Abstract: A wire for gas-shielded arc welding includes, based on a total mass of the wire: C: 0.01 mass % or more and 0.10 mass % or less, Si: 0.05 mass % or more and 0.55 mass % or less, Mn: 1.60 mass % or more and 2.40 mass % or less, Ti: 0.05 mass % or more and 0.25 mass % or less, Cu: 0.01 mass % or more and 0.30 mass % or less, S: 0.001 mass % or more and 0.020 mass % or less, N: 0.0045 mass % or more and 0.0150 mass % or less, Al: 0.10 mass % or less, and P: 0.025 mass % or less, with the remainder being Fe and inevitable impurities. In the wire, the following relationship is satisfied: 0.1?[Ti]/[Si]?3.0, where [Si] is the content of Si (mass %) and [Ti] is the content of Ti (mass %).

Abstract: Provided is a flux capable of obtaining predetermined rheological characteristics both at room temperature and under a thermal history that is assumed for soldering and capable of suppressing the amount of a residue after soldering to realize a low residue. The flux contains a first alcohol compound that has two or more OH groups and has a melting point of lower than 25° C. and a second alcohol compound that has two or more OH groups and has a melting point of higher than 25° C., the first alcohol compound is glycerin, the second alcohol compound is 2,5-dimethylhexane-2,5-diol, the flux has a viscosity of 10 Pa·s or more and 50 Pa·s or less at 25° C. and has a viscosity of more than 0 Pa·s and 1 Pa·s or less at 100° C., and, in a case where 10 mg of the flux is heated up to 25° C. to 250° C. under a N2 atmosphere at a temperature rise rate of 10° C./min, the weight of the flux after heating is 15% or less of the weight of the flux before heating.

Abstract: A fixing jig for fixing a steel material includes a nut, a screw shaft screwed to the nut, a handle attached to the screw shaft, and a contact portion relatively rotatably attached to the handle. A plurality of screw holes are formed in an outer peripheral portion of the contact portion. The first extension member includes a long cylindrical portion, an extension side contact portion provided at a tip end portion of the cylindrical portion, and a connecting portion provided at a base end portion of the cylindrical portion and connected to the contact portion. The connecting portion includes a plurality of through holes formed in an outer peripheral portion of the connecting portion, and long engagement holes each extending from each of the plurality of through holes.

Abstract: An apparatus is configured to be positioned between a boss and a shell of a pressure vessel. The boss includes a bore therethrough, and the bore has a longitudinal axis. The apparatus includes an annular body and a gas permeable feature. The annular body includes an inner surface configured to abut the boss and an outer surface configured to abut the shell. The annular body has opposite first and second ends relative to the longitudinal axis. The gas permeable feature is provided on the inner surface and extends at least from the first end to the second end. The disclosure also describes a pressure vessel including a shell, and boss, and an apparatus positioned between the boss and the shell. A method for forming a pressure vessel includes mounting a boss on a mandrel, positioning an annular fitting about a neck of the boss, forming a liner, and forming an outer shell.

Abstract: Clip installation tooling and method for installing clips including a magazine for holding a plurality of clips and clip end of arm tooling for picking up at least one clip at a time. The magazine stops at predetermined intervals for spacing each respective clip into openings on the magazine. The clip end of arm tooling has at least one body connected to a plurality of cylinders each with an inlet/outlet port receiving vacuum/air blow off. The clip end of arm tooling picks up one or more clips from the magazine at a time. The vacuum generation to the port(s) assists in holding the clip(s) and eliminates dropping clip(s) prior to placement for installation of the clip(s). After the clip(s) is/are placed, air blow off through the port(s) insures clip(s) are removed from the clip end of arm tooling and stay in the desired position(s).

Abstract: A manufacturing method includes deriving, from statistic data, a representative value of a clearance provided between first and second workpieces, executing a first insertion process, and executing a second insertion process. The statistic data is obtained from measuring the clearance. The executing the first insertion process includes testing insertion of a tolerance shim into the clearance when the representative value is less than a tolerance of the clearance, and testing insertion of a double-tolerance jig into the clearance when the tolerance shim is insertable into the clearance. The executing the second insertion process includes testing insertion of a difference shim into the clearance when the representative value is greater than the tolerance, testing insertion of a representative shim into the clearance when the difference shim is insertable into the clearance, and testing insertion of an addition jig into the clearance when the representative shim is insertable into the clearance.

