Abstract: A method of controlling operation of a linear actuator, including maintaining the linear actuator in equilibrium when supporting a first load, determining application of a second load on the linear actuator, and selectively actuating the linear actuator in response to application of the second load on the linear actuator.

Abstract: The invention relates to a load holder (1, 200) for a suspension system for suspending loads, comprising fastening means (30, 30?) for releasably fastening a suspension module (10) to and/or a suspension module (10) on a first end of the load holder (1, 200), as well as a load bearing device (60) at a second end of the load holder (1, 200), which faces away from the first end along a longitudinal direction (L) of the load holder (1, 200). In order to reduce the risk of falling loads when using the suspension system and to simply the correct set-up of the suspension system, the load holder (1, 200) further comprises a levelling module (20, 20?) for adjusting a length (L1, L2) of the load holder (1, 200) in the longitudinal direction (L) and a measurement module (40) for measuring a tensile load between the load bearing device (60) and the first end.

Abstract: The present disclosure provides a winch overload protection system, a workover system, and a method for operating a workover system. The winch overload protection system, in one embodiment, includes an overload detection unit operable to detect when a load on a winch of a workover system exceeds a safety load limit. The winch overload protection system, in this embodiment, further includes an overload control unit configured to receive an overload signal from the overload detection unit, and in response thereto release a brake on the winch.

Abstract: The invention relates to a sensor device for insertion and for measuring tension within a braided, plaited and/or laid line. The sensor device comprises an elongated sensor housing having an outer housing surface and an inner housing surface and at least one pressure sensor arranged inside the elongated sensor housing. The outer housing surface having a substantially elliptic or circular cross sectional area around the longitudinal axis of the sensor housing. Further, the at least one pressure sensor is configured to allow measurement, at least indirectly, of a pressure exerted on the outer housing surface. The invention also relates to a line sensor assembly for mooring of one or more structures, and a method of adjusting the tension in a line sensor assembly and the use of a line sensor assembly.

Abstract: A wire rope hoist limiter device, includes a fastener arranged to be fastened around the wire rope of the wire rope hoist; a sliding weight arranged to slide along the wire rope of the wire rope hoist towards the fastener; and a detector arranged to be fastened to the wire rope of the wire rope hoist by means of the fastener. The detector is arranged to detect the sliding weight at a certain distance from the fastener and to give a stop signal for the wire rope hoist in response.

Abstract: A remote control device that is to be worn on the appendage of an operator includes a base portion, a wireless communication system, a control, and an insert member. The wireless communication system includes a wireless transmitter for transmitting wireless commands from the remote control device. The control is communicably coupled to the wireless communication system, wherein actuation of the control causes the wireless transmitter to transmit a wireless command. The insert member is removably attached to the base portion.

Abstract: A system for controlling a winch assembly having a hydraulic motor, a drum, a cable, and a cable tension sensor. A controller is configured to access a winch load threshold defining a hold zone and a reel zone, and one of the hold zone and the reel zone including loads greater than the winch load threshold and another of the hold zone and the reel zone including loads less than the winch load threshold. The controller is further configured to determine whether the winch assembly is operating within the hold zone or the reel zone, and generate a zero flow command while the winch assembly is operating within the hold zone to prevent rotation of the hydraulic winch motor, and generate a pressure differential command while the rotatable winch drum is operating within the reel zone to permit rotation of the hydraulic winch motor.

Abstract: A method for monitoring movement of a cantilever structure of an offshore platform, such as a jack-up platform or a self-elevating vessel, comprising providing a boundary model containing boundary limiting information of positions of the cantilever structure, wherein the boundary limiting information comprises at least position information of boundary limiting elements, such as obstacles; providing, during movement of the cantilever, position information of the cantilever representing an actual position of the cantilever; determining, during movement of the cantilever, a difference between the cantilever position information and the boundary limiting information of the boundary model; providing an output signal when the determined difference exceeds a predefined threshold value.

Abstract: A compensating device (200) maintains specifiable target positions of a load (206) handled using a cable hoist (202) and attached to a cable (216) of the cable hoist. The respective specifiable target position of the load may change unintentionally to an actual position deviating from the target position. The compensating device has a sensor device (240, 242) for detecting the respective actual position of the load (206). A rotational drive (226, 228, 230) specifies a cable length of the cable hoist (202). A controller (244) changes the cable length after the respective actual position has been detected until the load (206) re-assumes its target position. The respective drive (226, 228,230) can be controlled at least partly by a hydraulic motor (226, 228, 230) with opposite rotational directions.

