Abstract: A robotic surgical tool comprises a lead screw and at least one spline extending between first and second end, and a drive puck movably mounted to the lead screw and the spline and movable between the first and second ends. A spline coupling is rotatably coupled to the drive puck and receives the spline such that rotation of the spline correspondingly rotates the spline coupling. An instrument drive output is rotatably coupled to the drive puck and operatively coupled to the spline coupling, such that rotation of the spline coupling correspondingly rotates the instrument drive output. A drive housing is mountable to the drive puck and includes a drive input rotatably mounted to the drive housing and matable with the instrument drive output such that rotation of the instrument drive output correspondingly rotates the drive input.

Abstract: A power transmission device according to one aspect of the disclosure includes a first gear, a base member, a second gear, a support block, a position adjusting unit, and a fixing unit. The base member rotatably supports the first gear. The second gear engages with the first gear so as to be able to transmit power. The support block rotatably supports the second gear. The position adjusting unit adjusts relative positions of the support block and the base member in a direction in which an engagement depth between the second gear and the first gear varies. The fixing unit fixes the relative positions of the support block and the base member.

Abstract: A drive system includes a linear actuator with a drive shaft and having an actuation axis extending along a length of the linear actuator. A motor assembly of the drive system couples to drive shaft and is configured to rotate the drive shaft about the actuation axis of the linear actuator. The drive system further includes a nut attached to the drive shaft and a carrier housing the nut. A linkage system of the drive system extends from a proximal end away from the motor assembly to a distal end. The proximal end of the linkage system rotatably attaches to the carrier at a first proximal attachment location where the first proximal attachment location offset is from the actuation axis. The drive system also includes an output link rotatably coupled to the distal end of the linkage system where the output link is offset from the actuation axis.

Abstract: A manual release assembly for a surgical tool includes a first release plate including a first pair of arms engageable with a first pair release gears arranged within a drive housing, a second release plate including a second pair of arms engageable with a second pair release gears arranged within the dive housing, and a first angled slot defined in the first release plate and a second angled slot defined in the second release plate. A release switch provides a transition pin extendable into the angled slots and manually movable between disengaged and engaged positions. When in the disengaged position, the arms are disengaged from the release gears, and when manually moved to the engaged position, the transition pin moves through the angled slots and urges the release plates in opposing lateral directions such that the arms engage and rotate the release gears.

Abstract: The present invention relates to a drive for reaching a desired position of a component such as of a rotor blade, a crane tower, a superstructure and the like, having at least two drive elements that are in toothed engagement with one another and of which at least one is drivable from a drive source and the other is connectable to the component, and having a lubricating device for lubricating the drive elements, wherein at least one lubricant passage for the supply of lubricant to a meshing tooth pair is led through one of the drive elements. It is proposed to effect the supply of the lubricant by a distributor that is connected upstream of the lubricant passage integrated in the drive element and to control the connection between a supply passage of the distributor and the at least one lubricant passage integrated in the drive element by a relative movement between the drive element and the distributor.

Abstract: A robotic joint system with integrated safety can include a first support member, a second support member, and a tunable actuator joint assembly including a joint having an axis of rotation about which the first support member and the second support member rotate. The tunable actuator joint assembly can include a primary actuator and a quasi-passive linear pneumatic actuator coupled between the first and second support members. The quasi-passive linear pneumatic actuator can comprise an active state in which the quasi-passive linear pneumatic actuator stores energy upon a first rotation of the first and second support members and releases energy upon a second rotation of the first and second support members opposite the first rotation, and an inactive state that facilitates return of the first and second support members to a default position.

Abstract: A harmonic drive system for a pedal-electric-cycle comprises a transmission gear device including a wave generator assembled by an elliptical cam and a flexible bearing, a flexible-flexspline, a rigid-circular-spline having rigid-circular-spline internal gear teeth, a gear set, and a one-way clutch having an inner surface defining a space for containing a spindle of the pedal-electric-cycle. A first end of the flexible-flexspline has flexible-flexspline external gear teeth for meshing with the rigid-circular-spline internal gear teeth and an inner surface defining a space for containing the wave generator. The gear set has a first input portion connected to a second end of the flexible-flexspline, a second input portion having an inner surface defining a space for containing the one-way clutch, and an output portion connected to a sprocket of the pedal-electric-cycle. The first input portion has a first-input rotational axis. The second input portion has a second-input rotational axis.

Abstract: A shift device includes: a shift switching member including valley parts corresponding to a shift position; a positioning member provided to establish the shift position in a state of being fitted into any one of the valley parts; a motor including a rotor and a stator and driving the shift switching member; a speed reduction mechanism section rotating the shift switching member in a state in which a rotation speed transmitted from the motor is reduced; a rotor rotational angle sensor detecting a rotational angle of the rotor; and an output shaft rotational angle sensor detecting a rotational angle of the shift switching member. The shift device detects the number of rotations of the motor based on association between output values of the output shaft rotational angle sensor and the rotor rotational angle sensor.

