Abstract: An apparatus and method for physically exchanging a force with a user in a user-local environment. The apparatus includes a user connection element and a linkage physically linking the user connection element to a reference. The linkage provides at least six independent degrees of freedom to the user connection element. The linkage has an actuator system which powers at least three degrees of freedom of the user connection element, while at least three degrees of freedom remain unpowered. The method includes providing an apparatus which includes a user connection element and a linkage physically linking the user connection element to a reference, the linkage providing at least six independent degrees of freedom to the user connection element. The linkage of the apparatus provided has an actuator system which powers at least three of the six independent degrees of freedom relative to the reference.

Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures is coupled to a positioning mechanism for supporting and moving the surgical instrument. The positioning mechanism mounts to an operating room table. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection and the positioning mechanism provides a large range of motion to the instrument. The system is operated according to a macro-micro actuation scheme which allows for a large range of motion of the surgical end effector and also allows for sensitive force feedback to a master controller by reducing the measured inertia of the slave system. The macro-micro actuation scheme may be used in conjunction with impedance scaling and force scaling between the instrument and the master controller.

Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Abstract: A connection element such as a thimble connects to a user's body member and, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable.

Abstract: A connection element such as a thimble connects to a user's body member, through a linkage, to a ground reference. The apparatus physically exchanges a force with a user in an environment local to the user. The linkage powers at least three independent freedoms of the connection element relative to the reference. It also maintains at least one independent freedom of the connection element relative to the reference free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. A gimbal connects the gimbal to the linkage. Zero, one or two of the gimbal axes may be powered. A five bar linkage connects the connection element to a counter-balance that also includes two actuators. A third actuator connects the five bar linkage to the reference. The two actuators of the counterbalance may be connected to the next link in the chain to the reference through a single cable.

Abstract: A reaction torque actuator has a sensor operatively coupled between a motor housing and an outer housing. A pair of bearings support the motor within the outer housing in a spaced, concentric relationship. The bearings allow a mutual angular displacement of the housing about the axis of rotation of the output shaft of the motor, but they isolate the sensor from the axial and radial moments. A resolver surrounds the shaft at its output end to produce a signal that accurately measures the angular position of the shaft. A controller regulates power to the motor windings as a function of signals from the resolver and the sensor and torque commands. In a preferred form for use in robotics where very accurate force control is desired, the motor: is a brushless D.C. motor, the sensor is of the strain gauge type, and the controller uses high quality amplifiers, sine wave commutation, cable shielding, and filtering to limit the noise generated by electronic switching.

Abstract: A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. To form a differential, a pretensioned cable carried on paired pulleys having smooth outer surfaces parallel to the axis of rotation couples the pulleys. The pulleys have axes of rotation that can intersect and their cable carrying surfaces are closely spaced, preferably by less than half the width of the cable.

Abstract: A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. The links and pulleys of the transmission are long and narrow. This high aspect ratio provides a compact configuration that is conductive to whole arm manipulations where any exterior surface of the links can engage an object. A low inertia, low friction brushless D.C.

Abstract: A robotic hand having a plurality of fingers, each having a plurality of joints pivotally connected one to the other, with actuators connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulating the fingers and passing externally of the robot manipulating arm in between the hand and the actuating and control mechanism. The fingers include pulleys to route the actuators within the fingers. Cable tension sensing structure mounted on a portion of the hand are disclosed, as is the covering of the tip of each finger with a resilient and pliable friction enhancing surface.

Abstract: A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different diameter, is mounted at a point removed from the actuator, and preferably as close as possible to the output joint. An axially split spool mounted on the actuator output wraps the outgoing and returning cable sections on different halves of the spool in opposite directions to provide pretensioning of the cable in the entire cable circuit at one point. To form a differential, a pretensioned cable carried on paired pulleys having smooth outer surfaces parallel to the axis of rotation couples the pulleys. The pulleys have axes of rotation that can intersect and their cable carrying surfaces are closely spaced, preferably by less than half the width of the cable.