Abstract: A device for tensioning an elongated hoisting member, comprises: a first friction-generating member rotatably supported around a first support member; a second friction-generating member rotatably supported around a second support member, the first and second friction-generating members being adapted to provide friction to the elongated hoisting member when the friction-generating members are pressed against each other with a portion of the elongated hoisting member therebetween. A brake is provided for braking the rotation of the friction-generating members around the support members. There is also described a system that includes such a device, as well as a method for operating such a system.

Abstract: A machine learning device for a robot that allows a human and the robot to work cooperatively, the machine learning device including a state observation unit that observes a state variable representing a state of the robot during a period in that the human and the robot work cooperatively; a determination data obtaining unit that obtains determination data for at least one of a level of burden on the human and a working efficiency; and a learning unit that learns a training data set for setting an action of the robot, based on the state variable and the determination data.

Abstract: A system for handling an aircraft on a nautical vessel includes a plurality of winches each associated with a corresponding one of a plurality of electromotors and a plurality of cables associated with the plurality of winches. Each of the plurality of cables is configured to attach to an aircraft positioned on a deck of the nautical vessel. A control system is configured to receive a target aircraft hauling speed and direction and operate the winches to achieve the target speed in the selected direction while maintaining load on the aircraft to below a maximum limit and also maintaining the cables in tension.

Abstract: Provided are a method and an operation device for a manual control of a load suspended in the operations device (2) having a housing (20); a first connection device (5), at least indirectly carried by the housing (20), for the connection of the operation device (2) to a device for the lifting and lowering of the operation device (2) with its suspended load; a second connection device (21), at least indirectly carried by the housing, for the connection of the operation device (2) to the load which is to carried by the operation means; a handle (22), which is movably arranged in relation to the housing (20) and the load connection device (21) and which has a rest position between two end positions; a sensor (4) arranged inside the housing (20) for the detection of a motion by the handle (22) in relation to the housing (20) and the load connection device (21), which sensor (4) emits a signal corresponding to the movement of the handle (23) from its rest position; a control unit for receiving the signal and as a

Abstract: A wireless-enabled tension meter is disclosed. The wireless-enabled tension meter can include a pulley arrangement through which a portion of a guiding member is routed for use during a pull of conductor through a conduit network. A tension force is exerted on the guiding member during the pull as the guiding member is pulled through the pulley arrangement. The wireless-enabled tension meter can also include a sensor for measuring the tension force, a wireless network interface, and a control module for performing operations. The operations performed by the control module can include capturing data corresponding to the tension force and causing the wireless network interface to send the data to a wireless communication device.

Abstract: An industrial machine that includes a dipper, a hoist drum, a wire rope connected between the hoist drum and the dipper, a hoist motor, a sensor, and a controller. The sensor generates a signal related to a number of wire wraps of the wire rope around the hoist drum, which is received by the controller. The controller determines, based on the signal from the sensor, the number of wire wraps around the hoist drum. If the controller determines that there are an insufficient number of dead wraps around the hoist drum, the controller sets one or more parameters of the hoist motor. The controller sets each of the one or more parameters of the hoist motor to a value that is lower than a normal operational value for the parameter.

Abstract: The present invention relates to control means (20) for controlling a lifter device (10), the control means having a grip (25) comprising a body (30) extending longitudinally in a first direction (D1) in elevation from a first end (31) to a second end (32), said control means (20) including at least one control member (40) for controlling said lifter device (10). The body (30) includes a groove (33) extending longitudinally in a second direction (D2) in elevation, said groove (33) having a back wall (34) and an open section (35) that is open to the outside (EXT) of the grip (25) so that a suspension member (15) can be reversibly inserted in said groove (33) through said open section (35), the suspension member (15) being held in said groove (33) by the hand of an operator.