Abstract: A shift device includes: a shift switching member including valley parts corresponding to a shift position; a positioning member provided to establish the shift position in a state of being fitted into any one of the valley parts; a motor including a rotor and a stator and driving the shift switching member; a speed reduction mechanism section rotating the shift switching member in a state in which a rotation speed transmitted from the motor is reduced; a rotor rotational angle sensor detecting a rotational angle of the rotor; and an output shaft rotational angle sensor detecting a rotational angle of the shift switching member A width of a backlash included in the speed reduction mechanism section is detected, and the rotational angle of the motor corresponding to the center of the backlash is acquired.

Abstract: A joystick assembly for a working machine having a working arm includes a controller configured to control a plurality of machine functions, a first electronic joystick in communication with the controller, and actuators in communication with the controller. Each actuator is configured to actuate a function associated with the working arm. The first electronic joystick comprises four axes of movement, and the first electronic joystick is configured to transmit electronic signals to the controller in response to being displaced along an axis from a neutral position. The controller is configured to receive the electronic signals from the first electronic joystick, and to transmit an electrical signal to one or more actuators to actuate the actuators. The joystick assembly is configured such that the controller actuates a different actuator for controlling a different function associated with the working arm, dependent upon the axis of displacement of the first electronic joystick.

Abstract: A gear device includes an internal gear, an external gear, and a wave generator. The external gear includes a cylinder section, a diaphragm, and a boss section. The diaphragm includes a first coupling section, a second coupling section, and a diaphragm main body. A ratio of the length from one opening end of the cylinder section to the surface of the diaphragm on the opposite side of the opening end in a rotation axis direction to the length from the inner circumferential surface of the boss section coupled to the second coupling section to the outer circumferential surface of the cylinder section in the radial direction is 1.0 or more and 5.0 or less, and t(C)?t(A), where t(A) represents the thickness of the inner circumferential end of the diaphragm and t(C) represents the thickness of the outer circumferential end.

Abstract: A ball screw device has a screw shaft; a nut; a circulation part; and balls; a housing concave groove provided on the outer circumferential surface of the nut and linearly extending in the axial direction and opening to end surfaces on both outer sides in the axial direction of the nut, a circulation part arranged inside the housing concave groove, and the circulation part being prevented from displacing toward the outer side in the radial direction and displacing in the circumferential direction with respect to the nut by engaging an engaging convex portion of a fixing portion provided in the end portion on each of both outer sides in the axial direction of the circulation part with an engaging recess portion provided in the end portion of each of both outer sides in the axial direction of the housing concave groove.

Abstract: A robot joint device including first and second plates positioned in parallel, links each having a first end connected to the first plate and a second end connected to the second plate, connecting members configured to connect the two first and second ends of each of the links and the first and second plates, respectively, so that angles and rotations of the links are adjustable relative to the first and second plates, a rotary shaft having two ends penetrating the first and second plates and rotatably installed, a gear reduction unit installed in the first plate and connected to the first end of the rotary shaft, and a pulley connected to the second end of the rotary shaft and configured to transmit driving power to the rotary shaft may be provided.

Abstract: A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased.

Abstract: A vehicle drivetrain for a vehicle including a transmission configured to move the vehicle with a surface engaging traction member and a final drive assembly configured to drive the surface engaging traction member. The final drive assembly includes a drive assembly coupler. A transmission coupler is operatively connected to the transmission and disposed between the transmission and the drive assembly coupler. The transmission coupler includes a first position engaged with the drive assembly coupler and a second position disengaged from the drive assembly coupler. An actuator is operatively connected to the transmission coupler and is configured to move the transmission coupler between the first position and the second position. The actuator, in one embodiment, includes a worm drive having a worm gear configured to move the transmission coupler along a longitudinal direction of the transmission. The worm gear rotates about an axis inclined with the longitudinal direction.

Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

Abstract: A gear assembly including a first gear including a rim and a plurality of teeth. The plurality of teeth is configured to contact one or more of another plurality of teeth. A non-axisymmetric structure is defined at the rim. The non-axisymmetric structure is a non-contacting structure of the gear assembly.

Abstract: A ball screw includes a ball screw spindle, and a ball screw nut extending about the ball screw spindle. The ball screw nut has internal threading that corresponds with external threading of the ball screw spindle to define a raceway for rolling elements. The ball screw nut includes one or more bore holes extending from the exterior surface of the ball screw nut, and partially into the ball screw nut. The bore hole defines an end stop. A spring has one end that contacts the end stop, and another end that contacts one of the rolling elements.

Abstract: A ball screw including a threaded spindle and a spindle nut has a ball deflector arranged in an opening in the lateral surface of the spindle nut. The ball deflector is formed with an upper shell and a lower shell, the lower shell being arranged radially inwardly closer to the spindle nut longitudinal axis than the upper shell. The lower shell has a substantially half-shell-shaped contour. Both the upper shell and the lower shell are fastened in the spindle nut without any further, discrete mechanical fastening elements, and the ball deflector formed thereby does not protrude beyond the outer contour defined by the spindle nut.

Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.