A controlling apparatus is provided. According to an example, the controlling apparatus comprises: an operating body configured to bear acting forces; a mechanical sensing apparatus arranged on a surface of the operating body and configured to sense the acting forces and convert the acting forces into electric signals; and a controlling module configured to determine a resultant force of the acting forces according to the electric signals and control a controlled object to move along a direction of the resultant force of the acting forces.

A safety I/O module includes a plurality of output channels and a plurality of channel output terminals. The safety module further includes a multi-channel high side switch comprising an integrated circuit including a voltage input terminal and a plurality of main switches. A plurality of discrete safety switches are also provided. Each of the output channels includes a redundant pair of switches including one of the main switches of the multi-channel high side switch and one of the safety switches arranged in series. The main switch and the safety switch are configured to: (i) operably connect the voltage input terminal of the multi-channel high side switch to a respective one of the channel output terminals when both the main switch and the safety switch are in a conductive state; and (ii) disconnect the voltage input terminal of the multi-channel high side switch from the respective one of the channel output terminals when at least one of the main switch and the safety switch are in a non-conductive state. A method of operating a safety I/O module includes operating a plurality of main switches of a high side multi-channel switch integrated circuit to selectively conduct a supply voltage from a voltage input terminal to at least one discrete safety switch and operating the safety switch to selectively conduct the supply voltage to a respective one of the channel output terminals.

A controlling apparatus is provided. According to an example, the controlling apparatus comprises: an operating body configured to bear acting forces; a mechanical sensing apparatus arranged on a surface of the operating body and configured to sense the acting forces and convert the acting forces into electric signals; and a controlling module configured to determine a resultant force of the acting forces according to the electric signals and control a controlled object to move along a direction of the resultant force of the acting forces.