Abstract: A cockpit module of a purpose built vehicle includes a crash pad, a steering wheel positioned in the crash pad, and a table, accommodated in the crash pad, including an extension structure configured to insert into and withdraw from the crash pad. A portion of the table extends from the crash pad in a rearward direction.

Abstract: A lockbolt swage end effector incorporates a swage tool engaged by a connector assembly to a frame. The frame is attached to a robotic manipulator. A jaw assembly is supported on a mounting assembly, the jaw assembly having opposing articulating jaws forming a recess to engage a collar in a closed position in alignment with a swage puller and die in the swage tool. The articulating jaws release the collar in an open position for operation of the swage tool.

Abstract: A monitoring device is provided for a human or mechanical manipulator on which an operating element, such as a tool or a handling device, can be fixed and by which the operating element can be operated. The monitoring device has at least one detection device which includes at least one sensor, by which at least one actual value of the manipulator can be detected, and which detection device includes at least one control unit by which the actual value of the manipulator detected by the sensor can be matched to at least one desired value of the manipulator stored in the control unit. The detection device has at least one transponder element arranged on the operating element and/or on a working station in order to detect the actual value using the at least one sensor, which transponder element can be detected via the at least one sensor.

Abstract: Tightening device can fasten a fastening element by a target tightening force with good accuracy and facilitate automation. The tightening device includes a cylindrical drive socket holding a nut in the lower end opening thereof; a nut holder disposed inside the drive socket, a bolt passing through a bottom thereof, and regulating movement of the nut held by the drive socket toward the tip end of a threaded par; a tension rod which is disposed inside the nut holder and the lower end face of which has a threaded hole into which a portion of the threaded part that is further on the tip end side than the nut is screwed; a sensor for detecting tension force; a first motor for turning the tension rod around an axis that extends in the vertical direction; and a second motor for turning the drive socket around an axis.

Abstract: A method and apparatus for deconstructing a mattress of the type having steel coil springs held within fabric pockets. The apparatus includes a frame and an opener mechanism mounted to the frame and operable for opening a plurality of fabric pockets at a first end thereof to create an opening in the first end of the fabric pockets and expose the steel coil springs contained therewithin. A gripper mechanism is provided for gripping the plurality of fabric pockets at a second end thereof, opposite the first end. An extractor mechanism is mounted to the frame for extracting the steel coil springs from the fabric pockets through the openings formed in the first end of the fabric pockets.

Abstract: The disclosure provides an apparatus, system and method for a moveable bearing stage that allows for highly refined alignment and placement, and particularly planar alignment and placement, of component or devices through the use of robotics.

Abstract: A mounting device, comprising: a mounting section on which a feeding unit is installed to supply components by feeding a packaging member where the components are packaged at predetermined intervals; a mounting head configured to pick up a component from the packaging member; an imaging section configured to image the packaging member; and a control section configured to obtain a packaging pitch based on a reference pattern of the packaging member with the packaged components, the reference pattern being acquired based on a pre-pickup image which is a captured image of the packaging member before picking up a component, and a post-pickup image which is a captured image of the packaging member after picking up the component.

Abstract: An equipment element maintenance management method for managing a maintenance operation for an equipment element that is attached to manufacturing equipment for manufacturing a product includes: acquiring operation history information of the manufacturing equipment at a predetermined timing; analyzing a tendency of a state of the equipment element based on the acquired operation history information; performing the maintenance operation for the equipment element of which the state is worse than a predetermined state; creating maintenance result information which is a result of the maintenance operation; and creating a repair operation instruction for performing an instruction of a repair operation for the equipment element of which the state after the maintenance operation is not more improved than the predetermined state based on the maintenance result information.

Abstract: According to some embodiments, a method is described that can include based on dimensions of a first housing of a first portable electronic device, adjusting a position of an adjustable supporting member capable of supporting the first housing relative to a disassembly station. The method can further include using the disassembly station, separating a first display from the first housing while the first housing is supported by the adjustable support member. The method can further include receiving a second portable electronic device, where the second portable electronic device includes a second housing having dimensions that are different than the first housing. The method can further include based on the dimensions of the second housing, adjusting the position of the adjustable supporting member. The method can further include using the disassembly station, separating a second display from the second housing while the second housing is supported by the adjustable support member.

Abstract: A wearable device includes: a sensing circuit and a processing circuit, wherein the sensing circuit is arranged to generate a wearing information output in each of a plurality of detecting periods, and the processing circuit is arranged to inform a wearing status indicative of a status of wearing the wearable device according to wearing information outputs generated in the plurality of detecting periods.

Abstract: The present invention relates to a method for testing articles. The method comprises providing a plurality of test stations, a conveyor assembly and a central controller; using a first test station to perform tests on an article under a first testing schedule; determining identification information of the article by a sensor device as the article enters the first station; storing test completion information in relation to the corresponding identification information at the controller; wherein, if the test completion information indicates that all tests were performed, then updating a second testing schedule to confirm that no additional testing is needed at a second station; and wherein if the test completion information indicates that a test was not completed, then updating the second testing schedule so that, when the article is in the second test station, a not completed test can be performed to prevent the conveyor from having to be stopped.

