1. An articulating device, comprising:
an input receiver capable of receiving an input;
a slave system coupled to the input receiver operable to receive the input from the input receiver and generate a corresponding output, wherein the slave system comprises a first slave end coupled to the input receiver and a second slave end;
a functioning end coupled to the second slave end, wherein the functioning end performs the output;
a sensing element coupled to the input receiver and operable to detect the received input on the input receiver; and
an element coupled to the sensing element and the input receiver and operable to transfer a function of the detected input from the sensing element to the slave system;
wherein the element further provides a compensating force that compensates for resistance forces in moving the articulating device.
2. The articulating device of claim 1, further comprising:
a control circuit coupled to the sensing element and the element operable for transmitting a control signal to the element instructing the element to emit the compensating force in the same direction as the input.
3. The articulating device of claim 2, wherein the control circuit is further operable to calculate the resistance forces produced by the articulating device and supply the control signal to the element to emit the compensating force based upon the calculated resistance forces.
4. The articulating device of claim 2, wherein the control signal transmitted to the element includes a current to energize the element, wherein the current is variable based upon the force of the input.
5. The articulating device of claim 2, wherein the control circuit is further operable to diagnose whether the articulating device is operating correctly.
6. The articulating device of claim 1, wherein the compensating force is a percentage of the resistance forces produced by the articulating device.
7. The articulating device of claim 1, wherein the compensating force is set by a user.
8. The articulating device of claim 1, wherein the compensating force is self-learned by measuring resistance when moving the input receiver.
9. The articulating device of claim 1, wherein the compensating force is variable based upon the speed and force of the input.
10. The articulating device of claim 1, wherein the slave system comprises a closed loop double-acting hydraulic system.
11. The articulating device of claim 1, wherein the slave system comprises a mechanical element.
12. The articulating device of claim 11, wherein the mechanical element comprises at least one of linkages, gears, cams, a series of u-joints, a push-pull chain, lead screws, cable-pulley system, or a flexible steel band.
13. The articulating device of claim 1, wherein the functioning end comprises one of a surgical tool, a surgical instrument, scissors, a knife, a screwdriver, a clamp, or pliers.
14. The articulating device of claim 1, wherein the sensing element is one of strain gage, a bipolar switch, a closing switch, or an optical system.
15. The articulating device of claim 1, wherein element is one of a voice coil, or a linear motor.
16. The articulating device of claim 1, wherein the element is coupled in series to the input receiver and the sensing element.
17. The articulating device of claim 1, wherein the element is coupled in parallel to the input receiver and the sensing element.
18. The articulating device of claim 1, wherein the element is an electric element.
19. A device comprising:
a mechanical system capable of receiving an input;
a sensor coupled to the mechanical system operable to detect the received input;
a force enhancement element coupled to the mechanical system operable to transfer a function of the detected input to the mechanical system; and
a control element coupled to the sensor and the force enhancement element, wherein the control element is operable to energize the force enhancement element in the direction of the received input.
20. The device of claim 19, wherein the sensor is in series with the mechanical system.
21. The device of claim 19, wherein the sensor is in parallel with the mechanical system.
22. The device of claim 19, wherein the force enhancement element is in series with the mechanical system.
23. The device of claim 19, wherein the force enhancement element is in parallel with the mechanical system.
24. A method comprising:
detecting, via a sensor, an input force on an input receiver;
providing a compensating force to the detected input that compensates for resistance forces;
transmitting a function of the detected input, including the compensating force, to a slave system coupled to the input receiver; and
generating, at the slave system, a corresponding output to the detected input.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A communication apparatus comprising:
an image capturing unit configured to capture a face image of a user;
a contour extraction unit configured to extract a face contour from the face image captured by the image capturing unit;
an ear position estimation unit configured to estimate positions of ears of the user on the basis of the extracted face contour;
a distance estimation unit configured to estimate a distance between the communication apparatus and the user on the basis of the extracted face contour;
a sound output unit configured to output sound having a directivity; and
a control unit configured to control an output range of sound output from the sound output unit on the basis of the positions of ears of the user estimated by the ear position estimation unit and the distance between the communication apparatus and the user estimated by the distance estimation unit.
2. The communication apparatus according to claim 1, wherein the control unit calculates an angle of an ear of the user with respect to a center axis of an output of the sound output unit on the basis of the positions of ears of the user and the distance between the communication apparatus and the user, and controls the output range of sound output from the sound output unit on the basis of the calculated angle.
3. The voice communication apparatus according to claim 1, wherein the control unit calculates an angle of an ear of the user with respect to a center axis of an output of the sound output unit on the basis of the positions of ears of the user and the distance between the communication apparatus and the user, and controls a frequency of a carrier wave of sound output from the sound output unit on the basis of the calculated angle.
4. The communication apparatus according to claim 2,
wherein the sound output unit is a parametric speaker, and
wherein the control unit controls a frequency of an ultrasonic wave output from the parametric speaker on the basis of the calculated angle.
5. The communication apparatus according to claim 1 further comprising a sound measurement unit configured to measure a sound level around the user, and
wherein the control unit includes amplifying means for amplifying a sound signal to be output by the sound output unit, and controls a gain of the amplifying means in accordance with the sound level measured by the sound measurement unit.
6. A communication method comprising:
capturing a face image of a user;
extracting a face contour from the captured face image;
estimating positions of ears of the user on the basis of the extracted face contour;
estimating a distance to the user on the basis of the extracted face contour; and
controlling an output range of sound output from a sound outputting unit having a directivity on the basis of the estimated positions of ears of the user and the estimated distance to the user.
7. The communication method according to claim 6, further comprising:
calculating an angle of an ear of the user with respect to a center axis of an output of the sound outputting unit on the basis of the estimated positions of ears of the user and the estimated distance to the user; and
controlling the output range of sound output from the sound outputting unit on the basis of the calculated angle.
8. Information processing apparatus comprising:
an image capturing unit configured to capture a face image of a user;
a contour extraction unit configured to extract a face contour from the face image captured by the image capturing unit;
an ear position estimation unit configured to estimate positions of ears of the user on the basis of the extracted face contour;
a distance estimation unit configured to estimate a distance between the information processing apparatus and the user on the basis of the extracted face contour;
a sound output unit configured to output sound having a directivity; and
a control unit configured to control an output range of sound output from the sound output unit on the basis of the positions of ears of the user estimated by the ear position estimation unit and the distance between the information processing apparatus and the user estimated by the distance estimation unit.