Abstract: A control system for a capstan assembly for use with a winch during wire rope payout. The control system comprises a sensor that detects the rope when it is in a predetermined position indicative of tension placed on the rope by an operator. The control system further comprises an actuator for rotating the capstans such that the wire rope is paid out from the winch when the actuator is in a first position. The control system causes the capstans to rotate and the wire rope to pay out when the rope is in the predetermined position and the actuator is in the first position. The control system ceases rotation when the actuator is removed from the first position or the rope is no longer in the predetermined location.

Abstract: A hoist rotation limiting system for a hoist. A hoist drum has a grooved exterior surface configured to position a cable in a predetermined position relative to the ends and longitudinal axis of the hoist drum as the cable is wound onto or off of the hoist drum. Upon the cable being positioned in the predetermined position, the cable urges portions of a carrier weldment to contact a switch, thereby sending an electrical signal to stop rotation of a hoist motor.

Abstract: A pneumatic load balancing device having an inflatable reservoir establishing via an amplifier a pressure within a lift chamber that is sufficient to balance the weight of an object being lifted. The reservoir is inflated and deflated by inflation and deflation valves that may be operated from an operator control center proximal an end effector of the device. The valves may be actuated via pushbuttons or in a mutually exclusively fashion via a neutrally biased reciprocating actuator. The device allows loads of different weights to be lifted in a semi-automatic fashion with operator involvement to select the load balancing pressure. The device may have an air release system that closes a blocking valve in the event of release of the object and optionally in the event of a loss of air supply. The pressure within the lift chamber is thereby preserved and can be vented at different rates.

Abstract: An electronic limit switch software module is programmed into a controller for a hoist system. The electronic limit switch determines the rotations of a motor to keep track of the location of the load. Arbitrary stop and slow down locations may be input into the system so that the system can determine when to stop and slow down the load.

Abstract: A hoist apparatus including a hoist and control method are provided. The hoist includes a cable to which an object is connected, a motor, a drum to wind or unwind the cable in linkage with rotation of the motor, a pulley connected to the drum via the cable to guide the cable to the drum, and an angle detection assembly to detect an angle of the cable between the pulley and the object. A control unit detects whether the object shakes based on the angle of the cable and controls shaking restriction if shaking of the object is detected. User force and angle of the cable are detected and movement of the object is controlled, the object is easily moved by the user, auxiliary force is applied to the object, and vibration of the object is minimized.

Abstract: A control system for a lifting device in which a load moves up or down or maintains its position by a rope that is wound up or down by the rotation of a servo motor. It includes a device for measuring a force, a first controller, a second controller and a switching device. A total force that is applied at the lower part of the rope caused by a force for controlling, the mass of the load, and the acceleration of the load is measured. The first controller, based on the measured force computes the direction and the speed of the servo motor, and outputs a signal to it. The second controller determines a stable condition using Popov's stability criterion. The switching device replaces the first controller with the second controller when the value that is measured by the measuring device becomes less than a threshold.

Abstract: A method for controlling the tension in a spooled device disposed on a winch, comprises providing an input signal to a controller indicative of a measured tension in the spooled device, providing an input signal to the controller indicative of a desired tension in the spooled device, and providing an output signal from the controller to adjust the speed of the winch based on a difference between the desired tension in the spooled device and the measured tension in the spooled device.

Abstract: A method for lift compensation of an item (12) which is connected to a vessel (1) by means of a rope (4) which is coiled around the rope drum (6) of a lifting device (2), the lifting device (2) being provided with a heave compensator (20), a controller (30) of the heave compensator (20) controlling the effect of the driving device (32, 34, 42) of the rope drum (6) on the basis of a heave term and a deviation term, the method comprising: —bringing a correction term into the heave compensation when, because of environmental forces, the force on the rope (4) falls outside a first limit (d, e); and—leaving the correction term out when the force on the rope (4) is within a second limit (c, f), the second limit (c, f) being equal to or different from the first limit (d, e).

