Abstract: The present disclosure relates to systems, non-transitory computer-readable media, and methods for intelligently blending inverse kinematic (IK) solutions to more naturally depict joint positioning and/or movement of digital animated characters. In particular, in one or more embodiments, the character animation system can blend two IK solutions for an elbow joint based on a shoulder angle. For example, the character animation system can utilize a blending region to dynamically blend IK solutions as the shoulder angle moves through the blending region, thereby smoothly modifying bend direction and elbow position of the animated character arm. Based on the modified elbow position relative to a wrist position and a shoulder position, the animated character system can simulate more accurate, natural arm movements while reducing time and interactions needed to generate realistic animation sequences.

Abstract: Techniques for controlling a robot are described in this document. In some implementations, a method includes determining a first target position of a first point located at the first end of the first link based on pose data for an end effector of a robot having a wrist offset. A second target position of a first joint connecting the first link to a second link is determined. A third target position of a second joint located at the first end of a third link is determined, including defining a first plane that includes the second target position of the first joint. A position and size of a circle that lies within a second plane is determined. A point on a perimeter of the circle is selected as the third target position. Movement data based on each position of each joint is provided to a control system.

Abstract: A mobile robot includes: a sensor unit configured to sense an object present in a traveling direction; a camera configured to, in response to sensing of the obstacle by the sensor unit, photograph the obstacle; a data unit configured to store information regarding a plurality of obstacles; a controller configured to control an operation by recognizing the obstacle based on the information stored in the data unit; a travel unit configured to perform a designated operation according to a control command from the controller; and a speaker configured to output a designated sound according to a control command from the controller, wherein the controller comprises: an obstacle recognizer configured to analyze an image of the obstacle photographed by the camera, compare the image of the obstacle with data stored in the data unit, recognize the obstacle, and determine a type of the obstacle; and a motion controller configured to, in response to a type of the obstacle recognized by the obstacle recognizer, perform a d

Abstract: A method includes: accessing a floorplan representing the floorspace; and extracting from the floorplan a set of floorplan features representing areas of interest in the floorspace. The method also includes, calculating a set of target locations relative to the floorplan that, when occupied by the set of sensor blocks: locate the areas of interest in the floorspace within fields of view of the set sensor blocks; and yield a minimum overlap in fields of view of adjacent sensor blocks in the set of sensor blocks. The method further includes, for each sensor block in the sensor blocks installed over the floorspace: receiving, from the sensor block, an image of the floorspace; based on overlaps in the image with images from other sensor blocks in sensor blocks, estimating an installed location of the sensor block; and mapping the sensor block to a target location in the set of target locations.

Abstract: The present concepts relate to devices that can employ deployable controllers. In one example the device can include a base assembly configured to ground the device to a non-hand body part of a user. The example can also include an engagement assembly configured to receive tactile input from a hand of the user or to deliver tactile output to the hand of the user. The device can further include a deployment assembly extending from the base assembly to the engagement assembly and configured to deploy the engagement assembly from a storage orientation proximate to the base assembly to a deployed orientation proximate to the hand of the user.

Abstract: This invention provides a wireless transceiver device for retrofit conversion of non-wireless enabled electronic controllers and controlled host devices. This invention allows for the rotating of the wireless transceiver device allowing for the entire device to rotate around the connector axis. This functionality allows for the ability to rotate the wireless transceiver device 360 degrees or to any orientation that maximizes the available space around the host device or around the area of permanent or temporary installations of networks of single or multiple controllers and controlled devices. The inclusion of a stop pin washer plate may be combined with a rotation limiting washer to prevent the rotating assembly from moving freely around the 360 degrees of rotation.

Abstract: The present disclosure relates to systems, non-transitory computer-readable media, and methods for intelligently blending inverse kinematic (IK) solutions to more naturally depict joint positioning and/or movement of digital animated characters. In particular, in one or more embodiments, the character animation system can blend two IK solutions for an elbow joint based on a shoulder angle. For example, the character animation system can utilize a blending region to dynamically blend IK solutions as the shoulder angle moves through the blending region, thereby smoothly modifying bend direction and elbow position of the animated character arm. Based on the modified elbow position relative to a wrist position and a shoulder position, the animated character system can simulate more accurate, natural arm movements while reducing time and interactions needed to generate realistic animation sequences.