Abstract: An automatic assembly machine fora combined control button, includes a frame, a power distribution control box, a turntable and turntable drive disposed on the frame so as to fit with each other, wherein the base fixtures fitting controller bases are evenly disposed along the circumference of the turntable; the front side of the frame located at the right side of the turntable is disposed with a base feeding mechanism; the rear side of the base feeding mechanism located on the frame is provided with a base transportation device fitting with the base fixtures; and the left side of the base transportation device along the rotating direction of the turntable is provided with a button assembly mechanism cooperating with the base fixtures.

Abstract: In a flexible ring fitting device 1, a flexible ring disposition mechanism includes at least two ring support members 411 and 412 disposed relative to each other and movable so as to be separated from each other. Notches 4113 and 4123 recessed in a direction in which the two ring support members 411 and 412 are separated from each other are formed along surfaces 4114 and 4124 of the two relative ring support members 411 and 412 in the relative surfaces 4114 and 4124 of the two ring support members 411 and 412. A flexible ring R is fitted into an annular groove G of a workpiece W by a workpiece disposition mechanism moving in one direction along with the workpiece W.

Abstract: A machining fixture configured to secure a blank part having part inner and outer circumferential surfaces, a part first axial face opposing a part second axial face, and at least two threaded part openings extending inwardly from the part second axial face and toward the first axial face. The machining fixture includes an annular body sized to be disposable upon a pallet of a machine table and has an upper surface including a substantially flat annular surface section, opposing lower surface and at least two through-holes extending between the upper and lower surfaces. At least two fasteners are disposed at least partially within a separate one of the at least two through-holes such that the at least two fasteners project upwardly from the upper surface, and the at least two fasteners are configured to threadedly engage a separate one of the at least two part openings to removably clamp the part second face against the body flat surface section.

Abstract: The invention relates to a downdraft table (1) having a workpiece holder (2) for a workpiece to be held, wherein the workpiece holder (2) is configured in a stationary manner, wherein a suction-extraction device (3) is arranged beneath and/or next to the workpiece holder (2), said suction-extraction device (3) being used to discharge particles and/or gases downward in a waste air flow, wherein the suction-extraction device (3) is arranged around the workpiece holder (2) with respect to the latter and is configured to be rotatable about the workpiece holder (2).

Abstract: A tool magazine for tools of a machine tool for processing workpieces includes a first magazine unit that is close to a processing station of the machine tool and a second magazine unit that is remote from the processing station of the machine tool. The second magazine unit includes a permanent tool carrier and a temporary tool carrier. The permanent tool carrier is permanently accessible to a tool handling device. The temporary tool carrier is temporarily accessible to the tool handling device.

Abstract: A power tool includes a housing, a motor positioned substantially within the housing, a drive mechanism supported by the housing and coupled to the motor, a battery pack electrically coupled to the motor, and an isolation system. The isolation system includes an interface member positioned substantially within the housing. The interface member receives a portion of the battery pack to electrically couple the battery pack to the motor. The isolation system also includes a plurality of isolators coupled between the housing and the interface member to isolate the battery pack from the housing during operation of the power tool.

Abstract: A machine tool for machining workpieces has a machine frame, at least one component part which can be moved along a movement path by means of a power-operated drive unit, at least one frame part, which is connected to the machine frame and which is arranged at an end position in the movement path of the component part, and at least a first stop, via which the component part in contact with the frame part when said component part is in the end position, wherein the first stop lies outside the movement path.

Abstract: Disclosed is a rotary indexing table (10) having an output flange (12) which is suitable for receiving a workpiece, mounted on a housing (14) of said rotary indexing table (10) for rotation about an axis of rotation (A) and drivingly connected to at least one drive element (24) which engages a driving groove (22) in a cylindrical cam (20) which can be driven by a motor, the cylindrical cam (20) being disposed asymmetrically to the axis of rotation (A) of the output flange (12).

Abstract: A machine tool includes: a hollow spindle including a hollow portion along an axial direction; a plurality of chuck claws openably mounted at a distal end portion of the hollow spindle, and configured to hold a workpiece; an operation rod inserted into the hollow portion of the hollow spindle in a movable manner, and configured to close the plurality of chuck claws with movement of the operation rod toward one side in the axial direction and open the plurality of chuck claws with movement of the operation rod toward the other side in the axial direction; and a measuring apparatus configured to measure an opening dimension of the plurality of chuck claws based on a movement amount of the operation rod.

