Abstract: Robots, computer program products, and methods for trajectory plan optimization are disclosed. In one embodiment, a method of controlling a robot having a first manipulator and a second manipulator includes receiving a trajectory plan including a plurality of sequential motion segments. The method further includes determining a moveable motion segment, and shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments. The method may further include controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator.

Abstract: A method of controlling a robot using a human-robot interface apparatus in two-way wireless communication with the robot includes displaying on a display interface a two-dimensional image, an object recognition support tool library, and an action support tool library. The method further includes receiving a selected object image representing a target object, comparing the selected object image with a plurality of registered object shape patterns, and automatically recognizing a registered object shape pattern associated with the target object if the target object is registered with the human-robot interface. The registered object shape pattern may be displayed on the display interface, and a selected object manipulation pattern selected from the action support tool library may be received. Control signals may be transmitted to the robot from the human-robot interface. Embodiments may also include human-robot apparatuses (HRI) programmed to remotely control a robot.

Abstract: A method of generating a behavior of a robot includes measuring input data associated with a plurality of user responses, applying an algorithm to the input data of the plurality of user responses to generate a plurality of user character classes, storing the plurality of user character classes in a database, classifying an individual user into a selected one of the plurality of user character classes by generating user preference data, selecting a robot behavior based on the selected user character class, and controlling the actions of the robot in accordance with the selected robot behavior during a user-robot interaction session. The selected user character class and the user preference data are based at least in part on input data associated with the individual user.

Abstract: Robotic posture transfer assist devices for assisting a posture transfer of a patient in a bed may include a device body, a stabilizer coupled with the device body and the bed, and at least one robotic arm having a plurality of degrees of freedom, wherein the robotic arm may be coupled with the device body. Robotic posture transfer assist devices may further include an end-effector removably coupled with the robotic arm, a controller module that provides a control signal to the robotic arm to control a movement of the robotic arm about the plurality of degrees of freedom, and a user input device that provides a command signal to the controller module to command the movement of the robotic arm, wherein the control signal provided by the controller module corresponds with the command signal.

Abstract: A mobile sanitizing device may include a sanitizer solution dispenser module, a motorized wheel assembly, and a controller module. The sanitizer solution dispenser module may be operable to dispense the sanitizer solution. The motorized wheel includes at least one wheel and is coupled to the sanitizer solution dispenser module. The controller module includes a microcontroller and a memory, and is programmed to log a sanitization record into a sanitization history of at least one user, compare the sanitization history of the user with a sanitization standard, and control the motorized wheel assembly to cause the mobile sanitizing device to approach the user to dispense sanitizing solution to the user when the sanitization history does not meet the sanitization standard.

Abstract: Robotic posture transfer assist devices for assisting a posture transfer of a patient in a bed may include a device body, a stabilizer coupled with the device body and the bed, and at least one robotic arm having a plurality of degrees of freedom, wherein the robotic arm may be coupled with the device body. Robotic posture transfer assist devices may further include an end-effector removably coupled with the robotic arm, a controller module that provides a control signal to the robotic arm to control a movement of the robotic arm about the plurality of degrees of freedom, and a user input device that provides a command signal to the controller module to command the movement of the robotic arm, wherein the control signal provided by the controller module corresponds with the command signal.

Abstract: A suspension device includes damper interposed between vehicle body and wheel in vehicle and exerted damping force for suppressing vertical movements of vehicle body and wheel, damping force adjustment mechanism adjusts damping force, control device controls damping force adjustment mechanism, lateral acceleration detection unit detects an lateral acceleration acting on vehicle body, roll angular velocity detection unit detects roll angular velocity of vehicle body, and steering angular velocity detection unit detects steering angular velocity of steering wheel.

Abstract: Methods and computer-program products for evaluating grasp patterns for use by a robot are disclosed. In one embodiment, a method of evaluating grasp patterns includes selecting an individual grasp pattern from a grasp pattern set, establishing a thumb-up vector, and simulating the motion of the manipulator and the end effector according to the selected individual grasp pattern, wherein each individual grasp pattern of the grasp pattern set corresponds to motion for manipulating a target object. The method further includes evaluating a direction of the thumb-up vector during at least a portion of the simulated motion of the manipulator and the end effector, and excluding the selected individual grasp pattern from use by the robot if the direction of the thumb-up vector during the simulated motion is outside of one or more predetermined thresholds. Robots utilizing the methods and computer-program products for evaluating grasp patterns are also disclosed.

Abstract: Robots, computer program products, and methods for trajectory plan optimization are disclosed. In one embodiment, a method of controlling a robot having a first manipulator and a second manipulator includes receiving a trajectory plan including a plurality of sequential motion segments. The method further includes determining a moveable motion segment, and shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments. The method may further include controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator.

Abstract: Methods and computer program products for generating robot grasp patterns are disclosed. In one embodiment, a method for generating robot grasp patterns includes generating a plurality of approach rays associated with a target object. Each approach ray of the plurality of approach rays extends perpendicularly from a surface of the target object. The method further includes generating at least one grasp pattern for each approach ray to generate a grasp pattern set of the target object, calculating a grasp quality score for each individual grasp pattern of the grasp pattern set, and comparing the grasp quality score of each individual grasp pattern with a grasp quality threshold. The method further includes selecting individual grasp patterns of the grasp pattern set having a grasp quality score that is greater than the grasp quality threshold, and providing the selected individual grasp patterns to the robot for on-line manipulation of the target object.

