A human power amplifier includes an end-effector that is grasped by a human operator and applied to a load. The end-effector is suspended, via a line, from a take-up pulley, winch, or drum that is driven by an actuator to lift or lower the load. The end-effector includes a force sensor that measures...http://www.google.fr/patents/US6622990?utm_source=gb-gplus-shareBrevet US6622990 - Human power amplifier for lifting load with slack prevention apparatus
Human power amplifier for lifting load with slack prevention apparatus
