Abstract: The present invention relates to a tactile sensor, a tactile stimulation sensing method using the same, and a robot skin and a robot comprising the same. Particularly, the present invention relates to a tactile sensor comprising an input layer for receiving an external tactile stimulus; a microphone member; and a medium layer disposed between the input layer and the microphone member, and including gas therein to transmit vibrations by the stimulus, a tactile stimulation sensing method using the same, and a robot skin and a robot comprising the same.

Abstract: A suction gripper head includes at least one carrier and a soleplate for resting against an item to be lifted. The soleplate is arranged in the bottom portion of the carrier. The head comprises a foam body having a suction path arranged therein between the soleplate and an outlet orifice of the gripper head for connection to a suction block, the foam body thus acting on its own, over at least a portion of the path, to form the separation between air sucked through said path and the outside of the gripper head, such that the air that is being sucked comes directly into contact with the foam of the foam body.

Abstract: The end effector includes a palm, a plurality of fingers capable of grasping operation, a tactile sensor unit provided with each of the plurality of fingers, and a force receiving portion that receives a force from the object being grasped when the object being grasped is grasped by the plurality of fingers, the force receiving portion being connected to each of the plurality of fingers via the tactile sensor unit. The force receiving portion includes a grasping surface that receives a force from the object being grasped, the grasping surface being placed facing the object being grasped to be able to grasp the object being grasped, and a pressing surface that is placed further away from the palm than the second end portion of each of the plurality of fingers and extends in a direction intersecting the grasping surface.

Abstract: An articulated finger. The articulated finger comprises a first phalange; a second phalange; a self-locking joint coupling the first phalange to the second phalange, wherein the self-locking joint is configured to allow motion in a first rotational direction of the first phalange relative to the second phalange and prevent motion in a second rotational direction of the first phalange relative to the second phalange, wherein the first rotational direction is opposite the second rotational direction; and a compliant actuator configured to actuate the first phalange in the first rotational direction relative to the second phalange.

Abstract: A device includes a tube and a sleeve configured to at least partially encircle a portion the tube along its length. The tube is flexible and airtight and defines a longitudinal axis along a center of the tube, and is configured to bend along the longitudinal axis upon at least partial evacuation of the tube to form a joint. The joint defines a joint angle relative to the longitudinal axis, thereby approximating a revolute joint with torsional stiffness. Actuating a joint includes partially evacuating a flexible tube defining a longitudinal axis, thereby forming a bend in the tube at an angle with respect to the longitudinal axis at a perimeter of a rigid sleeve at least partially encircling the tube, and restoring a neutral pressure to the tube, thereby removing the bend in the tube.

Abstract: A robot is provided with driving wheels, a battery, a charging terminal, a charging terminal mounter in which the charging terminal is disposed, a first spring elastically supporting the charging terminal in an outward direction, a switch switched by the charging terminal mounter when the charging terminal mounter retreats, and a processor for stopping the driving wheels when the switch is switched by the charging terminal mounter.

Abstract: A haptic transmission system includes a master device and a slave device. The master device controls position and force in an operation of the master device based on information acquired from the operation of the master device and information relating to a response of the slave device, and compensates for a communication delay in a communication path with respect to the control of force. The slave device controls speed and force in an operation of the slave device based on information acquired from the operation of the slave device and information relating to control from the master device.

Abstract: A robot may include a robot frame having a bottom plate, and a rear caster and a wheel module disposed on the bottom plate, wherein the wheel module may include a link base mounted in the bottom plate to be spaced apart from the rear caster, a rotation damper mounted in the link base and having an elastic member accommodated therein, a front link connected to the rotation damper through a connecting shaft, a front caster mounted in a front portion of the front link, a drive motor mounted in a rear portion of the front link, and a drive wheel configured to be rotated by the drive motor.

Abstract: A slave robot moves in conjunction with a change of a posture of an operator in a remote control system. A capture device acquires a signal indicating a posture of an operator's body. A control apparatus includes a receiving controller that receives a signal indicating a posture of the slave robot from the slave robot and receives the signal indicating the posture of the operator's body from the capture device, a posture comparing part that acquires a posture error indicating a difference between the posture of the slave robot and the posture of the operator, and a motion connecting part that transmits, to the slave robot, an operation signal for operating the slave robot generated on the basis of the change in the posture of the operator on a condition that the posture error is within a predetermined threshold range.

