Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Abstract: A tunable actuator joint module of a robotic assembly comprises an output member and an input member, where the output member is rotatable about an axis of rotation. A primary actuator (e.g., a motor) is operable to apply a torque to rotate the output member about the axis of rotation. A quasi-passive elastic actuator (e.g., rotary or linear pneumatic actuator) comprising an elastic component is tunable to a joint stiffness value and is operable to selectively release stored energy to apply an augmented torque to assist rotation of the output member and to minimize power consumption of the primary actuator. The tunable actuator joint module comprises a control system having a valve assembly controllably operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state during respective portions of movement of the robotic assembly (e.g., a hip or knee joint of an exoskeleton). Associated systems and methods are provided.

Abstract: A tunable actuator joint module of a robotic assembly comprises an output member and an input member, where the output member is rotatable about an axis of rotation. A primary actuator (e.g., a motor) is operable to apply a torque to rotate the output member about the axis of rotation. A quasi-passive elastic actuator (e.g., rotary or linear pneumatic actuator) comprising an elastic component is tunable to a joint stiffness value and is operable to selectively release stored energy to apply an augmented torque to assist rotation of the output member and to minimize power consumption of the primary actuator. The tunable actuator joint module comprises a control system having a valve assembly controllably operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state during respective portions of movement of the robotic assembly (e.g., a hip or knee joint of an exoskeleton). Associated systems and methods are provided.

Abstract: An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.

Abstract: A rotary actuation mechanism comprising an actuator having a body, and a slider movable on a linear path relative to the body. A first linkage can be pivotally coupled to the body at a first pivot having a first axis. A second linkage can be pivotally coupled to the slider at a second pivot having a second axis, and pivotally coupled to the first linkage at a third pivot. A length of the first linkage between the first pivot and the third pivot can be equal to a length of the second linkage between the second pivot and the third pivot. The slider can be movable to position the second axis in a collinear relationship with the first axis. The rotary actuation mechanism can include an anti-singularity device to constrain movement of the body when the first axis and the second axis are in the collinear relationship.

Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Abstract: An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.

Abstract: An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.

Abstract: A device and method for adjusting the magnetic strength of a magnetic end effector for lift systems is described. The magnetic end effector is capable of lifting discriminate payloads by selectively varying the strength of the magnetic forces output by the magnetic end effector. An actuator can be operatively coupled to the variable strength magnet end effector, wherein the actuator is selectively actuatable to control the adjustment of the variable strength magnet. The actuator may also be configured to maintain the variable strength magnet at a desired magnetic force output strength once achieved for any given amount of time.

Abstract: A device and method for adjusting the magnetic strength of a magnetic end effector for lift systems is described. The magnetic end effector is capable of lifting discriminate payloads by selectively varying the strength of the magnetic forces output by the magnetic end effector. An actuator can be operatively coupled to the variable strength magnet end effector, wherein the actuator is selectively actuatable to control the adjustment of the variable strength magnet. The actuator may also be configured to maintain the variable strength magnet at a desired magnetic force output strength once achieved for any given amount of time.

Abstract: A rotary actuation mechanism is disclosed. The rotary actuation mechanism can include an actuator having a body, and a slider movable on a linear path relative to the body. A first linkage can be pivotally coupled to the body at a first pivot having a first axis. A second linkage can be pivotally coupled to the slider at a second pivot having a second axis, and pivotally coupled to the first linkage at a third pivot. A length of the first linkage between the first pivot and the third pivot can be equal to a length of the second linkage between the second pivot and the third pivot. The slider can be movable to position the second axis in a collinear relationship with the first axis. The rotary actuation mechanism can include an anti-singularity device to constrain movement of the body when the first axis and the second axis are in the collinear relationship.

Abstract: A linear/rotary motion transforming device is disclosed. The device includes a first member, a second member, and a third member disposed along an axis such that the second member is disposed between the first member and the third member. The second member is linearly movable along the axis and rotatable about the axis. The third member is rotatable about the axis. Connecting elements pivotally couple the first member and the second member, and the second member and the third member, offset from the axis. The first member and the second member are linearly and rotatably movable relative to one another, and the second member and the third member are linearly and rotatably movable relative to one another. A load input mechanism is operably coupled to the second member or the third member. Load output is transferred via the other of the second member or the third member.

Abstract: An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.

Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Abstract: A device and method for adjusting the magnetic strength of a magnetic end effector for lift systems is described. The magnetic end effector is capable of lifting discriminate payloads by selectively varying the strength of the magnetic forces output by the magnetic end effector. An actuator can be operatively coupled to the variable strength magnet end effector, wherein the actuator is selectively actuatable to control the adjustment of the variable strength magnet. The actuator may also be configured to maintain the variable strength magnet at a desired magnetic force output strength once achieved for any given amount of time.