Abstract: This invention provides a system and method for allowing motion of a robotic manipulator on an AV truck in connecting to a native gladhand on a trailer front that represents and constructs a model of this free space on-the-fly, in the manner of an Obstacle Detection and Obstacle Avoidance (OD/OA) system and process. A robotic arm on an AV truck is adapted to connect a pneumatic line to a gladhand on the trailer front. A first 3D sensor generates a pointcloud, and is located at an elevated position on the truck to image the trailer front. A second 3D sensor also generates pointclouds at during robot motion, located adjacent to an end of the robotic arm. An occlusion mapping process generates an occlusion map of the trailer front, and a map update process updates the occlusion map to add and remove voxels therefrom to allow safe guidance of the robot.

Abstract: Disclosed is a high degree of freedom control apparatus that includes a base attached to a strain gauge assembly movable in three orthogonal directions to provide signals indicative of a position of the strain gauge assembly relative to the base. An actuator assembly is supported on the base and movable by an operator's arm, hand, digit, or wrist relative to the base structure. The actuator assembly provides signals indicative of the position of the operator's arm, hand, digit or wrist in at least seven degrees of freedom relative to the base structure. The actuator assembly includes a wrist angle stage and a digit angle stage. The strain gauge assembly includes a spring plate and a load cell that is configured to provide a signal indicative of deflection of the load cell relative to the base.

Abstract: A control actuator apparatus is presented having an actuator assembly providing three linear motion degrees of freedom relative to a base and three rotational degrees of freedom, and one or more additional actuators providing at least one additional degree of freedom, including a base structure, an XYZ stage, and an upper actuation assembly with a wrist angle stage, a forearm angle stage, and a digit angle stage providing relative positioning signals or values to facilitate machine control capabilities with a high number of degrees of freedom (high DoF).

Abstract: Disclosed is a high degree of freedom control apparatus that includes a base attached to a strain gauge assembly movable in three orthogonal directions to provide signals indicative of a position of the strain gauge assembly relative to the base. An actuator assembly is supported on the base and movable by an operator's arm, hand, digit, or wrist relative to the base structure. The actuator assembly provides signals indicative of the position of the operator's arm, hand, digit or wrist in at least seven degrees of freedom relative to the base structure. The actuator assembly includes a wrist angle stage and a digit angle stage. The strain gauge assembly includes a spring plate and a load cell that is configured to provide a signal indicative of deflection of the load cell relative to the base.

Abstract: A control actuator apparatus is presented having an actuator assembly providing three linear motion degrees of freedom relative to a base and three rotational degrees of freedom, and one or more additional actuators providing at least one additional degree of freedom, including a base structure, an XYZ stage, and an upper actuation assembly with a wrist angle stage, a forearm angle stage, and a digit angle stage providing relative positioning signals or values to facilitate machine control capabilities with a high number of degrees of freedom (high DoF).