Abstract: A belt grinding apparatus for grinding the tips of rotor blades supported on a rotating rotor. A casing contains the rotatable rotor. An opening in the casing permits access of a grinding belt into the casing where the belt grinds the tips of the blades rotating past. The belt grinding apparatus being attached at the opening at a parting line in the casing.

Abstract: An abrasive slurry composition for chemical mechanical planarization/polishing (CMP) is provided. The abrasive slurry includes colloidal alumina, a dispersant, and a pH buffer. The colloidal alumina has a particle size of between about 5 nm and about 100 nm. The colloidal alumina may be alpha phase material having a first hardness of about 9 Mohs, or gamma phase material having a second hardness of about 8 Mohs. The abrasive slurry may further include polyacrylic acid (PAA), a down-force enhancer, or a polish-rate inhibitor.

Abstract: A grinding apparatus grinds a workpiece by rotating the workpiece held by main spindles and a grinding wheel held by a wheel spindle, and by relatively moving the grinding wheel toward and away from the workpiece. The grinding apparatus includes a first detection unit that detects a rotational phase of the workpiece; a second detection unit that detects a grinding resistance moment at a grinding point between the grinding wheel and the workpiece, or detects a drive current of a rotary drive unit of the workpiece or a rotary drive unit of the grinding wheel; a storage unit that stores the grinding resistance moment or the drive current in a manner associated with the rotational phase; and a determination unit that determines a slip between the workpiece and the main spindles based on the grinding resistance moment or the drive current at a current rotational phase, and on the grinding resistance moment or the drive current at the same phase as the current rotational phase of a previous time.

Abstract: Pliers have two pliers handles guided such that they cross one another in a joint region having a stationary joint bolt. Gripping regions are formed on the pliers handles on one side of the joint region, and working regions are formed on free ends of the pliers handles on the other side, said working regions extending to form a pliers jaw. The working regions have first and second toothed regions that come into contact when the pliers jaw is closed. In the first toothed region, in a sequence in the longitudinal extension of the pliers handle, the tooth tips end in a surrounding surface that is flat in the longitudinal section and in contact with same, and the tooth tips of the opposing second toothed region end in a surrounding surface that is convex in the longitudinal section and in contact with same.

Abstract: The present invention discloses a manual tool having a retractable tool member, which further comprises a handle and a linkage member. The tool member is configured to be retractably moveable relative to the handle between an operating state and a retracting state under the driving of the handle and the linkage member.

Abstract: A multi-tool for disrupter breech maintenance includes an elongate body having a first axial end and a second axial end. The elongate body encases a storage volume commencing at and accessible from the second axial end. An open-ended rectangular notch in a radial wall of the elongate body has a planar base. A hole extends radially through the elongate body with the hole originating in the notch's planar base and having a longitudinal axis perpendicular to the planar base. A rectangular well in the radial wall of the elongate body is provided adjacent to the rectangular notch. A first hexagonal socket is coupled to the first axial end of the elongate body. A second hexagonal socket is provided for attachment to the second axial end of the elongate body.

Abstract: A ratchet wrench is provided, including a main body, a driving member, a ratchet assembly and a switch button. The main body has a receiving chamber, and a circumferential wall of the receiving chamber has an interior circumferential toothed portion. The driving member is disposed within the receiving chamber and rotatable about an axial direction. The ratchet assembly includes a first ratchet member and a second ratchet member which are swingably arranged in the driving member. The switch button is pivoted to the driving member, extends along a direction lateral to the axial direction and is swingable to be on a first position and a second position.

Abstract: A wrench includes a head having a first end and a second end and a handle extending from the head. The head defines and at least partially surrounds an opening. The head further defines at least one recess continuous with the opening. A distance between the first end and the second end of the head is greater than a cross-sectional diameter of a pipe flange of a hammer union.

Abstract: A tool for use in combination with an air hammer for removing and/or installing an anchor pin bushing. The tool includes a drive shaft and an adaptor that is removably attachable to the drive shaft. A first end of the drive shaft is configured for removable attachment to an air hammer. A second end of the drive shaft is configured for removable attachment with the adaptor. The adaptor includes a flanged end and a notched end. Both the flanged end and notched end include a counterbore sized and configured to fit over an anchor pin. The notched end of the adaptor is used for removing an anchor pin bushing and the flanged end of the adaptor is used to install an anchor pin bushing.

