Abstract: A robotic wrist for a robotic arm includes a hybrid differential with a first cam, a second cam, a first differential input, and a second differential input. The first cam and the second cam are disposed about first and second pivots oriented along a first rotational axis. An abduction output is coupled to the second cam and has a second rotational axis transverse to the first rotational axis. The robotic wrist includes a first actuator, a second actuator, a first link coupling an output of the first actuator to the first differential input, and a second link coupling an output of the second actuator to the second differential input. Synchronous motion of the actuators causes flexion of the abduction output about the first rotation axis, and asynchronous motion of the actuators causes abduction motion of the abduction output about the second rotation axis.

Abstract: A robotic end effector or end-of-arm tool may take the form of a mechanical digit (e.g., mechanical finger), or employ one or more mechanical digits (e.g., mechanical fingers), controllable in multiple degrees of freedom, e.g., pitch, yaw, curl. The mechanical digit(s) advantageously comprise a skeleton and three (3) piston/cylinders combinations, one controlling curl, and the other two controlling pitch and/or yaw. Mechanical digits may comprises a number of rolling contact joints. A flexible printed circuit board (PCB) carrying a variety of sensors covers the skeleton, and runs inside the rolling contact joints to provide a zero length change path. Knuckle imitators may cause a membrane cast or sheath joint to resemble human knuckles.

Abstract: A robotic joint has a first portion that includes a first actuator and a second actuator, a first spherical linkage having a first end mechanically coupled to the first actuator and a second end mechanically coupled to a second portion of the robotic joint, and a second spherical linkage having a third end mechanically coupled to the second actuator and a fourth end mechanically coupled to the second portion. The first and second spherical linkages are segments of a spherical shell. The first and second actuators are operable in combination to control movement of the second portion relative to the first portion with two degrees of freedom. Each actuator causes a first respective movement in the same direction as each other to control a flexion or an extension, and a second respective movement in opposite directions to each other to control an abduction or an adduction.

Abstract: A robotic end effector or end-of-arm tool may take the form of a mechanical digit (e.g., mechanical finger), or employ one or more mechanical digits (e.g., mechanical fingers), controllable in multiple degrees of freedom, e.g., pitch, yaw, curl. The mechanical digit(s) advantageously comprise a skeleton and three (3) piston/cylinders combinations, one controlling curl, and the other two controlling pitch and/or yaw. Mechanical digits may comprises a number of rolling contact joints. A flexible printed circuit board (PCB) carrying a variety of sensors covers the skeleton, and runs inside the rolling contact joints to provide a zero length change path. Knuckle imitators may cause a membrane cast or sheath joint to resemble human knuckles.

Abstract: A hydraulic valve includes two ports, a chamber within the valve housing which, in operation, is at least partially filled with a hydraulic fluid, and a fluid switch within the chamber. The fluid switch is movable between at least a first position and a second position. In the first position, the ports are fluidly coupled to each other. In the second position, the ports are fluidly isolated from each other. An external surface of the fluid switch is separated from an internal surface of the chamber by a first micro-gap. Another external surface of the fluid switch is separated from another internal surface of the chamber by a second micro-gap. The first micro-gap and the second micro-gap are fluidly coupled to the chamber, and each have a respective size of less than about five micrometers.

Abstract: A mechanical hand mimics a human hand having similar degrees of freedom and sensory abilities while appearing visually similar to human hand. The mechanical hand comprises a mechanical hand skeleton and resilient elastomer (e.g., silicone) skin that fully encloses the mechanical hand skeleton. The mechanical hand skeleton may advantageously be molded directly into the resilient elastomer (e.g., silicone) skin such that the hand appears, moves, and feels very similar to a real human hand. The mechanical hand may have applications in robotics, for example as an end-of-arm tool or end effector, or may have other applications. Robotic applications may include prosthetics applications.

