Abstract: A robot controlling method includes following operations. A depth image is obtained by the depth camera. A processing circuit receives the depth image and obtains an obstacle parameter of an obstacle and a tool parameter of a tool according to the depth image. The tool is set on the end of a robot. The processing circuit obtains a distance vector between the end and the obstacle parameter. The processing circuit obtains a first endpoint vector and a second endpoint vector between the tool parameter and the obstacle parameter. The processing circuit establishes a virtual torque according to the distance vector, the first endpoint vector, and the second endpoint vector. The processing circuit outputs control signal to the robot according to the tool parameter, the obstacle parameter and the virtual torque to drive the robot to move or rotate the tool to a target.

Abstract: A robotic surgical system includes a surgical robot holding a surgical instrument, a wearable device worn by a person, a camera for capturing images, and a computer device. The camera captures images of a base marker, and a dynamic reference frame disposed on an affected part of a patient. The computer device calculates a plurality of conversion relationships among different coordinate systems, and controls the surgical robot to move the surgical instrument according to a pre-planned surgical path and based on the conversion relationships. Furthermore, the computer device transmits data of a 3D model and the pre-planned surgical path to the wearable device, such that the wearable device is configured to present the 3D model in combination with the pre-planned surgical path as an AR image based on the conversion relationships.

Abstract: A system of a robot for human following includes the robot faced toward a first direction. The robot includes a detecting device, a controlling device and a mobile device. The detecting device detects a target human and a obstacle. The controlling device generates a first parameter according to a first vector between the target human and the robot, generates a second parameter according to a second vector between the obstacle and the robot, and generates a driving command according to a first resultant force parameter generated from the first parameter and the second parameter and an angle value between the first direction and the first vector to drive the robot. The mobile device performs the driving command to enable the robot dodging the at least one obstacle and following the target human, simultaneously. A controlling method of a robot for human following is also disclosed herein.

Abstract: A robot controlling method includes following operations. A depth image is obtained by the depth camera. A processing circuit receives the depth image and obtains an obstacle parameter of an obstacle and a tool parameter of a tool according to the depth image. The tool is set on the end of a robot. The processing circuit obtains a distance vector between the end and the obstacle parameter. The processing circuit obtains a first endpoint vector and a second endpoint vector between the tool parameter and the obstacle parameter. The processing circuit establishes a virtual torque according to the distance vector, the first endpoint vector, and the second endpoint vector. The processing circuit outputs control signal to the robot according to the tool parameter, the obstacle parameter and the virtual torque to drive the robot to move or rotate the tool to a target.

Abstract: A system of a robot for human following includes the robot faced toward a first direction. The robot includes a detecting device, a controlling device and a mobile device. The detecting device detects a target human and a obstacle. The controlling device generates a first parameter according to a first vector between the target human and the robot, generates a second parameter according to a second vector between the obstacle and the robot, and generates a driving command according to a first resultant force parameter generated from the first parameter and the second parameter and an angle value between the first direction and the first vector to drive the robot. The mobile device performs the driving command to enable the robot dodging the at least one obstacle and following the target human, simultaneously. A controlling method of a robot for human following is also disclosed herein.

Abstract: A robot controlling method includes: obtaining a depth image by a depth camera; receiving the depth image and obtaining an object parameter according to the depth image by a processing circuit; generating an attractive force parameter according to a target trajectory by the processing circuit; generating a repulsive force parameter according to a first vector between the object parameter and a robot by the processing circuit; generating a virtual force parameter according to a second vector between the object parameter and the robot by the processing circuit; and outputting a control signal to the robot to drive the robot according to the attractive force parameter, the repulsive force parameter and the virtual force parameter by the processing circuit.

Abstract: An operation method of a robot for leading a follower to a destination within an open space includes: calculating a distance between the follower and the robot; when it is determined that the distance is not greater than a threshold, determining a pre-movement location of the robot in the open space and an orientation of the robot, and calculating a linear speed and an angular speed for the robot based on the pre-movement location and the orientation of the robot and the destination; moving according to the linear speed and the angular speed; determining whether the robot has arrived at the destination according to the current position; and repeating the previous steps when it is determined that the robot has not arrived at the destination.

Abstract: A power supply system with hydrogen fuel cell is provided, comprising a hydrogen fuel cell module converting hydrogen fuel into electrical power for outputting. A boost charging module electrically connected to the hydrogen fuel cell module receives, boosts and converts the electric power into charging power. At least two battery packs connected in parallel are electrically connected to the boost charging module and an external load respectively. When one of the battery packs discharges the external load, the other selectively receives charging power from the boost charging module. A control module electrically connected to the above controls the boost charging module to receive electrical power and convert it into charging power and controls the battery packs to alternate performing discharging the external load and charging from the boost charging module repeatedly by turns. The present invention combines hydrogen fuel cells to provide an innovative power supply system.

Abstract: The present disclosure illustrates a robot speech control system including a robot body, a handheld device, a command receiver, an ambient sensor, a processor and a controller. The handheld device includes a display interface and a speech input interface, and the speech input interface is configured to input a speech command which is then converted, by a speech recognition program, into a speech control instruction. An auto-dodge program converts the information into an auto-dodge instruction. The processor receives the speech control instruction and the information associated with the environment, and use Bayesian regression algorithm to calculate a free space probability, so as to obtain weights of a speech command and a dodge command. The processor integrates the speech control instruction and the weight of the speech command, and the auto-dodge instruction and the weight of the dodge command, to generate a movement control instruction.