Abstract: The present invention relates to a medical device (100) having smart handle apparatus allowing the operation of a medical device as intended by a user.

Abstract: An information handling system integrated keyboard selectively retracts and extends keys based upon detected conditions, such as housing configuration, housing motion and end user indications. Extension and retraction shuttle plates motivated by actuator wires moves a sliding plate to extended and retracted positions that define the key positions. Nickel titanium alloy actuator wires shorten upon application of current to pull the shuttle plates to the extended or retracted positions that are maintained by a lock. Limit switches remove current at detection of a desired shuttle plate position. One or more controllers manage actuator wire operation based upon detected conditions and actuator wire temperature and electrical characteristics.

Abstract: A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

Abstract: A communication controlling method includes: (A) receiving, from second communication devices, device identification information items for identifying the second communication devices, and situation information items for grasping situations around the second communication devices; (B) when at least one of the received situation information items includes an information item on a user, updating a neighborhood information database indicating which second communication device is around which user, based on the information item on the user and the at least one of the device identification information items; (C) when receiving a request for connection to a target user from the first communication device, selecting, from among the second communication devices, a second communication device present around the target user with reference to the neighborhood information database; and (D) communicably connecting the selected second communication device and the first communication device.

Abstract: A motor drive controlling apparatus includes: a controller that outputs a drive control signal; a motor driver that generates and outputs a drive signal to a motor; and an encoder that detects a rotational position of the motor. The controller has a measurement unit that detects a time point when rotation of the motor is switched to a reverse direction of a target rotational direction by an external factor during input of the speed command signal, and measures a movement amount in the reverse direction from a rotational position of the motor at a time point of the switching, and a transmitting unit that transmits, to the motor driver, a switching signal that switches a conduction method from 180-degree conduction to 120-degree conduction in a case where the movement amount is a predetermined threshold or more.

Abstract: A private conversation request is received from a first communication apparatus, and a region of fixed range based on the position of a first user is set as a first conversation-listening area. Based on a position management database, a second communication apparatus positioned inside the first conversation-listening area from among one or a plurality of second communication apparatus is detected as a first evacuation communication apparatus, and an evacuation order causing the first evacuation communication apparatus to be evacuated from the first conversation-listening area is transmitted to the first evacuation communication apparatus.

Abstract: A system described herein provides six degrees of freedom with respect to a three-dimensional object rendered on a multi-touch display through utilization of three touch points. Multiple axes of rotation are established based at least in part upon location of a first touch point and a second touch point on a multi-touch display. Movement of a third touch point controls appearance of rotation of the three-dimensional object about two axes, and rotational movement of the first touch point relative to the second touch point controls appearance of rotation of the three-dimensional object about a third axis.

Abstract: There is provided a robot device including a behavior plan unit that detects a current status of the robot device or an external environment and that decides one behavior plan of a plurality of behavior plan candidates as a future behavior plan, based on the current status, and a display control unit that decides one display pattern of a plurality of previously prepared display pattern candidates as display content to be displayed on a remote control device that remotely controls the robot device based on the decided behavior plan and that cause the remote control device to display the display pattern decided by the behavior plan unit.

Abstract: A system for adjusting the height of a workstation for use by a user, the system comprising a frame, a worktop vertically slidably attached to said frame and selectably adjustable in elevation to different positions, at least one drive mechanism mechanically connected between said frame and said worktop and arranged to selectively vertically displace the worktop with respect to said frame when activated, a processor controlling the drive mechanism to move the worktop to different positions, the processor monitoring at least one condition with respect to the worktop and, when the at least one condition is met, generating at least one reminder for a workstation user, the processor providing the reminder to a workstation user by driving the worktop through at least one small vertical displacement.

