Abstract: A smart sensorized gripper connected to and controlled by a controlling device comprises a gripper base, a driving assembly, two moving assemblies, two gripping assemblies, two angle sensors and a displacement sensor. The driving assembly and the sensors are disposed on the gripper base and connected to the controlling device. The driving assembly drives the gripping assemblies to grip and release an object through the moving assemblies. An axial force along a Z-direction and a gripping force along an X-direction of the smart sensorized gripper are controlled by sensing crank elements of the gripping assemblies with the angle sensors and sensing a displacement of a moving element of the driving assembly with the displacement sensor, increasing functionality and positioning precision. The sensors are disposed at the gripper base to avoid extra electrical wirings on the gripping assemblies, simplifying the wirings and reducing the cost.

Abstract: A 3-axis parallel linear robot has three drivers disposed around a central axis and a movement mechanism. The movement mechanism has three linkage assemblies connected to an end effector in parallel. The three assemblies are respectively driven by the three drivers in a linear or rotary manner for enabling the end effector to linearly move in a three-dimensional space. Each linkage assembly has three linkage rods and three rotating joints. An inner angle defined between each rotating joint and an imaginary plane being perpendicular to the central axis is an acute angle. A first center distance between the first rotating joint and the second rotating joint is equal to a second center distance between the second rotating joint and the third rotating joint. The overall height of the movement mechanism is reduced for increasing the working stroke and for improving the movement stability of the 3-axis parallel linear robot.

Abstract: A planar spring has an outer ring, an inner ring, and two elastic components. The inner ring is disposed in the outer ring, and forms a space therebetween. The two elastic components are disposed in the space, and are symmetric with respect to a central line at a spaced interval. Each elastic component has an outer connecting portion, an inner connecting portion, and a flexible strip. The outer connecting portion is connected to the outer ring at a first connecting point. The inner connecting portion is connected to the inner ring at a second connecting point. The flexible strip is connected between the outer connecting portion and the inner connecting portion. An included angle between the first connecting point and the second connecting point from the center is greater than or equal to 90 degrees and less than 180 degrees. A rotational series elastic actuator is also provided.

Abstract: A joint exoskeleton auxiliary driving mechanism has a first driving module. The first driving module has a first gear member, a first connecting member, a first rotating driver, a first linear driver, and a first motion element. The first connecting member is disposed on a side of the first gear member. The first rotating driver is disposed on the first connecting member and engages with the first gear member. The first linear driver is disposed on the first connecting member. The first motion assembly is connected to a first power output element of the first linear driver. The joint exoskeleton auxiliary driving mechanism has two degrees of freedom motion function such as forward rotation, reverse rotation, and dorsiflexion or extension, and has the advantages of structural simplification, precise strength controlling, lightweight, and miniaturization.

Abstract: A 3-axis parallel linear robot has three drivers disposed around a central axis and a movement mechanism. The movement mechanism has three linkage assemblies connected to an end effector in parallel. The three assemblies are respectively driven by the three drivers in a linear or rotary manner for enabling the end effector to linearly move in a three-dimensional space. Each linkage assembly has three linkage rods and three rotating joints. An inner angle defined between each rotating joint and an imaginary plane being perpendicular to the central axis is an acute angle. A first center distance between the first rotating joint and the second rotating joint is equal to a second center distance between the second rotating joint and the third rotating joint. The overall height of the movement mechanism is reduced for increasing the working stroke and for improving the movement stability of the 3-axis parallel linear robot.

Abstract: A joint module has a base, a motion mechanism, a linear driving mechanism, a driving motor assembly, and a transmission. The motion mechanism, the linear driving mechanism, and the driving motor assembly are disposed on the base. The transmission is disposed between the linear driving mechanism and the driving motor assembly. A first transmitting assembly and a second transmitting assembly of the motion mechanism are disposed on the base in parallel. A first linear driving assembly and a second linear driving assembly of the linear driving mechanism are non-coaxial and are disposed on the base in parallel. A first wheel transmitting assembly of the transmission is connected to the driving motor assembly and the first linear driving assembly. A second wheel transmitting assembly of the transmission is connected to the driving motor assembly and the second linear driving assembly.

