Abstract: A coordinated joint control system for controlling a coordinated joint motion system, e.g an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modeling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.

Abstract: A magneto-rheological fluid device including a housing defining a cavity, a piston slidably disposed in the cavity to divide the cavity into first and second portions, a passage defined on an exterior surface of the piston fluidly coupling the first and second portions of the cavity, a magneto-rheological fluid disposed in the cavity such that motion of the piston is damped by flow of the magneto-rheological fluid through the passage and a magnet disposed to produce a magnetic field within the cavity substantially parallel to the motion of the piston at the exterior surface of the piston.