Abstract: A method of generating a behavior of a robot includes measuring input data associated with a plurality of user responses, applying an algorithm to the input data of the plurality of user responses to generate a plurality of user character classes, storing the plurality of user character classes in a database, classifying an individual user into a selected one of the plurality of user character classes by generating user preference data, selecting a robot behavior based on the selected user character class, and controlling the actions of the robot in accordance with the selected robot behavior during a user-robot interaction session. The selected user character class and the user preference data are based at least in part on input data associated with the individual user.

Abstract: A robotic cane may include a grip handle, a cane body extending from the grip handle at a first end, a motorized omni-directional wheel coupled to a second end of the cane body, a balance control sensor, and a controller module. The balance control sensor provides a balance signal corresponding to an orientation of the robotic cane. The controller module may receive the balance signal from the balance control sensor and calculate a balancing velocity of the motorized omni-directional wheel based at least in part on the balance signal and an inverted pendulum control algorithm. The controller module may further provide a drive signal to the motorized omni-directional wheel in accordance with the calculated balancing velocity. The calculated balancing velocity is a speed and direction of the motorized omni-directional wheel to retain the robotic cane in an substantially upright position.

Abstract: A physical assistive robotic device may include a frame including an upright support member, a lateral member slidably engaged with the upright support member, a handle slidably engaged with the lateral member, an elevation actuator coupled to the upright support member and the lateral member, and a lateral actuator coupled to the lateral member and the handle. The elevation actuator translates the lateral member and the lateral actuator translates the handle to transition a user between a standing position and a non-standing position.

Abstract: Systems and methods for charging a battery of a robot are provided. In one embodiment, a method includes providing a robot battery charging apparatus having a plurality of charging terminals, providing a robot having a plurality of battery terminals, and moving the robot into an engagement position with the robot battery charging apparatus such that the plurality of battery charging terminals contact the plurality of charging terminals. The method further includes detecting whether each battery terminal contacts the corresponding charging terminal in accordance with a first, second and third terminal contact condition. The method further includes providing power to the battery from the robot battery charging apparatus through one or more of the battery and charging terminals upon a verification that all of the battery terminals contacted the corresponding charging terminals in accordance with at least two of the first, second and third terminal contact conditions.

Abstract: A pedal device is provided with an accelerator pedal pivotally mounted in a vehicle; and a damper disposed between the accelerator pedal and the vehicle. The depressing force as a depression degree of the accelerator pedal is deter mined by the damper according to the movement of the accelerator pedal. Thus, the pedal device does not use friction members which create abrasion and the function thereof is not impaired even if exchange and maintenance are not carried out over a long period of time. Therefore, maintenance frequency and cost of the pedal device can be reduced.

Abstract: A robotic transportation device may include a device body, two docking arms, and a controller module. The device body may include at least one motorized wheel, and the two docking arms may include an adjustable wheel locking device. The two docking arms may extend horizontally from the device body and may be adjustable along first and second directions. The adjustable wheel locking devices comprise two adjustable wheel stops extending laterally from the docking arm. The controller module may cause the robotic transportation device to autonomously approach a target device, detect a device type, and adjust a position of the two docking arms and the two wheel stops in accordance with the device type. The controller module may move each adjustable wheel locking device under a target wheel of the target device to lock and lift the target wheels, and cause the robotic transportation device to autonomously transport the target device.

Abstract: A method of controlling a robot using a human-robot interface apparatus in two-way wireless communication with the robot includes displaying on a display interface a two-dimensional image, an object recognition support tool library, and an action support tool library. The method further includes receiving a selected object image representing a target object, comparing the selected object image with a plurality of registered object shape patterns, and automatically recognizing a registered object shape pattern associated with the target object if the target object is registered with the human-robot interface. The registered object shape pattern may be displayed on the display interface, and a selected object manipulation pattern selected from the action support tool library may be received. Control signals may be transmitted to the robot from the human-robot interface. Embodiments may also include human-robot apparatuses (HRI) programmed to remotely control a robot.

Abstract: A mobile sanitizing device may include a sanitizer solution dispenser module, a motorized wheel assembly, and a controller module. The sanitizer solution dispenser module may be operable to dispense the sanitizer solution. The motorized wheel includes at least one wheel and is coupled to the sanitizer solution dispenser module. The controller module includes a microcontroller and a memory, and is programmed to log a sanitization record into a sanitization history of at least one user, compare the sanitization history of the user with a sanitization standard, and control the motorized wheel assembly to cause the mobile sanitizing device to approach the user to dispense sanitizing solution to the user when the sanitization history does not meet the sanitization standard.

Abstract: A robotic transportation device may include a device body, two docking arms, and a controller module. The device body may include at least one motorized wheel, and the two docking arms may include an adjustable wheel locking device. The two docking arms may extend horizontally from the device body and may be adjustable along first and second directions. The adjustable wheel locking devices comprise two adjustable wheel stops extending laterally from the docking arm. The controller module may cause the robotic transportation device to autonomously approach a target device, detect a device type, and adjust a position of the two docking arms and the two wheel stops in accordance with the device type. The controller module may move each adjustable wheel locking device under a target wheel of the target device to lock and lift the target wheels, and cause the robotic transportation device to autonomously transport the target device.

Abstract: Robotic posture transfer assist devices for assisting a posture transfer of a patient in a bed may include a device body, a stabilizer coupled with the device body and the bed, and at least one robotic arm having a plurality of degrees of freedom, wherein the robotic arm may be coupled with the device body. Robotic posture transfer assist devices may further include an end-effector removably coupled with the robotic arm, a controller module that provides a control signal to the robotic arm to control a movement of the robotic arm about the plurality of degrees of freedom, and a user input device that provides a command signal to the controller module to command the movement of the robotic arm, wherein the control signal provided by the controller module corresponds with the command signal.