Abstract: A control system comprising a force measuring means (3) for measuring the magnitude of the force acting on a lower part of the rope suspending a load, which force is caused by a force imposed on the load by an operator, the mass of the load, and an acceleration of the load; a first control means (4) having a first computing unit, the first computing unit computing a rotational direction and a velocity of a servomotor to be driven, based on the measured result from the force measuring means, and outputting a signal that corresponds to the measured result to the servomotor, a length measuring means for measuring the length of a rope (2) wound down from a hoist drum; a weight measuring means for measuring the weight of the load suspended from the rope; an angle measuring means for measuring the angle of the rope relative to a vertical plane when the operator laterally pushes the load; and a second control means having a second computing unit, the second computing unit computing the operation conditions for the c

Abstract: A vehicle, configured to transport an object, said vehicle among other components, comprising: a load bearing member; a line; an actuator coupled to said vehicle and adapted for applying a tensile force to said line in response to an actuator command, and disposed and adapted for transmitting at least a portion of said tensile force to said load bearing member; an end-effector mechanically coupled to said line and adapted for transmitting said tensile force and an operator force to said object and for generating an operator input signal; and a controller adapted for generating said actuator command from said operator input signal.

Abstract: A servo motor driven hoist includes a float mode in which a load is raised lowered in response to manually applied forces on the load exerted by an operator in which forces applied to the load as a result of accelerations of the load generated by hoist movement of said load are compensated for by sensing the accelerations and computing the forces resulting therefrom, and subtracting those forces from the sensed total magnitude of forces acting on the load to eliminate the effects of dynamically generated forces when in the float mode.

Abstract: The invention relates to a piste grooming vehicle with a point of application for cable forces that is associated with a cable winch, said point being at a distance from a yaw axis of the piste grooming machine, at least one control device being provided and being operatively connected to at least one control means for automatically compensating at least one cable torque that can be applied by a cable traction force of the cable winch in relation to the yaw axis.

Abstract: A towrope winch with a safety shutoff device includes a winch configured to wind a rope; and a safety shutoff device which deactivates the winch if the rope moves outside a designated range of angles relative to an intake of the winch.

Abstract: A cable control apparatus comprises a carrier disposed on a loop of cable; one or more trigger points disposed on the loop of cable; a control mechanism to control movement of the loop of cable, the control mechanism comprising a plurality of sensors to sense the one or more trigger points, and a motor to impart movement to the loop of cable. The sensors are functionally connected to the motor, and the motor has at least two wheels about which the loop of cable is wrapped a plurality of times. A first sensor of the plurality of sensors stops the motor and reverses the direction of the cable to bring the carrier to a base location; a second sensor of the plurality of sensors stops the motor when the carrier reaches the base location; and a third sensor of the plurality of sensors restarts the motor. In one embodiment, the carrier takes the form of a predator for frightening animals.

Abstract: An apparatus is disclosed for tensioning lines of a winch having a reel and three lines wound about the reel. The apparatus is used to position an object on a support. The first and second lines are wound about the reel in a first direction and the third line is wound about the reel in a second direction opposite the first direction. The first line extends around the first guide, the second line extends around the second guide, and the third line extends between the first and second guides. All three lines are connected to each other and to the object at their distal ends. An inner frame and an outer frame each contact the first and second lines. The inner frame and the outer frame are movable with respect to each other to maintain tension in the first and second lines.

Abstract: A lifting reel with a four-line wire structure includes a fixed body fixed to a ceiling of a structure, first and second drums installed to the body at a predetermined interval and rotated by a driving motor, wires respectively connected to the first and second drums, and first, second, third and fourth guide rollers arranged on a top of a lifting body at regular intervals and suspended on the wires to form a four-line wire. A wire-twisting prevention device is installed between an end of the wire connected to the first drum and an end of the wire connected to the second drum so as to connect both wires with each other. The wire-twisting prevention device includes bearings installed to the ends of the wires to be rotatable, respectively. The bearings prevent the wires from being twisted while the wires are wound around or unwound from the drums.

Abstract: An improved electric lift actuator for use on a variety of lift systems, includes various improvements that enable a universal design with interchangeable parts across several load ranges. The universal design further enables additional features and functionality (e.g., improved load cell location, improved operator sensing and electrical signal/air channel in operator pendant, improved reliability and reduced cost for operator force sensing, etc.) In addition the universal design is incorporated with a rotational drive assembly wherein the load sensing and wire rope slack sensing, as well as cable limits may be achieved using improved components and techniques—such as non-contact sensors, etc. Many of the improvements described are believed to reduce cost and improve the performance and expand the capacity and reliability of the actuator in addition to making the actuator a common design across several applications and load ranges.