Abstract: A planar spring has an outer ring, an inner ring, and two elastic components. The inner ring is disposed in the outer ring, and forms a space therebetween. The two elastic components are disposed in the space, and are symmetric with respect to a central line at a spaced interval. Each elastic component has an outer connecting portion, an inner connecting portion, and a flexible strip. The outer connecting portion is connected to the outer ring at a first connecting point. The inner connecting portion is connected to the inner ring at a second connecting point. The flexible strip is connected between the outer connecting portion and the inner connecting portion. An included angle between the first connecting point and the second connecting point from the center is greater than or equal to 90 degrees and less than 180 degrees. A rotational series elastic actuator is also provided.

Abstract: A shoulder joint rehabilitation assistive device has an exoskeleton base, an actuating mechanism, a spherical mechanism, and an upper limb connecting mechanism. The actuating mechanism is mounted on the exoskeleton base and has a yaw spring actuating assembly and a pitch spring actuating assembly. The spherical mechanism is connected with the actuating mechanism and has a linking rod, a spherical yaw linking assembly, and a spherical pitch linking assembly. The linking rod is pivotally connected with the exoskeleton base. The spherical yaw linking assembly has two ends respectively provided with a first yaw actuating portion and a second yaw actuating portion. The spherical pitch linking assembly has two ends respectively provided with a first pitch actuating portion and a second pitch actuating portion. The upper limb connecting mechanism is connected with the linking rod and the second yaw actuating portion of the spherical yaw linking assembly.

Abstract: A joint exoskeleton auxiliary driving mechanism has a first driving module. The first driving module has a first gear member, a first connecting member, a first rotating driver, a first linear driver, and a first motion element. The first connecting member is disposed on a side of the first gear member. The first rotating driver is disposed on the first connecting member and engages with the first gear member. The first linear driver is disposed on the first connecting member. The first motion assembly is connected to a first power output element of the first linear driver. The joint exoskeleton auxiliary driving mechanism has two degrees of freedom motion function such as forward rotation, reverse rotation, and dorsiflexion or extension, and has the advantages of structural simplification, precise strength controlling, lightweight, and miniaturization.

Abstract: A joint module has a base, a motion mechanism, a linear driving mechanism, a driving motor assembly, and a transmission. The motion mechanism, the linear driving mechanism, and the driving motor assembly are disposed on the base. The transmission is disposed between the linear driving mechanism and the driving motor assembly. A first transmitting assembly and a second transmitting assembly of the motion mechanism are disposed on the base in parallel. A first linear driving assembly and a second linear driving assembly of the linear driving mechanism are non-coaxial and are disposed on the base in parallel. A first wheel transmitting assembly of the transmission is connected to the driving motor assembly and the first linear driving assembly. A second wheel transmitting assembly of the transmission is connected to the driving motor assembly and the second linear driving assembly.

Abstract: An actuator has a linear driving mechanism, an output member, and an elastic member. The linear driving mechanism has a stepping motor, a thread rod assembly, and a linearly moveable member. The threaded rod assembly is connected with the stepping motor. The linearly moveable member is located at a side of the stepping motor and is connected with and driven by the thread rod assembly to reciprocatively move along a power input axis. The output member is disposed on a side of the linearly moveable member and has a capability of linearly moving along a power output axis that is co-axial with the power input axis. The elastic member is connected between the linearly moveable member and the output member to provide an elastic force along the power input axis.

Abstract: A shoulder joint rehabilitation assistive device has an exoskeleton base, an actuating mechanism, a spherical mechanism, and an upper limb connecting mechanism. The actuating mechanism is mounted on the exoskeleton base and has a yaw spring actuating assembly and a pitch spring actuating assembly. The spherical mechanism is connected with the actuating mechanism and has a linking rod, a spherical yaw linking assembly, and a spherical pitch linking assembly. The linking rod is pivotally connected with the exoskeleton base. The spherical yaw linking assembly has two ends respectively provided with a first yaw actuating portion and a second yaw actuating portion. The spherical pitch linking assembly has two ends respectively provided with a first pitch actuating portion and a second pitch actuating portion. The upper limb connecting mechanism is connected with the linking rod and the second yaw actuating portion of the spherical yaw linking assembly.