Abstract: The disclosure relates to an attachment for a base jaw of a pressing tool for pressing fittings in order to produce pipe connections, comprising an attachment body, a pressing section, formed on the attachment body, to form half of a jaw opening, and comprising a connecting section, formed on the attachment body, for a connection to the base jaw. The technical problem of providing attachments for exchangeable jaws, base jaws and systems which allow an improved use for fittings of different nominal widths is solved in that the pressing section and the connecting section are arranged at a distance from one another. The invention also relates to a base jaw and to a system consisting of at least two pairs of attachments and one pair of base jaws.

Abstract: A pushbutton plier device and a method for converting a plier tool is provided. The pushbutton plier device includes a locking assembly. The locking assembly has a pushbutton and a housing. The pushbutton has a pushbutton body. The pushbutton body has at least one blocking member recess. The housing has a housing body. The housing body is configured to selectively contain a blocking member. The pushbutton plier device has a first plier handle and a second plier handle. The first plier handle has at least one first plier handle aperture. The second plier handle has at least one second plier handle aperture. When the first plier handle, the second plier handle, and the locking assembly are selectively joined together in a predetermined position, the locking assembly, located within the first plier handle aperture and the second plier aperture, secures the first plier handle to the second plier handle.

Abstract: A powered fastener driving tool, and particularly a powder-actuated fastener driving tool including a housing assembly partially defining a plurality of pawl leg pockets, a piston assembly and a barrel assembly removably and partially positionable in a receiver assembly that is partially positioned in the housing assembly, and a plurality of attachment pawls including respective legs positioned in respective ones of the pawl leg pockets and configured to maintain the piston assembly and the barrel assembly removably and partially positionable in the receiver assembly.

Abstract: A machine tool includes a tool holder and a pneumatic striking mechanism that includes, on a working axis, an exciter piston, a beater, and a pneumatic chamber disposed between the exciter piston and the beater. The exciter piston is drivable by the motor and includes a pot-shaped base body, a seal ring, and a tube-shaped cladding body. The pot-shaped base body has a lateral wall enclosing the working axis and a collar which protrudes in a radial direction. The tube-shaped cladding body is disposed on the pot-shaped base body surrounding the lateral wall. A groove is defined between the collar and the tube-shaped cladding body and the seal ring is disposed in the groove.

Abstract: An adjustable carpentry reveal tool includes a base member, and a sliding member slidably engaged to the base member wherein the sliding member is configured to be selectively displaced along predetermined linear increments relative to the base member without becoming detached from the base member. Advantageously, the sliding member is configured to simultaneously mark a pair of adjustable reveals along the x-axis and the y-axis of the trim corner of the frame opening without having to fasten the base member to the trim corner of the frame opening. Notably, in this manner, the adjustable reveals are defined between an outermost periphery of the base member and an outermost periphery of the sliding member.

Abstract: A robot includes a base, a robot arm having a first arm provided on the base and configured to rotate about a first rotation axis and a second arm provided on the first arm and configured to rotate about a second rotation axis, a cable placed inside of the robot arm, and a tube having a suction hole for suctioning a gas inside of the robot arm when connected to a pump, wherein a first gap is provided between the first arm and the second arm, and the suction hole is placed inside of the robot arm.

Abstract: The present disclosure is directed to methods, computer program products, and computer systems for instructing a robot to prepare a food dish by replacing the human chef's movements and actions. Monitoring a human chef is carried out in an instrumented application-specific setting, a standardized robotic kitchen in this instance, and involves using sensors and computers to watch, monitor, record and interpret the motions and actions of the human chef, in order to develop a robot-executable set of commands robust to variations and changes in the environment, capable of allowing a robotic or automated system in a robotic kitchen to prepare the same dish to the standards and quality as the dish prepared by the human chef.

Abstract: A robotic navigation system includes a handheld navigation unit associated with a frame of reference. The handheld navigation unit is moveable with respect to a plurality of axes and is configured to send movement signals based on movement of the handheld navigation unit. A controller is configured to receive the movement signals from the handheld navigation unit and determine control signals for the robot. The control signals are configured to incrementally move the robot with respect to a point of interest removed from the robot. The point of interest is removed from a fixed point on the robot as defined by assigned coordinates. The controller is further configured to reassign the assigned coordinates following each incremental movement of the robot.