Abstract: A system for adjusting the height of a workstation for use by a user, the system comprising a frame, a worktop having an upper work surface, the worktop being vertically slidably attached to said frame and selectably adjustable in elevation to different positions including at least a first standing position and at least a first sitting position, at least one variable speed electrically-powered vertical-displacement drive mechanism connected between said frame and said worktop, said drive mechanism being arranged to selectively vertically displace the worktop with respect to said frame when said drive mechanism is activated and a processor controlling the drive mechanism to move the worktop to different positions, the processor controlling the drive mechanism to control the rate of worktop height displacement at various speeds including at least a first speed and a second speed that is different than the first speed, the processor controlling the rate of worktop height displacement at the first speed sometimes

Abstract: In a method for training a person while operating a vehicle, the vehicle has a control system for receiving vehicle operating commands from the person for controlling the vehicle. A calculation unit is provided for simulating a state of the vehicle and/or the environment to which the vehicle is subjected, the simulated state being a possible real state of the vehicle and/or the environment which is different from the actual state of the vehicle and/or the environment. The vehicle operating commands and the calculation unit are used for calculating vehicle command signals. The vehicle command signals are used for controlling the vehicle so as to cause the vehicle to respond to the vehicle operating commands in a way that corresponds to the state simulated by the calculation unit instead of the actual state of the vehicle and/or the environment.

Abstract: Powered patient support apparatuses—such as beds, cots, stretchers, or the like—include a plurality of user controls that allow a caregiver to control the steering and/or driving of one or more powered wheels from multiple different locations around the patient support apparatus (e.g. head end, foot end, and/or the sides). The control is carried out by force sensors that detect both an orientation of the applied forces and a magnitude of the applied forces. Translational and/or rotational movement is effectuated, depending upon the magnitude and direction of the forces, as well as the physical location of the applied force relative to a reference point on the support apparatus, such as the center. One or more object sensors may also be included in the support apparatus to assist in steering and/or navigating.

Abstract: A method is disclosed for operating a mobile computing device. The method may include a communication link between the mobile computing device and a second computing device. The second computing device may provide a virtual environment for the mobile computing device. Furthermore, the mobile computing device may allow a user to control a self-propelled device, which may be rendered as a virtual entity upon the virtual environment.

Abstract: A motor-driven articulated haptic interface arm includes: a frame; an arm linked to the frame and rotationally mobile about an axis; and a motor, which delivers at least one torque about the axis countering at least one part of forces applied to the arm by its environment. A main transmission transmits the torque to the arm and includes a capstan-type cable reducer, and an auxiliary transmission transmits the torque to the arm. The auxiliary transmission is capable of taking at least two states: an inactive state, when the forces applied to the arm by its environment are below a predetermined threshold, in which the auxiliary transmission transmits no torque to the arm; and an active state when the forces applied to the arm by its environment are higher than a predetermined threshold, in which the main transmission transmits no torque to the arm.

Abstract: Via intuitive interactions with a user, robots may be trained to perform tasks such as visually detecting and identifying physical objects and/or manipulating objects. In some embodiments, training is facilitated by the robot's simulation of task-execution using augmented-reality techniques.

Abstract: A system for using mobile robots that track visual features of a drawing to create a tangible tactile interface for a user. The user places a hand or finger on a mobile robot to trace and consequently cognize features of interest. The mobile robot tracks visual features and reports a location of the mobile robot to a guidance system. The guidance system presents location information to the user.

Abstract: A force sensing multi-axis gimbaled device includes a multi-axis movement assembly having an outer pivot plate having an opening, a middle pivot plate having an opening, the middle pivot plate pivotally received within the opening in the outer pivot plate, and an inner pivot plate that is pivotally received within the opening in the middle pivot plate. A biasing assembly is in communication with the multi-axis movement assembly, which is configured to impose a first force on the multi-axis movement assembly when the multi-axis movement assembly is pivoted about a first axis. The biasing assembly is configured to impose a second force on the multi-axis movement assembly when the multi-axis movement assembly is pivoted about a second axis substantially transverse to the first axis, and the biasing assembly configured to impose a third force on the multi-axis movement assembly when the multi-axis movement assembly is pivoted about a third axis.

Abstract: A rotary actuator, in particular for a motor vehicle, has an actuating element which can rotate about an axis, and a position sensor which detects the position of the actuating element in circumferential direction. The rotary actuator is disposed such that the rotational movement of the actuating element is continued a certain distance in the released state after manual actuation and is slowly decelerated.