Abstract: A robotic end effector or end-of-arm tool may take the form of a mechanical digit (e.g., mechanical finger), or employ one or more mechanical digits (e.g., mechanical fingers), controllable in multiple degrees of freedom, e.g., pitch, yaw, curl. The mechanical digit(s) advantageously comprise a skeleton and three (3) piston/cylinders combinations, one controlling curl, and the other two controlling pitch and/or yaw. Mechanical digits may comprises a number of rolling contact joints. A flexible printed circuit board (PCB) carrying a variety of sensors covers the skeleton, and runs inside the rolling contact joints to provide a zero length change path. Knuckle imitators may cause a membrane cast or sheath joint to resemble human knuckles.

Abstract: A robotic digit includes a digit base frame, a joint head coupled to the digit base frame, and an articulated digit body coupled to the joint head. A first actuator and a second actuator are mounted to the digit base frame. The first actuator includes a first actuator output coupled to the joint head by a first mechanical linkage. The first actuator output causes a first relative movement between the joint head and the digit base frame through the first mechanical linkage. The second actuator has second actuator output coupled to the joint head. The second output causes a second relative movement between the joint head and the digit base frame that is different from the first relative movement through the second mechanical linkage.

Abstract: In an implementation, a method of forming a hydraulic connection between a hydraulic component and a hydraulic hose includes threading a ferrule onto an end section of the hydraulic hose, crimping the ferrule to the hydraulic hose, and threading an annular gasket onto the hydraulic hose between the ferrule and an open end of the end section of the hydraulic hose. The method may include securing the hydraulic hose to a body of the hydraulic component by forming a seal between the body and the hydraulic hose by compression. Threading the ferrule onto the hydraulic hose may include threading an annular ferrule having a profile of a first truncated cone with a first half-aperture, and urging the ferrule towards an interface in the body of the hydraulic component, the interface having a profile of a second truncated cone with a second half-aperture different from the first half-aperture.

Abstract: A robot has a controller and a sensor. The sensor is communicatively coupled to the controller. The controller includes a contact response system. A safety response of the contact response system is activated for the sensor. A method of operation of the robot includes detecting, by the sensor, a contact between the robot and a human, the contact resulting from a motion of the robot, and determining, by the controller, whether the contact between the robot and the human is an expected or unexpected contact. In response to determining the contact between the robot and the human is an expected contact, the safety response is deactivated for the sensor to allow the robot to proceed with its motion uninterrupted. In response to determining the contact between the robot and the human is an unexpected contact, the contact response system causes the robot to interrupt the motion of the robot.

Abstract: A robot has a controller and a sensor. The sensor is communicatively coupled to the controller. The controller includes a contact response system. A safety response of the contact response system is activated for the sensor. A method of operation of the robot includes detecting, by the sensor, a contact between the robot and a human, the contact resulting from a motion of the robot, and determining, by the controller, whether the contact between the robot and the human is an expected or unexpected contact. In response to determining the contact between the robot and the human is an expected contact, the safety response is deactivated for the sensor to allow the robot to proceed with its motion uninterrupted. In response to determining the contact between the robot and the human is an unexpected contact, the contact response system causes the robot to interrupt the motion of the robot.

Abstract: A robotic wrist includes a wrist frame, a first actuator having a first actuator output, and a second actuator having a second actuator output. A first mechanical linkage includes a first input coupled to the first actuator output and a first output coupled to the wrist frame. A second mechanical linkage includes a second input coupled to the second actuator output and a second output coupled to the wrist frame. A rotational position of the first output about a first axis is responsive to a position of the first actuator output. A rotational position of the second output about a second axis that is transverse to the first axis is responsive to a different between a position of the first actuator output and a position of the second actuator output.

Abstract: A robotic wrist for a robotic arm includes a hybrid differential with a first cam, a second cam, a first differential input, and a second differential input. The first cam and the second cam are disposed about first and second pivots oriented along a first rotational axis. An abduction output is coupled to the second cam and has a second rotational axis transverse to the first rotational axis. The robotic wrist includes a first actuator, a second actuator, a first link coupling an output of the first actuator to the first differential input, and a second link coupling an output of the second actuator to the second differential input. Synchronous motion of the actuators causes flexion of the abduction output about the first rotation axis, and asynchronous motion of the actuators causes abduction motion of the abduction output about the second rotation axis.

