Abstract: An actuator is provided with a tubular actuator element and a supporting body which supports an inner peripheral surface of the actuator element. An internal pressure of the actuator element is higher than an external pressure of the actuator element.

Abstract: A medical arm control system circuitry configured to generate autonomous operation control information to autonomously operate a medical arm based on external input information; simulate an operation performed using the medical arm; and correct the autonomous operation control information in real time based on a result of the simulation of the operation of the medical arm.

Abstract: A surgical instrument unit includes a shaft having an end effector at the tip end, a hollow base, and a strain generating part that supports a root part of the shaft in the base. The strain generating part has a first-layer strain generating body and a second-layer strain generating body arranged in order in a long axis direction of the shaft, each of the first-layer strain generating body and the second-layer strain generating body including a multidirectional strain generating body supporting a root part of the shaft with a plurality of legs. The first strain generating body is inclined by a predetermined angle ? with respect to a plane orthogonal to a long axis of the shaft, and the second strain generating body is inclined by an angle?? opposite to each leg of the first strain generating body with respect to the plane.

Abstract: In order to provide a surgical tool that has an open-close end effector such as forceps, and is designed to be small in size and light in weight, the surgical tool includes: a shaft (102); a pitch unit (401) that is connected to an end of the shaft (102) and is able to turn about a first axis; a roll unit (402) that is supported and is rotatable about a second axis with respect to the pitch unit (401); and a grip unit (403) that is supported and is linearly movable in the second axis direction with respect to the roll unit (402), and the surgical tool further includes a pair of jaws (405a, 405b) that are attached to the lower end of the roll unit (402) in the second axis direction, and open and close in conjunction with linear motion of the grip unit (403) in the second axis direction.

Abstract: A surgical tool having an open-close end effector is to be provided. The surgical tool includes: a shaft; a wrist that is connected to the end of the shaft and is rotatable about a first axis; a first jaw member and a second jaw member that are supported rotatably about a second axis with respect to the wrist; sets of first and second forward and backward cables that transmit forces for turning the first jaw member and the second jaw member, respectively, about the second axis; and a turning motion unit that generates a turning motion of the wrist about the first axis so that pre-tension of the set of first forward and backward cables and the set of second forward and backward cables does not change.

Abstract: A surgical tool having an open-close end effector is to be provided. The surgical tool includes: a shaft; a wrist that is connected to the shaft rotatably about a first axis; a first jaw member and a second jaw member, each of which is supported rotatably about a second axis; and an elastic member that applies a repulsive force between the first jaw member and the second jaw member. The surgical tool further includes: a first jaw capstan provided for the first jaw member; a first cable that pulls the first jaw member; a second jaw capstan provided for the second jaw member; and a second cable that pulls the second jaw member.

Abstract: A medical arm system includes an operation apparatus operated by an operator and an arm apparatus remotely operated in response to an operation of the operator with respect to the operation apparatus, the arm apparatus has a base, a first unit connected to the base, a second unit connected to the first unit, a gimbal connected to the base and supporting the second unit, and an end effector unit connected to the second unit and provided with an operation tool to contact a patient. The first unit moves the second unit in a direction of at least one axis with respect to the base, and the second unit is interlocked with the first unit in a state supported by the gimbal and moves the end effector unit in the direction of the at least one axis.

Abstract: An actuator includes a stack including: an elastomer layer; and an elastic electrode disposed on each surface of the elastomer layer, in which the stack is subjected to a pre-strain of 50% or more at least in one direction. The stack may have a round tubular shape with the elastic electrodes disposed on opposite surfaces of the elastomer layer in a radial direction of the stack.

Abstract: An actuator includes a laminate including an elastomer layer and an electrode, in which the laminate has a spiral or concentric shape, pre-distortion is applied to at least one member out of the elastomer layer and the electrode, and area distortion of the at least one member is 10% or larger.