Abstract: A method for controlling multiple stepper motors with a single micro-controller output set uses a demultiplexer to split a single micro-controller output set into individual control signals for a plurality of stepper motors.

Abstract: A power-assisted door closer includes an output shaft, a driving mechanism operatively connected to the output shaft, a mechanical energy accumulator for storing closing energy for the door leaf and acting upon the driving mechanism, a motor/generator unit operatively connected to the output shaft and an electrical energy accumulator for storing an assisting energy for the door leaf and being electrically connected to the motor/generator unit.

Abstract: A medical robotic system includes a surgical instrument, a robotic arm assembly, an input device, and a processor. The surgical instrument has an end effector and a sensor for sensing a force exerted by the end effector, and is operatively mounted on the robotic arm assembly. The processor is configured to receive commanded movement of the end effector from the input device, receive information of the force from the sensor, determine a reduced velocity of the commanded movement that would inhibit damage causing motion of the end effector, and control robotic manipulation of the surgical instrument in response to the commanded movement of the end effector while restricting the velocity of the commanded movement to the reduced velocity.

Abstract: A method and apparatus are provided to maintain motion control during manual positioning of a patient table. The method and apparatus of the present application control the amount of resistance to manual motion of the patient table without using switches to control the amount of assistance provided during manual positioning. The amount of resistance to manual motion may vary as a function of the velocity and position of the patient table. Further, the resistance to initial manual movement of the patient table may be reduced.

Abstract: There is provided a digital controller which can reduce a variation in output voltage as compared to the conventional digital controller at the time of abrupt changes in load and in input of a power amplifier. The digital controller is built in the power amplifier for supplying an output voltage vo to a load and is equipped with a manipulated variable calculating unit which detects the output voltage vo to calculate a manipulated variable ?1 and a signal generating unit which converts the manipulated variable ?1 into a signal for making the power amplifier operate. A feedforward function from an equivalent disturbance qy caused by the variation in the load is replaced by a feedback function from the output voltage vo and the manipulated variable ?1, thereby allowing a transfer characteristic from the disturbance qy to the output voltage vo to result in a quadratic differential characteristic.

Abstract: An integrated brushless DC motor and controller including a brushless DC motor having a rotating shaft with a 2 pole permanent magnet affixed to the shaft for rotation thereby in a plane orthogonal to the axis of rotation of the shaft. An X-Y Hall Effect Sensor is carried by a controller mounted on a circuit board attached to the motor and the Hall Effect Sensor is positioned proximate the magnet with the Hall Effect Sensor producing the Sine and Cosine components of the magnetic field as the magnet is rotated by the motor shaft. The electronic controller includes software for determining the motor angle and commutation logic from the Sine and Cosine components generated by the Hall Effect Sensor response to the rotating magnetic field.

Abstract: A force/tactile feedback device feeding back a force sense to a fingertip of an operator includes a fingerstall to which the fingertip of the operator is inserted, a position feedback means for feeding back a position to the fingertip held by the fingerstall, a fingertip contact point feedback means for feeding back a fingertip contact point to the fingertip held by the fingerstall and an unnecessary moment removal means for supporting the fingertip contact point feedback means so that unnecessary moment is not generated at a tip portion of the position feedback means.

Abstract: An active pilot inceptor system includes a pilot inceptor, a multi-phase motor, and a motor control. The pilot inceptor is configured to receive user input and is operable, in response to the user input, to move to a control position. The multi-phase motor is coupled to the pilot inceptor to selectively supply haptic feedback thereto. The motor control is operable to selectively energize the multi-phase motor in a manner that causes the multi-phase motor to generate torque and supply the haptic feedback to the inceptor, and to selectively energize the multi-phase motor in a manner that the multi-phase motor does not generate torque.

Abstract: According to an embodiment, a numerically controlled (NC) processing system includes materials processing installation having a multi-axis kinematic linkage operable to position a tip portion of the linkage along a predetermined process path. The system also includes a processor having a compensation system operable to detect a singular point in the process path and to improve the accuracy tip portion positioning near the singular point.