Abstract: Apparatuses, systems, and techniques to map coordinates in task space to a set of joint angles of an articulated robot. In at least one embodiment, a neural network is trained to map task-space coordinates to joint space coordinates of a robot by simulating a plurality of robots at various joint angles, and determining the position of their respective manipulators in task space.

Abstract: An actuator particularly in order to be used in movements of joints of robot systems includes at least one drive element which provides movement and arranged as from the first side of at least one body towards the second side thereof, at least one gearbox which can arrange the movement, obtained from said drive element, at predetermined proportions, and at least one dampening element which can at least partially dampen the movement, which exists at said gearbox output, against the force being subjected to and which can transfer said movement to at least one drive cover.

Abstract: The present invention discloses a pneumatic-controlled pitch-adjustable telescopic mechanism used for a robotic arm, which belongs to the technical field of robotic arm pneumatic control movement, comprising a sliding block, a fixed block and a driving device, the fixed block is in a fixed position; the sliding block slides relative to the fixed block according to a predetermined movement track, which is used to adjust the distance between the sliding block and the fixed block; the driving device is used to provide power to drive; a sliding bar is disposed between the driving device and the sliding block, one end of the sliding bar is fixedly connected to the driving device, and the other end is slidingly connected to the sliding block, which is used to drive the sliding block to slide; the fixed block is provided with a fixed base and a guide mechanism, the fixed base is used to restrict the sliding bar from moving in a direction non-parallel to the predetermined movement track; the guide mechanism is used t

Abstract: A method for modularizing high dimensional neural networks into neural networks of lower input dimensions. The method is suited to generating full-DOF robot grasping actions based on images of parts to be picked. In one example, a first network encodes grasp positional dimensions and a second network encodes rotational dimensions. The first network is trained to predict a position at which a grasp quality is maximized for any value of the grasp rotations. The second network is trained to identify the maximum grasp quality while searching only at the position from the first network. Thus, the two networks collectively identify an optimal grasp, while each network's searching space is reduced. Many grasp positions and rotations can be evaluated in a search quantity of the sum of the evaluated positions and rotations, rather than the product. Dimensions may be separated in any suitable fashion, including three neural networks in some applications.

Abstract: A robotic grasp generation technique for part picking applications. Part and gripper geometry are provided as inputs, typically from CAD files. Gripper kinematics are also defined as an input. A set of candidate grasps is provided using any known preliminary grasp generation tool. A point model of the part and a model of the gripper contact surfaces with a clearance margin are used in an optimization computation applied to each of the candidate grasps, resulting in an adjusted grasp database. The adjusted grasps optimize grasp quality using a virtual gripper surface, which positions the actual gripper surface a small distance away from the part. A signed distance field calculation is then performed on each of the adjusted grasps, and those with any collision between the gripper and the part are discarded. The resulting grasp database includes high quality collision-free grasps for use in a robotic part pick-and-place operation.

Abstract: A method for controlling vibration of flexible mechanical arms based on cooperative tracking is disclosed, including: building a dynamic model of the flexible mechanical arm, according to a dynamic characteristic, constructing a flexible mechanical arm group made up of a plurality of flexible mechanical arms, assigning one of the plurality of flexible mechanical arms as a leader and the rest ones as followers which are required to track the leader's motion trajectory so as to realize cooperative work; designing cooperative control-based boundary controllers in combination with a Lyapunov method to realize cooperative work and suppress vibration of the flexible mechanical arms; and constructing a Lyapunov function using Lyapunov direct method to validate stability of the flexible mechanical arms under the control.