Abstract: A control device (120) according to the present application includes a limitation portion that is provided in a joint portion, which joins two or more links, of a robot and that physically limits motion of the links, and a control unit (122f) that limits movable ranges of the links by controlling the limitation portion corresponding to a predetermined joint portion on the basis of a task executed by the robot. With this configuration, it becomes possible to secure safety of when the robot executes a task.

Abstract: An environmental contact unit 20 is formed into a hemispherical shell shape, and a contact surface with an environmental surface (for example, a floor surface, a wall surface and the like) is formed into a spherical shape. A support unit 30 supports the environmental contact unit 20 so as to be movable around a first axis and around a second axis orthogonal to the first axis. Ranging sensors 41x and 41y are provided with an angular difference of 90 degrees around a third axis orthogonal to the first axis and the second axis in an opposing position between an end face 211 of the environmental contact unit 20 and an opposing surface 341 provided on the support unit 30 so as to be opposed to the end face 211.

Abstract: A robot includes a replacement determination unit (73) determining timing to replace a cover attachable to and detachable from part of a surface of a robot main member in accordance with a determination standard corresponding to usage of the robot, and a cover replacement unit (77, 78) controlling processing of replacing the cover with the robot main member on the basis of a result of the determination.

Abstract: A slip detecting device according to the present disclosure includes a plurality of contact parts having different slipping characteristics when an object (600) in contact with the plurality of regions is slipping; and a sensor that detects a pressure distribution of each of the plurality of contact parts. By employing the plurality of contact parts having different slipping characteristics when the object (600) in contact with the plurality of regions, a timing at which a whole slip occurs is different between the plurality of contact parts, and thus a state of a partial slip in which a part of the object (600) is slipping is able to be detected, so that it is possible to detect a slip of the object (600) with high accuracy.

Abstract: An actuator includes a laminate including an elastomer layer and an electrode, in which the laminate has a spiral or concentric shape, pre-distortion is applied to at least one member out of the elastomer layer and the electrode, and area distortion of the at least one member is 10% or larger.

Abstract: A controller according to the present disclosure includes a whole-slip detecting unit (210) that detects, based on pressure information sent from a plurality of regions having different slipping characteristics when an object in contact with the plurality of regions is slipping, a state of a whole slip in which the object is slipping on each of the plurality of regions. An occurrence timing of the whole slip is different for each of the plurality of regions, and thus a state of a partial slip in which a part of the object is slipping is able to be detected, so that it is possible to detect a slip of the object with high accuracy.

Abstract: [Problem to be Solved] There are provided a control apparatus, a control method, and a master-slave system. [Solution] A control apparatus includes: a detector that detects whether or not a master apparatus used for an operation of a slave apparatus is located at a movable range limit; and a controller that controls, on the basis of a detection result, a slave parameter related to control of the slave apparatus and an image parameter related to an image displayed on the basis of imaging.

Abstract: Provided are an actuator device applied to a surgical system, and the like. The actuator device includes: a first magnetic body portion; a first system movable in a predetermined direction or an opposite direction of the predetermined direction; a second system including a second magnetic body portion that moves the first system in the predetermined direction by magnetic force generated between the second magnetic body portion and the first magnetic body portion, and a pressurizing portion capable of applying, to the first system, force in an opposite direction of the predetermined direction and including an elastic body and the like; and a driving unit capable of applying, to the second system, force in the predetermined direction or the opposite direction by driving.

Abstract: A transducer device using an electroactive polymer is provided. The transducer device has a predetermined driving direction and includes: a laminate of elastomer actuators that is disposed so as to be inclined at a predetermined angle with respect to the driving direction and has a stretchable elastomer and a following electrode; and a fixed frame unit and a drive frame unit that support the laminate. The fixed frame unit supports one end of the laminate, and the drive frame unit supports the other end of the laminate, faces the fixed frame unit, and is movable in the driving direction with respect to the fixed frame unit.

Abstract: An actuator is provided with a tubular actuator element and a supporting body which supports an inner peripheral surface of the actuator element. An internal pressure of the actuator element is higher than an external pressure of the actuator element.