Abstract: A robotic elbow has a first actuator having a rotary output and a first interface for coupling the elbow to a first robotic arm segment. A flexion frame rotatably mounts to the first actuator. A first link is coupled at one end to the output of the first actuator and at another end to the flexion frame. A second link is coupled at one end to the output of the first actuator and at another end to the flexion frame. The first link and the second link are coupled to the rotary output in a selected rotary phase displacement. A second actuator is mounted in the flexion frame, the second actuator has an output and a second interface for coupling the robotic elbow to a second robotic arm segment.

Abstract: Tactile sensing using both coarse and fine tactile sensors. A coarse tactile sensor having a first sensitive area at least partially encompasses or overlies a plurality of fine tactile sensors, each having a respective sensitive area smaller than the first sensitive area. The coarse tactile sensor(s) and fine tactile sensors may be carried on a same circuit board or separate circuit boards. Processor(s) circuits are communicatively coupled to the coarse and/or fine tactile sensors. Information indicative of at least a presence or absence of force or pressure at a given location monitored by the respective tactile sensor, and/or a measure of the force or pressure or strain is collected. Such may be mounted to a backing, and optionally covered or encased in an artificial skin. Collecting sensor readings employs both coarse and fine tactile sensors, sampling corresponding fine tactile sensors in response to detection by a coarse tactile sensor.

Abstract: A robotic torso for a humanoid robot includes a first torso member having an axial axis aligned with a reference axis and a second torso member having at least one mounting portion for at least one humanoid component. The robotic torso includes a series of actuators arranged in a column between the first torso member and the second torso member and coupling the first torso member to the second torso member. Each of the actuators has a rotatable member defining a rotational axis. The rotational axes of each adjacent pair of actuators in the series of actuators are orthogonal to each other.

Abstract: A hydraulic valve includes two ports, a chamber within the valve housing which, in operation, is at least partially filled with a hydraulic fluid, and a fluid switch within the chamber. The fluid switch is movable between at least a first position and a second position. In the first position, the ports are fluidly coupled to each other. In the second position, the ports are fluidly isolated from each other. An external surface of the fluid switch is separated from an internal surface of the chamber by a first micro-gap. Another external surface of the fluid switch is separated from another internal surface of the chamber by a second micro-gap. The first micro-gap and the second micro-gap are fluidly coupled to the chamber, and each have a respective size of less than about five micrometers.

Abstract: In an implementation, a hydraulic assembly comprising an end section of a hydraulic hose formed from a volume of material, the end section having a first outer diameter and an open end, is formed by molding a flange in the end section of the hydraulic hose, and threading an annular gasket onto the end section of the hydraulic hose between the flange and the open end of the hydraulic hose, and adjacent to the flange. The flange is formed in the volume of material, and has a second outer diameter greater than the first outer diameter. The molding of the flange may include applying heat to a mold, inserting the open end of the end section of the hydraulic hose into the mold, and thermally deforming a portion of the end section of the hydraulic hose to form the flange.

Abstract: In an implementation, a hydraulic valve includes a valve body, a cylindrical chamber within the valve body, and a cylindrical spool within the chamber. The spool is rotatable between at least a first position and a second position about a longitudinal axis parallel to a longitudinal axis of the chamber. The spool includes a landing and an eccentric channel that extends around a portion of an outer circumferential surface of the landing. In the first position, an inlet and an outlet of the hydraulic valve are fluidly coupled by the eccentric channel to allow a flow of a hydraulic fluid circumferentially around the landing from the inlet to the outlet. In the second position, the inlet and/or the outlet are obstructed by another portion of the outer circumferential surface of the landing to prevent the flow of the hydraulic fluid from the inlet to the outlet.

Abstract: A flexible joint includes a plurality of links, a plurality of flexures, and at least one cable which can be tensioned or relaxed to cause a bending about a plurality of axes. The links may include a base link; a last link; and a plurality of intermediate links, coupled together by the flexures such that the plurality of intermediate links, the first link, and the last link form a chain of links having the base link at a first end of the chain and the last link at a second end of the chain and each of the plurality of intermediate links is coupled to two other ones of the plurality of links by two flexures. The cable(s) extend through cable pass-through-holes in the links. The links may comprise disks with sloped faces, and may be rotational offset from another around a longitudinal axis. The flexures may comprise living hinges.