Abstract: A robot system assisting a worker to allow the worker to perform a work more smoothly. The robot system includes a robot, a detection device configured to detect motion of a worker when the worker is performing a predetermined work, an end determination section configured to determine whether the work is ended or not on the basis of detection data from the detection device, and a robot controller configured to cause the robot to carry out an article-feed operation or an article-fetch operation when the end determination section determines that the work is ended, the article-feed operation transporting an article for the work to a predetermined position to feed the article to the worker, the article-fetch operation fetching the article used for the work and transporting the article to a predetermined storage location.

Abstract: A method, system and computer product for training a control input system involve taking an integral of an output value from a Motion Decision Neural Network for one or more movable joints to generate an integrated output value and generating a subsequent output value using a machine learning algorithm that includes a sensor value and a previous joint position if the integrated output value does not at least meet the threshold. Surface damping interactions with at least a simulated environment, a rigid body position and a position of the one or more movable joints based on an integral of the subsequent output value are simulated. The Motion Decision Neural Network is trained with the machine learning algorithm based upon at least a result of the simulation of the simulated environment and position of the one or more movable joints.

Abstract: A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.

Abstract: In a robot stopping method, if a shaft that moves at least a part of the robot in the gravity direction is defined as a Z shaft and a time at which the occurrence of the power failure has been detected is set as a reference time, a first control is performed if the occurrence of the power failure has been detected when the Z shaft is in a state of ascent, in which based on an ascending speed of the Z shaft at the reference time, a time until a speed of the Z shaft reaches zero as a result of deceleration by a gravitational acceleration is calculated as a deceleration time, the Z shaft is driven so as to decelerate and stop ascent of the Z shaft by spending the deceleration time.

Abstract: Robotic process automation (RPA) tasks for operating on data within a productivity program may be initiated by single user action from within the productivity program. A user device is provided with a plugin program that provides an automation user interface within the productivity program. A request to perform an automation task on data in a productivity file is received along with identification of a software robot to perform the automation task. The request also specifies data from the productivity file. The request is provided to a control room server that controls execution of a plurality of different automation tasks by a plurality of different software robots. Results of the automation task are received from the control room server and are provided to the plugin program, which provides the results of the automation task to the user within a productivity file accessible by the user.

Abstract: The present invention provides a mechanism which can avoid narrowing of a range in which a continuum robot can be driven and suppress damage to the continuum robot and an object. A continuum robot control apparatus controlling an operation of a continuum robot having a bendable portion bending in response to driving of at least some of a plurality of wires includes an external force estimating unit configured to estimate an external force applied to the bendable portion based on compressive/tensile forces applied to two or more wires of the plurality of wires, and a driving control unit configured to control driving of the wires to be driven based on the external force estimated by the external force estimating unit.

Abstract: A processor-based system provides a user interface to facilitate generation of motion planning graphs or roadmaps, for example via autonomous generate of additional poses, for example neighboring poses, based on specified seed or origin pose, and/or generate or sub-lattice connecting poses and/or edges to couple separate regions or sub-lattices of the motion planning graph together. Such may include performing collision-checking and/or kinematic checking (e.g., taking into account kinematic constraints of robots being modeled). The resulting motion planning graphs or roadmaps are useful in controlling robots during runtime. Robots may include robots with appendages and/or robots in the form of autonomous vehicles.

Abstract: Safety architecture for an automated work cell provides a barrier separating a work cell area from an operator or personnel area. The safety architecture enables personnel to conduct routine interactions with nonfunctioning motion platforms or positioning machines located in the work cell area through openings in the barrier separating the personnel area from the work cell area while other motion platforms or positioning machines in the work cell area continues to function.

Abstract: A palletizing system includes: a system casing which is positioned on one side of a pallet for loading goods; an actuator lift which is installed above the system casing, and extends or contracts in the vertical direction; a collaborative robot which is a multi-joint robot formed to load goods onto the pallet, is connected and installed on the top of the actuator lift to be vertically lifted and moved by the actuator lift; a vacuum suction-type gripper which is installed at the end of the collaborative robot, and fastens goods using vacuum; radar sensors, which are respectively installed on at least one side of the system casing, and sense objects within a predetermined distance of the system casing; and a main controller which controls the operations of the actuator lift, the collaborative robot, and the vacuum suction-type gripper to load goods onto the pallet.