Abstract: There is provided a digital controller which can generate no oscillation even if sensing a load side and enables control of supplying a desired voltage to the load. In an power amplifier which supplies an output voltage vo to the load connected via a load connecting line, a load voltage vL and the output voltage vo are periodically sampled to calculate a manipulating variable ?1 from the output voltage vo, the load voltage vL and an arbitrary target value r. Based on the manipulating variable ?1 calculated, a control signal is output to the power amplifier. As a result, when connecting an LC filter with a load device 9 of the power amplifier intended for a control target and besides the load connecting line is long, a robust digital controller without generating oscillation even if sensing the load side is performed can be realized.

Abstract: A servo-controlled system is disclosed for providing simulated feel equivalent to that of traditional mechanical hand controllers. Processed position and force sensor signals are used in a feedback loop that controls the motor mechanically connected to the stick. The feedback loop comprises a low-level motor feedback loop, and high-level force feel loop. The latter comprises static and dynamic performance components. The system allows variable and additional force cues to be specified externally to the system and felt by the operator, and/or external signal to backdrive the stick to follow a specified motion. The control framework permits the electronic coupling of the motion and applied forces by pilots in a dual arrangement while retaining the above-mentioned features. It simulates cross-coupling mechanical compliance due to force fight between pilots, detents and asymmetric force feel gradients. Parameters associated with loops and performance components can be specified independently.

Abstract: A machine tool is controlled using a pointing device coupled to two rotatable hand wheels. The pointing device tracks movement of the two hand wheels and communicates the movement to a control system which controls a moveable element.

Abstract: An active human-machine interface system includes a user interface, one or more motors, one or more motor controllers, one or more electrically controllable dampers, and one or more damper controllers. The motors are coupled to the user interface and are configured, upon being energized, to supply a haptic feedback force to the user interface. The motor controllers are coupled to, and configured to selectively energize, the motors. The electrically controllable dampers are coupled to the user interface and are configured, upon being energized, to supply a damping force to the user interface. The damper controllers are in operable communication with the motor controllers and are coupled to, and configured to selectively energize, the electrically controllable dampers.

Abstract: A position control unit performs control so that the position of a controlled object is detected, and as a result of the detection, a drive unit is reverse-directed if the controlled object is situated beyond an ultimate target position, and the operation of the drive unit is stopped if the controlled object is situated beyond an acceptable ultimate target range.

Abstract: A medical robotic system includes a surgical instrument, a robotic arm assembly, an input device, and a processor. The surgical instrument has an end effector and a sensor for sensing a force exerted by the end effector, and is operatively mounted on the robotic arm assembly. The processor is configured to receive commanded movement of the end effector from the input device, receive information of the force from the sensor, determine a reduced velocity of the commanded movement that would inhibit damage causing motion of the end effector, and control robotic manipulation of the surgical instrument in response to the commanded movement of the end effector while restricting the velocity of the commanded movement to the reduced velocity.

Abstract: An active human-machine interface system is implemented without a force sensor. The system includes a user interface that is configured to receive user input and, upon receipt thereof, to move to a position. A position sensor is coupled to the user interface and is operable to sense user interface position and supply a position signal representative thereof. A motor is coupled to the user interface and to receive motor current. In response to the motor current the motor supplies a feedback force to the user interface at a magnitude proportional to the motor current. A control circuit is coupled to receive at least the position signal and a signal representative of the motor current and controls the motor current supplied to the motor.

Abstract: An all-terrain mobile robot comprising a mobile robotic platform, having either wheels or tank-treaded-like legs capable of navigating over rough terrain, wherein the robotic platform utilizes dynamic balancing behavior; a hydraulic powered anthropomorphic torso and articulated arms, wherein the hydraulic system possesses a pressure sensor for enabling the anthropomorphic torso and articulated arms to lift a payload using acute and delicate movements that reduce the chance of causing structural harm to the payload.