Abstract: A modular autonomous cart assembly for transporting an item being shipped is described with a sensor-equipped mobility base that carries the item(s), a modular cart handle, a sensor-equipped modular mobile cart autonomy control module detachably attached to the modular handle, all sharing a modular common power and data transport bus. The autonomous controller of the modular control module is programmatically adapted operative to establish a secure connection to a wireless mobile courier node, locate the courier node and the cart assembly, receive sensor data from the base and control module sensors, generate steering and propulsion control commands using the locations and sensor data and send them to a controller on the mobility base so that the assembly can autonomously track and follow the current location of the courier node as the courier node moves and while maintaining a predetermined follow distance from the current location of the courier node.

Abstract: A system and method for operating a transport robot to simultaneously grasp and transfer multiple objects is disclosed. The transport robot includes a multi-gripper assembly having an array of addressable vacuum regions each configured to independently provide a vacuum. The robotic system receives image data representative of a group of objects. Individual target objects are identified in the group based on the received image data. Addressable vacuum regions are selected based on the identified target objects. The transport robot is command to cause the selected addressable vacuum regions to simultaneously grasp and transfer multiple target objects.

Abstract: A learning control unit includes a machining device performance calculation section for calculating performance of a machining device during machining or after machining based on a motion command issued to a robot by a controller, a machining command issued to the machining device by the controller, and machining results measured by a sensor, an operation speed correction information calculation section for calculating operation speed correction information of the robot based on the performance of the machining device so as to satisfy a preset acceptable condition of the machining error, and under an allowable load condition of the robot, and a learning completion determination section for determining whether or not learning has completed based on previous correction information and current correction information.

Abstract: A force transmission system as part of a surgical system which may be configured to be a minimally invasive and/or computer assisted surgical system. Operation of the system may be controlled by transmission of a force from a first section to a second section of the system. The first section and the second section may be separated by a partition or a barrier. The first section may be a non-sterile section and the second section may be a sterile section of the surgical system.

Abstract: Automation windows for RPA for attended or unattended robots are disclosed. A child session is created and hosted as a window including the UIs of applications of a window associated with a parent session. Running multiple sessions allows a robot to operate in this child session while the user interacts with the parent session. The user may thus be able to interact with applications that the robot is not using or the user and the robot may be able to interact with the same application if that application is capable of this functionality. The user and the robot are both interacting with the same application instances and file system. Changes made via the robot and the user in an application will be made as if a single user made them, rather than having the user and the robot each work with separate versions of the applications and file systems.

Abstract: The invention relates to a method for controlling a plurality of mobile driverless manipulator systems (10, 20), in particular driverless transport vehicles in a logistics environment (40) for manipulating objects (30). In the method, ambient information is provided by a central control device (50), and in one step, an object to be moved (30) in the surroundings is detected. The position and the pose of the detected object are used for updating the ambient information and are taken into account in the path planning of the mobile driverless manipulator systems (10, 20) in that, prior to a movement of the detected object (30), a first mobile driverless manipulator system (10) is used to check whether the detected object (30) is needed for the orientation of a second mobile driverless manipulator system (20).

Abstract: An operation processor of the motion trajectory generation apparatus specifies the target object by extracting first point cloud data that corresponds to the target object from a depth image in the vicinity of the target object acquired by a depth image sensor, excludes the first point cloud data from second point cloud data, which is point cloud data in the vicinity of the target object, in the depth image, estimates, using the second point cloud data after the first point cloud data has been excluded, third point cloud data, which is point cloud data that corresponds to an obstacle that is present in a spatial area from which the first point cloud data is excluded in the depth image, and supplements the estimated third point cloud data in the spatial area from which the first point cloud data is excluded, and generates the plan of the motion trajectory.

Abstract: One embodiment can provide an intelligent robotic system. The intelligent robotic system can include at least one multi-axis robotic arm, at least one gripper attached to the multi-axis robotic arm for picking up a component, a machine vision system comprising at least a three-dimensional (3D) surfacing-imaging module for detecting 3D pose information associated with the component, and a control module configured to control movements of the multi-axis robotic arm and the gripper based on the detected 3D pose of the component.

Abstract: An apparatus for labeling support structures includes: a chassis having a locomotive assembly, and supporting an effector assembly with an end movable relative to the chassis and carrying a label modification unit with an image sensor; a controller coupled to the locomotive assembly, effector assembly and label modification unit, and configured to: obtain label modification data defining a location relative to a support structure reference feature for a label modification operation; control the locomotive assembly to travel to the support structure; detect the reference feature via image data captured at the image sensor; control the effector assembly to place the label modification unit at the location relative to the reference feature; control the effector assembly and the label modification unit perform the label modification operation.