Abstract: A barrier system of a production plant, in particular a pharmaceutical production plant, with a closed or separate area in which a sterile environment is provided, wherein a handling device for automated sampling with a contact sample is arranged in the closed or separate area, as well as methods for automated sampling.

Abstract: A system and method for identifying a box to be picked up by a robot from a stack of boxes. The method includes obtaining a 2D red-green-blue (RGB) color image of the boxes and a 2D depth map image of the boxes using a 3D camera, where pixels in the depth map image are assigned a value identifying the distance from the camera to the boxes. The method generates a segmentation image of the boxes by performing an image segmentation process that extracts features from the RGB image and the depth map image, combines the extracted features in the images and assigns a label to the pixels in a features image so that each box in the segmentation image has the same label. The method then identifies a location for picking up the box using the segmentation image.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example method includes providing a redundant degree of freedom (DoF) for an end effector joint of one DoF by driving the joint with two actuators, calculating a position displacement of the joint to effect a desired end effector movement in response to an input command, calculating a first movement of the two actuators based on the position displacement of the joint and a second movement of the two actuators based on a second control objective in a null space corresponding to the redundant DoF, and driving the joint according to the first movement and the second movement to effect the desired end effector movement while accomplishing the second control objective in the null space.

Abstract: A robot uses controlled omni-wheels and an arm assembly coupled to a gripper to facilitate the opening of doors. The gripper is rotatable around at least one of its axis to engage and rotate a door handle to unlatch a door. The omni-wheels are driven to move the robot along a curved path to open the door.

Abstract: A method for line matching during image-based visual servoing control of a robot performing a workpiece installation. The method uses a target image from human demonstration and a current image of a robotic execution phase. A plurality of lines are identified in the target and current images, and an initial pairing of target-current lines is defined based on distance and angle. An optimization computation determines image transposes which minimize a cost function formulated to include both direction and distance between target lines and current lines using 2D data in the camera image plane, and constraint equations which relate the lines in the image plane to the 3D workpiece pose. The rotational and translational transposes which minimize the cost function are used to update the line pair matching, and the best line pairs are used to compute a difference signal for controlling robot motion during visual servoing.

Abstract: A robot control device controls a robot. The robot control device includes an image recognition processing unit, a robot control processing unit, and a monitoring processing unit. The image recognition processing unit recognizes first information on the basis of measurement data in a monitoring area obtained from a vision sensor, the first information being information about a human present in the monitoring area. The robot control processing unit controls the motion of the robot in accordance with a motion program for moving the robot. On the basis of surrounding object data and the first information obtained from the image recognition processing unit, the monitoring processing unit determines a possibility of pinching of the human between the robot and a surrounding object. The surrounding object data is data indicating three-dimensional disposition states of the robot and a surrounding object that is an object other than the robot in the monitoring area.

Abstract: A handle for razor is made of polylactic acid (PLA) and another bioplastic polymer such as polybutylene adipate terephtalate (PBAT), bio-polyethylene (bio-PE), and polybutylene succinate (PBS), combined with mineral fillers selected from the group of calcium carbonate and shells of shellfish, such as oyster shells or scallop shells.

Abstract: The present invention provides a blade-replaceable cutting tool, which includes: a first handheld portion and a second handheld portion; the second handheld portion is rotatably connected to the first handheld portion; and further includes a blade mounting plate and a blade, the blade mounting plate is rotatably mounted to the first handheld portion; the blade is detachably mounted to the blade mounting plate. Wherein, the blade mounting plate and the blade may be replaced with a ratchet blade which is detachably and rotatably mounted to the first handheld portion.

Abstract: A tool for cutting uniformed, conical-shaped pieces of watermelon from a whole watermelon. The tool includes a base configured to be held in a fixed, tangent position on the outside surface of a watermelon. Formed inside the base is a center opening in which a rotating adapter is placed. Formed in the adapter is a semi-circular slot with an axis diagonally aligned with the axis of rotation of the adapter when placed in the base. The tool also includes a hand piece with a handle and a lower cutting member. The lower cutting members cross-sectional shape enables it to slide through the semi-circular slot and penetrate the watermelon. The lower cutting member includes two elongated cutting edges that cut the watermelon when the hand piece and adapter are rotated 360 degrees in the base. Also disclosed is a method for making conical-shaped pieces of watermelon from a large watermelon using the tool.