Abstract: A winch assembly (10) comprises a winch drum (18) rotatable about a first axis and carrying a spoolable medium, such as wireline (14) for use in deploying and retrieving tooling into and from a well bore. A carriage sheave (30) mounted on a drive screw (34) is positioned adjacent the winch drum (18), wherein the drive screw (34) is rotatable about a second axis substantially parallel to the first axis. In use, the carriage sheave (30) engages the spoolable medium and is translated by the drive screw (34) in reverse directions to follow the fleeting motion of the spoolable medium as the medium is paid out and/or in from the winch drum (18). In a disclosed embodiment, the winch drum (18) is mounted vertically on a tubular body (22), through which tubular body (22) the spoolable medium extends into the well bore. In one embodiment the winch assembly (10) forms part of a subsea well intervention system.

Abstract: In a method and apparatus for controlling the deployment of a towline connecting a mooring craft to an ejected object comprising the steps of monitoring velocity to determine when a point for optimum braking has been achieved and then engaging a brake system to retard deployment of the towline, a DC motor augments and controls the brake system. The DC motor further controls the retrieval of the object. A cutter mechanism uses a first blade to grip the towing cable to maintain tension thereon as a second blade cuts the cable. A spring biased boom in combination with spring biased fins on the ejected object rapidly deploys the object from its storage housing. A locking mechanism secures the deployment mechanism in a stable locked position upon the object reaching its fully extended position.

Abstract: A powered rope ascender that supports a person or a load while ascending a vertical rope. The rope ascender has a motor driven capstan drum that engages the rope. A pinch roller grips the rope against the capstan drum. A load limiting assembly releases the grip by the pinch roller when the load supported by the ascender exceeds a predetermined amount. A centrifugal clutch reduces starting torque required by the motor and the outer drum of the centrifugal clutch interacts with a brake to hold position on the rope. For heavy loads a motion activated brake is used. Hand controls provide a freewheeling, a braking and an ascending mode of operation. A harmonic drive or planetary reduction gears provide speed reduction from the motor to the capstan drum. The powered rope ascender can be threaded on the rope without access to a rope end.

Abstract: A device (1) that compensates the weight of a suspended load, for example a tool or welding tongs, is provided as a spring tensioner with at least one barrel (4) or supporting wire that can be reeled off a barrel (3) against the force of a spring (2). The barrel (3) is supported on a shaft (6), to which the spring (2) engages directly with its interior end or via a sheath connected to the shaft (6), while the opposite exterior end of the spring (2) is mounted to the barrel (3) at the inside. A shaft drive (7) can be activated to change the pull force at the spring (2) via the shaft (6). The spring (2) is connected to the shaft drive (7) or to a drive wheel (8) allocated thereto via a freewheel.

Abstract: An apparatus for loading an object into a vehicle, the vehicle having a trunk lid, the apparatus comprising: a line; an actuator adapted for applying a tensile force to the line in response to an actuator command, and disposed and adapted for transmitting at least a portion of the tensile force to the trunk lid; an end-effector mechanically coupled to the line and adapted for transmitting the tensile force and an operator force to the object and for generating an operator force measurement; and a controller adapted for generating the actuator command from the operator force measurement.

Abstract: The present invention is a method and apparatus for monitoring the condition of a cable in a human power amplifying lift system. The method and apparatus employ a cable slack sensor and a cable end sensor to override and prevent the lift from continuing to unwind the lift cable when slack or and end of travel limit has been reached.

Abstract: The invention relates to a system for controlling a load lifting device (1) with a controllable drive (2) and a lifting element (5) which is linked with the drive (2) and which is—at least in a non-operational position due to the gravitational force—vertically (Z—Z) aligned. A load receiving element (7) is linked with the lifting element (5). The system further comprises a control circuit for balancing the loads. Said control circuit encompasses a device for producing a path-dependent signal which corresponds to a substantially vertical (Z—Z) movement of the lifting element (5) and which represents the input signal for the control of the drive (2).

Abstract: A lifting device comprising a rope or wire provided at one end with a gripping device for an object to be lifted, a pulling device provided at the other end of the rope or wire and a rope wheel around which the rope or wire is wound. The rope wheel is provided with a groove for the rope. The rope wheel has a bulge in which a raised screw is inserted wherein, when the rope is wound on the rope wheel and reaches the bulge, the rope is lifted and interacts with a breaker, thereby stopping lifting.