Abstract: A robotic system includes a docking station, a mobile working machine, and an electronic device. The mobile working machine includes a machine body and a transmission wheel device disposed on the machine body for loading and moving the machine body. The electronic device is detachably connected to the mobile working machine. The docking station includes a station base and a transferring device disposed on the station base for selectively carrying the electronic device away from the mobile working machine.

Abstract: Exemplary substrate processing systems may include a transfer region housing defining a transfer region fluidly coupled with a plurality of processing regions. A sidewall of the transfer region housing may define a sealable access for providing and receiving substrates. The systems may include a transfer apparatus having a central hub including a shaft extending at a distal end through the transfer region housing into the transfer region. The transfer apparatus may include a lateral translation apparatus coupled with an exterior surface of the transfer region housing, and configured to provide at least one direction of lateral movement of the shaft. The systems may also include an end effector coupled with the shaft within the transfer region. The end effector may include a plurality of arms having a number of arms equal to a number of substrate supports of the plurality of substrate supports in the transfer region.

Abstract: A control device comprising a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: control a robot with force control on the basis of a force detected by a force detecting device, determine pass/fail of a result of fitting work in which the robot holds an object and fits the object in an object to be fit, control the robot with the force control in the fitting work, and determine the pass/fail on the basis of whether a portion where the force detected by the force detecting device decreases by a first value or more is present in the fitting work.

Abstract: A robotic apparatus including a plurality of rigid body sections that move relative to each other by one or more multi-degree of freedom joints. The robotic apparatus can traverse a fixed frame by attaching its distal ends to the frame and moving the rigid body sections relative to each other.

Abstract: A robot hand including a set of carpal bones, each of the carpal bones having at least one adjacent bone; and each carpal bone defining at least one socket. For each pair of adjacent carpal bones, at least one connector having a first and second end and wherein the first end and the second end are each in the form of a ball, and wherein the balls are joined by a connective element. Wherein the ball at the first end of the connector is fitted conformally into the socket of a first one of the pair of adjacent carpal bones and the ball at the second end of the connector is fitted conformally into the socket of a second one of the pair of adjacent bones, thereby joining the carpal bones together, but permitting limited relative movement.

Abstract: Provided is a robot including: a base; and a movable portion including a rotating drum that rotates about a vertical axis with respect to the base. The base is provided with an opening portion through which wire members are led into the base; the base and the rotating drum are provided with a hollow portion in which the wire members are guided into the rotating drum; the robot further includes a distribution board member that is detachably attached to the base; the distribution board member is provided with an attachment portion that is attached to the base, and a relay portion that is disposed on the outside of the opening portion with a gap therebetween; and the relay portion includes a mountable region in which a connector that relays some of the wire members is mounted.

Abstract: A safety system for safeguarding cooperative operation of people, robots, and machines with respect to a technical installation includes a safety-related device. The safety-related device is configured to monitor a first hazardous area of the technical installation and bring the technical installation into a safe state in response to detection of a hazardous condition. The safety system is configured to identify an autonomously operating technical unit, register the autonomously operating technical unit in response to the autonomously operating technical unit satisfying a defined condition, and restrict monitoring of the first hazardous area by the safety-related device in response to the registration. The safety system is configured to, in response to a defined event, revoke the registration of the autonomously operating technical unit and lift the restriction on monitoring.

Abstract: A robotic system is disclosed that includes an articulated arm with an end effector. The robotic system is for use in a robotic environment requiring interaction with persons in the robotic environment, and includes a plurality of lights that are illuminated responsive to known near-future movements of the articulated arm to convey the known near-future movements of the articulated arm to the persons in the robot environment.

Abstract: A variable-stiffness actuator is to be installed into a flexible member and provide different degrees of stiffness to the flexible member. The actuator includes two hard members located apart from each other, and a shape-memory member connecting the hard members. The shape-memory member has a property of transitioning in phase between a first phase and a second phase. The shape-memory member is in a low stiffness state when in the first phase, and is in a high stiffness state when in the second phase. The actuator also includes a inducing member configured to cause a portion of the shape-memory member between the hard members to transition in phase between the first and second phases, and a urging member configured to urge the hard members in directions away from each other.