Abstract: The present disclosure provides a process for manufacturing a printed support (S), which can be cut by any automatic cutter capable of reading an optical code (OC), which does not require updating the resident software of the microprocessor unit that controls the printer (or printers). A printing system of a printable support which implements the process is also disclosed.

Abstract: Mist management systems are configured for a processing machine having a portioning station configured to portion a workpiece within an enclosed portioner housing having a first side wall extending along the portioning station, a second side wall, at least one hood portion between the first and second side walls, and at least one end wall between the first and second side walls, using at least one liquid jet cutter and a conveyor configured to move the workpiece in a longitudinal direction beneath the at least one liquid jet cutter. The systems may include a tray secured within the enclosed portioner housing beneath the at least one liquid jet cutter and the conveyor, the tray being downwardly angled and configured to direct a waterjet of the liquid jet cutter toward a low pressure plenum chamber positioned external to the first side wall of the enclosed portioner housing.

Abstract: A riving knife assembly has a holder, a clamping plate, a riving knife body disposed between the holder and the clamping plate, a handle pivotally connected to the clamping plate, and a fastener assembly connecting the holder, the riving knife body, the clamping plate, and the handle. The handle has a curved hole and a stage surrounding the curved hole and having a lower step and an upper step. The fastener assembly includes a connecting rod, a positioning flange, and an elastic pressing element. When the handle is in a locked position, the elastic pressing element is located between the positioning flange and the upper step of the stage to clamp the riving knife body. When the handle is in an unlocked position, the elastic pressing element is located between the positioning flange and the lower step of the stage to release the riving knife body.

Abstract: A method of preparing a ceramic fabric for use in a ceramic matrix composite includes transforming a ceramic tow from a first tow geometry to a second tow geometry, thereby reducing a first dimension of the ceramic tow and increasing a second dimension of the ceramic tow orthogonal to the first dimension to produce a flattened tow. The method includes weaving or braiding the flattened ceramic tow to form a ceramic fabric.

Abstract: Systems and methods are described for constructing insulated concrete forms and their skeletons, A mold assembly is discussed for molding insulated concrete forms and has an outer housing; first and second mold lids; first and second entrance doors; first and second pluralities of downward oriented extensions, each of the first and second pluralities of downward oriented extensions being movable between a retracted position and an inserted position, to define first and second mold cavities; and fill guns oriented for injecting insulating polymeric material into the first and second mold cavities. The systems and methods may mold insulated panels on both sides of an insulated concrete form skeleton, and may be used to make forms of any length.

Abstract: A mixer vehicle includes a mixer drum, a sensor, and a controller. The mixer drum is configured to rotate to mix a material within the mixer drum. The sensor is configured to obtain values of one or more properties of the material within the mixer drum. The controller is configured to receive the one or more properties of the material, and receive a user request to discharge the material within the mixer drum. The controller is configured to determine if the material requires additional mixing to obtain accurate values of the one or more properties of the material or to sufficiently mix the material, and limit discharge of the material from the mixer drum in response to a determination that the material requires additional mixing to obtain accurate values of the one or more properties of the material or to sufficiently mix the material.

Abstract: A manual ceramic cutter with an adjustable set-square, having a set-square (1) installed at one of the longitudinal extremities of a base (2) for supporting the ceramic items to be cut, and a manually-operated cutting head (3) installed with the possibility of displacement along a number of longitudinal guides (4). This cutter comprises adjustment means (13, 14) of the perpendicularity of the set-square (1) with regard to a cutting line (L1) of the cutter, and fixing means (11, 12) of the set-square (1) to the base (2). It further comprises visual verification means of the perpendicularity of the set-square (1) with regard to the cutting line (L1).

