and controlling method thereof
 A robot balancer (2) and a method for controlling the balancer is disclosed which has a step or a force sensor (10) mounted on the tip of the arm (3) of the balancer (2), a step or an operational means (21) for calculating the velocity of the balancer from the force given by the force sensor, and a step or a control means (15) for controlling a velocity of the balancer (2) in response to a signal from the force sensor. 
Hitachi, Ltd.
B B B B
B25J B25J B25J B25J
inventional inventional inventional inventional
Tatsuya Hiroshi
Niinomi Kikuchi