Abstract: A motor control amplifier for position feedback control is provided utilizing the inherent inductor and/or resistor dynamics of the motor. The motor control amplifier applies a voltage to the motor equivalent to the electrical motor resistance multiplied by the current of the motor, canceling out the electrical motor resistance, and thereby providing position feedback control through motor inductance. A command term/voltage could be added to make the position feedback control relative to a setpoint. Further, a motor control amplifier for feedback control to arbitrary dynamics is provided. The motor amplifier applies a voltage proportional to a wave command signal. The motor amplifier has a sensing component to provide a wave return signal to construct a wave transformer from the electrical motor resistance.

Abstract: First of all, in a first step S1, each actuator command value for position command value and posture command value of an end-effector is determined. Next, in a second step S2, rotational resistance values of a first and a second universal joints are obtained, and in a third step S3, the force and the moment exerted to each of the second universal joints are computed using this, and in a fourth step S4, the resultant force and the resultant moment exerted to the end-effector are determined from these. Then, in the fifth step, the elastic deformation amount of a mechanism is computed using these, and a compensation amount of the actuator command value is computed using these values. And then, in the sixth step, the actuator command values determined in the first step are updated with the compensation amount determined in the fifth step taken into account.

Abstract: An active user interface assembly includes a user interface, and one or more feedback motors coupled to the user interface. The one or more feedback motors, when energized, supply a feedback force to the user interface that opposes user interface movement. One of the feedback motors is disposed such that its center of gravity is located at a position relative to the user interface to mass balance the user interface when it is in the null position. The configurations allow for the center of gravity of a feedback motor to be positioned in a manner that alleviates the need for counterbalance weights.

Abstract: A closed loop control system for controlling an actuator operating on a moveable member, includes a control device controlling operation of the actuator, a sensor responsive to a condition such as loading of the moveable member as it is moved by the actuator and adapted to generate a corresponding feedback control signal SL, and a damping device having a damping effect on the response of the actuator to the feedback control signal, the damping effect being varied in accordance with the movement of the moveable member so as to vary the response of the actuator. The damping effect is increased in the region of stationary states to render the system more stable, and reduced therebetween to make the system more responsive at increased speeds, and thereby more conformal to a required performance profile. The position or velocity of the moveable member can be used to control the damping effect, or a timer can be used to control the damping effect.

Abstract: An embodiment of a haptic gripper system includes a slave gripper device, a master gripper device, and a gripper motor controller. The gripper motor controller includes a slave encoder loop, a master encoder loop, and a haptic loop. The haptic loop is configured to receive a slave motor encoder loop output signal and a master motor encoder loop output signal, determine a difference signal between the slave motor encoder loop output signal and the master motor encoder loop output signal representative of a difference between a first relative angular position of a slave gripper motor and a second relative angular position of a master gripper motor, and provide a slave motor control signal to a slave motor control signal input, and provide a master motor control signal to the master motor control signal input.

Abstract: A robust digital controller is equipped with a high degree of approximation and is able to incorporate a novel two-degree-of-freedom robust digital control system without substantially considering the magnitude of the control inputs and there is provided its designing device. A control compensating means is configured as an integral type control system in which a discrete transfer function Wry (z) between a target value r and a controlled variable y is approximated to a higher-approximate quadratic approximate model transfer function Wm (z) and an arithmetic processing can be performed within the digital controller based on the model transfer function Wm (z). Further, the designing device automatically calculates parameters constituting the control system. Consequently, a robust digital controller can be easily realized that is equipped with a high degree of approximation as compared with a conventional approximate digital control system for realizing a first-order model and is robust against output noises.

Abstract: Kinematic singular points in a process system are handled. In one embodiment, a numerically controlled (NC) processing system includes materials processing installation having a multi-axis kinematic linkage operable to position a tip portion of the linkage along a predetermined process path. The system also includes a processor having a compensation system operable to detect a singular point in the process path and to improve the accuracy tip portion positioning near the singular point.

Abstract: The invention relates to a drive unit (12) for vertical or horizontal movement of a component (7) of a diagnostic X-ray device (1), comprising a motor and gear unit (14), a pulley (10) mounted on a drive shaft (13) of the motor and gear unit (14), and traction means (9), e.g. a rope or a drive belt, wound around the pulley (10), the component (7) to be moved being either attached to the traction means (9) or connected with the drive unit (12).