Abstract: The invention relates to a method for separating waste polyurethane foams, wherein for each polyurethane sample (1) of a supply stream (2) comprising polyurethane samples (1) from waste at least one respective spectrum (3) is recorded, wherein the at least one respective spectrum (3) is recorded by near-infrared spectroscopy, wherein each polyurethane sample (1) of the supply stream (2) is classified by a classification algorithm (5), which classification algorithm (5) is based on machine learning, based on the respective at least one spectrum (3) into a respective class (8a-e) of at least two classes (8a-e), wherein the supply stream (2) comprising polyurethane samples (1) is separated into at least two streams (11a-e) according to the classification into the respective class (8a-e) and wherein each class (8a-e) corresponds to a type of polyurethane. The invention also relates to a system for separating waste polyurethane foams.

Abstract: This description relates to the reuse of waste materials based on synthetic resins and, more specifically relates to the reuse of disposable diapers, plastic packaging (PVC, PP, PET, and so on), for the production of raw material for extrusion, lamination, injection and rotational molding processes, among others. A system comprises a chopper, a mill for homogenization of particle size, a disc compactor employing frictional heating between a fixed disc and a rotating disc and cooling by circulation of cold water inside the discs.

Abstract: Apparatuses for producing and dispensing a reaction mixture include a mixing head for mixing the reaction components that are fed via two supply lines. The apparatuses also include a decompression system to relieve pressure from the supply lines to avoid the reaction components seeping into the mixing head. The decompression system includes two pressure vessels each with two sides, separated by a membrane. One of these sides forms an expansion chamber for the reaction component while the other side is connected to a pneumatic system. With this pneumatic system, the expansion chamber can be pressurized before the production of the reaction mixture is started. After the production of the reaction mixture, the pressure can be relieved.

Abstract: Provided is a mold core structure, which is arranged on a mold.

Abstract: A method to reproduce an original object includes receiving a 3D model of the original object; forming a reformable master shape from the 3D model by using a computer controlled shape actuator; impressing the reformable master shape into a reformable material to form a custom mold, the reformable material having a material state that is reversible between a solid condition stable force-resisting state and a flowable state by addition of a transition liquid; pouring a material into the custom mold while the reformable material is in the stable force-resisting state and fabricating a copy; adding the transition liquid to the reformable material to change the state of the reformable material from the stable force-resisting state to the flowable state; and reusing the reformable material to form another custom sole once the reformable material is in the flowable state.

Abstract: An optical lens casting gasket, wafer, and system and method that provides for more efficient formation of optical lenses employing optically functional wafers.

Abstract: Disclosed are methods for scalable, cost-effective, and rapid production manufacturing and packaging a semi-rigid acoustic coupling medium that can be used for ultrasound diagnostic and treatment systems and techniques. In some aspects, a method includes forming a staged solution by adding together a stock solution comprising a monomer and a block copolymer in deoxygenated water and a primed solution comprising a covalent crosslinking agent and a catalyst; forming a gel-sol by mixing the staged solution with a first network activator solution comprising a monomer activator and a second network activator solution comprising a block copolymer activator; dispensing the gel-sol into a mold; and curing the gel-sol in the mold to produce a semi-rigid acoustic coupling material, where the method is carried under an inert atmosphere.

Abstract: The present invention provides an apparatus for manufacturing a mixture composition of organic and inorganic material and a method for manufacturing a mixture composition of organic and inorganic material using the apparatus, which can significantly increase the recycling rate of waste plastic or waste vinyl and minimize environmental pollution, by producing a block manufactured by effectively mixing organic polymers and inorganic soil.

Abstract: A manufacturing process for an active grille shutter arrangement including in-mold assembly of an active aero hinge modular frame that allows for the joining of multiple components that are to be assembled directly out of the molding process tooling. These components could be the vane end pivots, vane end stops, drive linkages, frame end stops, etc. Final assembly of the system is facilitated by geometrical considerations and molding material considerations in the in-mold assembly (IMA) design.

Abstract: The present application relates to overmoulded printed electronic parts as well as to methods for preparing overmoulded printed electronic parts using conductive trace inks such as molecular inks, thermoset resins, and reinforcing materials such as glass microspheres and glass fabric.