Abstract: A walking rehabilitation robot system is provided, which includes two robot feet, any robot foot of the sound leg will generate a plurality of motion detection signals by first move so that another robot foot learns to move. A control device is electrically connected to each robot foot and receives the motion detection signals transmitted by the robot foot of first move. The control device calculates a first movement track by using the motion detection signals, and then calculates the required motor torque to generate a second movement track according to the first movement track. The control device controls the movement of the other robot foot based on the second movement track. The present invention designs for a user with an inconvenient mobility. The user uses a normal movement of sound half body so that the other robot foot can move the inconveniently moved part immediately.

Abstract: An operation method of a robot for leading a follower to a destination within an open space includes: calculating a distance between the follower and the robot; when it is determined that the distance is not greater than a threshold, determining a pre-movement location of the robot in the open space and an orientation of the robot, and calculating a linear speed and an angular speed for the robot based on the pre-movement location and the orientation of the robot and the destination; moving according to the linear speed and the angular speed; determining whether the robot has arrived at the destination according to the current position; and repeating the previous steps when it is determined that the robot has not arrived at the destination.

Abstract: A robot controlling method includes: obtaining a depth image by a depth camera; receiving the depth image and obtaining an object parameter according to the depth image by a processing circuit; generating an attractive force parameter according to a target trajectory by the processing circuit; generating a repulsive force parameter according to a first vector between the object parameter and a robot by the processing circuit; generating a virtual force parameter according to a second vector between the object parameter and the robot by the processing circuit; and outputting a control signal to the robot to drive the robot according to the attractive force parameter, the repulsive force parameter and the virtual force parameter by the processing circuit.

Abstract: A movement assistance method is provided to calculate center of pressure, a support torque, a gravity compensation torque, and a correction torque. The support torque is calculated according to a user external torque. The correction torque is obtained by multiplying the gravity compensation torque by an amendment scale. An assistive torque is calculated according to the support torque and the correction torque.

Abstract: A power supply system with hydrogen fuel cell is provided, comprising a hydrogen fuel cell module converting hydrogen fuel into electrical power for outputting. A boost charging module electrically connected to the hydrogen fuel cell module receives, boosts and converts the electric power into charging power. At least two battery packs connected in parallel are electrically connected to the boost charging module and an external load respectively. When one of the battery packs discharges the external load, the other selectively receives charging power from the boost charging module. A control module electrically connected to the above controls the boost charging module to receive electrical power and convert it into charging power and controls the battery packs to alternate performing discharging the external load and charging from the boost charging module repeatedly by turns. The present invention combines hydrogen fuel cells to provide an innovative power supply system.

Abstract: The present disclosure illustrates a robot speech control system including a robot body, a handheld device, a command receiver, an ambient sensor, a processor and a controller. The handheld device includes a display interface and a speech input interface, and the speech input interface is configured to input a speech command which is then converted, by a speech recognition program, into a speech control instruction. An auto-dodge program converts the information into an auto-dodge instruction. The processor receives the speech control instruction and the information associated with the environment, and use Bayesian regression algorithm to calculate a free space probability, so as to obtain weights of a speech command and a dodge command. The processor integrates the speech control instruction and the weight of the speech command, and the auto-dodge instruction and the weight of the dodge command, to generate a movement control instruction.

Abstract: A method for controlling a walking assistant apparatus includes: scanning a user so as to generate information associated with gait of the user; detecting a torque applied to a torque sensor; estimating a speed of the user based on the information; calculating a compliant motion speed, and a compliant rotational speed; and controlling the motion unit to move at the compliant motion speed and to turn at the compliant rotational speed. This disclosure provides an autonomous obstacle avoidance mechanism; by combining the obstacle avoidance mechanism and the compliance controls, the walking-assistance apparatus is able to help user prevent from collisions with obstacles when walking in an environment with obstacles.

Abstract: A method for image recognition of an instrument includes: obtaining an input image containing a to-be-recognized instrument; selecting from the input image a region-of-interest containing the to-be-recognized instrument; determining in a high-to-low order of priority values of instrument categories, whether the to-be-recognized instrument contained in the region-of-interest belongs to one of the instrument categories according to the region-of-interest and a respective one of plural groups of sample images; and increasing the priority value of the one of the instrument categories when it is determined that the to-be-recognized instrument belongs to the one of the instrument categories.

Abstract: A method for controlling a walking assistant apparatus includes: scanning a user so as to generate information associated with gait of the user; detecting a torque applied to a torque sensor; estimating a speed of the user based on the information; calculating a compliant motion speed, and a compliant rotational speed; and controlling the motion unit to move at the compliant motion speed and to turn at the compliant rotational speed. This disclosure provides an autonomous obstacle avoidance mechanism; by combining the obstacle avoidance mechanism and the compliance controls, the walking-assistance apparatus is able to help user prevent from collisions with obstacles when walking in an environment with obstacles.

Abstract: A movement assistance method includes following steps: detecting a center of pressure; generating a gravity scale according to the center of pressure; measuring a joint angle and estimating a user external torque and a motor torque; generating a compensated assistive torque according to the user external torque, the joint angle, the motor torque and the gravity scale.

Abstract: A music playing system and a music playing method suitable for playing music based on speech emotion recognition are provided. The music playing method includes following steps. A plurality of songs and song emotion coordinates of the songs mapping on an emotion coordinate graph are stored in a first database. Emotion recognition parameters are stored in a second database. A voice data is received and analyzed, and a current emotion coordinate of the voice data mapping on the emotion coordinate graph is obtained according to the second database. The setting of a target emotion coordinate is received. At least one specific song emotion coordinate closest to a cheer-up line connecting the current emotion coordinate and the target emotion coordinate is found. Songs corresponding to aforementioned emotion coordinates are sequentially played.