Abstract: 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 the vertical force imposed on the end-effector by the operator and delivers a signal to a controller. The controller and actuator are structured in such a way that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The load thus feels lighter to the operator, but the operator does not lose the sense of lifting against both the gravitation and inertial forces originating in the load.

Abstract: The invention provides a device and method for wireless material handling systems. The invention further provides an instrumented glove device worn by an operator. A sensory system within the glove device measures the contact force the operator is exerting on either an object to be moved or the material handling system and generates a set of contact signals representing the contact force. The contact signals are transmitted, via a transmitter circuitry, to a controller in another location. The controller receives and processes the signals and generates a set of command signals. The command signals control the speed and mechanical assistance required of an actuator, as a function of the operator contact force, to move the material handling system.

Abstract: A lifting device for lifting and moving objects with minimal effort and a method for using the same is provided. The lifting device has a cable attachable to an object and a handle on the cable. Sensors in the handle may sense vertical pressure exerted on the handle and may put out a current to a variable-speed motor in a housing of the lifting device. The motor may release or may retrieve the cable at a speed dependent upon the amount of pressure applied, thereby raising or lowering the object. Pressure of three to five pounds is sufficient to lift any object. The operator may move the object in any direction up to a radius determined by the length of the cable from the object to the housing. The housing may have an upper portion that may slide forward relative to a lower portion. Consequently, this lengthens the radius of movement allowed to the operator.

Abstract: 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 the vertical force imposed on the end-effector by the operator and delivers a signal to a controller. The controller and actuator are structured in such a way that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The load thus feels lighter to the operator, but the operator does not lose the sense of lifting against both the gravitation and inertial forces originating in the load.

Abstract: A platform apparatus is disclosed including an end effector, a plurality of tension members, a plurality of controllers and a digital processing unit in command communication with the controllers, where each tension member is connected at its distal end to a vertex of the end effector and at its proximal end to one of the controllers, where the controllers control a length of each tension member, thereby controlling the position of the end effector within a volume defined by locations of the controllers and where the digital processing unit controls the controllers. The apparatus can also include a plurality of support members which support the tension members and/or the controllers, one or more controllers allocated to each support member. Methods are also described for the installation and used of the platform apparatus of this invention.

Abstract: A portable three-phase alternating current power supply is provided to drive one or more chain hoist drive motors. The portable power supply has a portable case for holding electrical components and includes a control panel that has at least one single-phase power input socket, and preferably a pair of three-phase motor power output sockets and a pair of motor control output sockets. Three-phase inverters are located in the portable case and are coupled to receive one or more single-phase 110 V alternating current power inputs and to provide three-phase, 208 V alternating current electrical power outputs through the three-phase motor power output sockets. Selector switches on the control panel are used to drive the chain hoist motors to raise and lower loads. Phase selection switches on the control panel synchronize the outputs of the inverters with the selector switch positions and associated indicators.

Abstract: A wireless lifting assist device includes a pulley driven by an actuator which is attached to a ceiling. An end-effector is suspended, via a line, from the pulley and interfaces the object to be maneuvered. The wireless lifting assist device further provides an instrumented glove worn by an operator. The glove measures the contact force the operator is exerting on either the object to be moved or the lifting assist device and generates a set of contact signals representing the contact force. The contact signals are transmitted to a controller. The controller generates a set of command signals to control the actuator as a function of the operator contact force such that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The object thus feels lighter to the operator.

Abstract: A wireless lifting assist device includes a pulley driven by an actuator which is attached to a ceiling. An end-effector is suspended, via a line, from the pulley and interfaces the object to be maneuvered. The wireless lifting assist device further provides an instrumented glove worn by an operator. The glove measures the contact force the operator is exerting on either the object to be moved or the lifting assist device and generates a set of contact signals representing the contact force. The contact signals are transmitted to a controller. The controller generates a set of command signals to control the actuator as a function of the operator contact force such that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The object thus feels lighter to the operator.

Abstract: A winch assembly includes an actuating mechanism coupled to a winch and a latch. Rotation of the winch in a first direction drives the actuating mechanism to position the latch at a first position. The actuating mechanism includes a clutch allowing further rotation of the winch in the same direction after the latch is positioned.