Abstract: An alignment apparatus for aligning hairpin-shaped heat-exchanger tubes at a regular pitch. An insertion position side is configured as a regular pitch alignment unit where arrangement plates are provided at an interval that is double the pitch of through-holes in a fin stack. An upstream side is configured as a wide pitch alignment unit where arrangement plates are provided at an interval equal to an integer multiple of two or more times the regular pitch alignment unit. The regular pitch alignment unit is provided with stopper apparatuses that stop the hairpin-shaped heat-exchanger tubes at different positions in an inclined direction for the respective arrangement plates. The wide pitch alignment unit is capable of moving along an alignment direction of the arrangement plates so as to allow the hairpin-shaped heat-exchanger tubes to move to the regular pitch alignment unit, where the hairpin-shaped heat-exchanger tubes are stopped at a more downstream position.

Abstract: A snap ring insertion apparatus is provided and configured to install a snap ring on a structural member. The snap ring insertion apparatus includes a pneumatic cylinder assembly configured to receive compressed gas and transfer a power of an expansion of the compressed gas to linear movement of a rod. An insertion assembly is coupled to the rod. The insertion assembly has an expander pin and a plurality of fingers pivotably coupled to a finger support member. The finger support member is coupled to the rod in a manner such that linear movement of the rod provides linear movement of the expander pin and pivoting movement of the fingers. Pivoting movement of the fingers results in engagement of the fingers with a snap ring and further pivoting of the fingers results in an expansion of the snap ring in a radial direction.

Abstract: A robot control apparatus includes a robot control part that controls a robot; and a force detection information acquisition part that acquires force detection information from a force detector. The robot control part allows the robot to move a first object closer to a second object and, if a magnitude of at least one of a force and moment contained in the force detection information exceeds a predetermined first threshold value, to perform an operation of bringing a first surface of the first object into surface contact with a second surface of the second object according to position control and force control based on a predetermined distance and a predetermined velocity.

Abstract: Methods and apparatus are provided for controlling a movement of a sensor platform. The method includes receiving a desired position of the platform from a source. The desired position includes a first coordinate value and a second coordinate value. The method includes, based on the first coordinate value and the second coordinate value, calculating, by a processor, a first value associated with a first axis of rotation of the platform and calculating a second value associated with a second axis of rotation of the platform. The method includes outputting, by the processor, one or more control signals to at least one motor associated with the platform to move the platform based on the first value and the second value.

Abstract: In a nozzle management system provided with multiple nozzle management devices, a control device includes a housed nozzle information acquisition section that acquires information related to all suction nozzles housed in multiple nozzle management devices, first determination section that determines whether all the required suction nozzles to be transferred to a nozzle tray are housed in a prescribed nozzle housing device, and a second determination section that determines whether non-housed suction nozzles which are not housed in the prescribed nozzle housing device from among the required suction nozzles are housed in another suction nozzle housing device.

Abstract: A handheld screwing apparatus having a torque clutch provided to restrict a torque that is maximally able to be transmitted to an inserted tool. The handheld screwing apparatus includes at least one monitoring unit, which is set up to ascertain a characteristic rotational offset quantity that describes a rotational offset of the torque clutch.

Abstract: A pick and place device, a method and a computer program product for automatic pick-up-height adjustment. A first pneumatic system has a first and second controllable valves. The second controllable valve is connected with its input port to a vacuum source. An output port of the first controllable valve and an output port of the second controllable valve are connected to a common tube in fluid communication with at least one vacuum nozzle of the pick and place device. A second pneumatic system, with an inlet valve and an outlet valve are in fluid communication via a connecting tube. An open air exhaust and a flow controller are arranged in the connecting tube between the inlet valve and the outlet valve. A flow sensor detects the changes of the small air flow. The flow sensor is via a tube in fluid communication with the at least one vacuum nozzle.

Abstract: A component mounting method includes: detecting feeder ID information of a parts feeder, which individually specifies a parts feeder, after a second parts feeder is attached to an attaching position of the feeder base having a feeder address, and confirming whether the second parts feeder is the same as a first parts feeder which was attached to and then detached from the attaching position; and calculating an attaching/detaching time from detachment of the first parts feeder to attachment of the second parts feeder if it is confirmed that the second parts feeder is the same as the first parts feeder. If the calculated attaching/detaching time is a given time or shorter, the mounting work is performed without performing a component checking operation which determines whether a kind of an electronic component accommodated in the second parts feeder is proper.

Abstract: An electronic component mounting apparatus includes a bonding tool for thermally bonding an electronic component onto a substrate, the bonding tool to be driven in a direction getting close to and from the substrate, a linear scale and a linear scale head detecting the position of the bonding tool in the direction getting close to and from the substrate, and a control unit configured to hold the position of the bonding tool in the direction getting close to and from the substrate when a solder film between an electrode of the electronic component and an electrode of the substrate is thermally fused when the bonding tool gets close to the substrate by a predetermined distance from a reference position while heating the electronic component. The electronic component mounting apparatus for bonding the electronic component and the substrate with thermally fusible bond metal offers an improvement in the bonding quality.

Abstract: An apparatus includes a body, a driver, a plurality of shafts, and a plurality of arms. The body is configured for insertion into a component and the driver is adapted for movement relative to the body. The plurality of shafts extend through the body and are connected to the plurality of arms. The tool is configured such that contact by the driver against the shaft rotates the plurality of shafts to pivot the plurality of arms.

Abstract: This system is a tool and monitor assembly that verifies clamps have been activated properly with the tool. The radio controlled clamp tool provides accountability and control with a strain gauge operation. The radio tool is designed to perform the operation of clamp tool, retain the signature and transmit the signal with data to an interface box for error proofing or tool analysis.

Abstract: An apparatus for assembling a lens module and an image sensor to form a camera module. The apparatus comprises i) a positioning system for adjusting a relative arrangement between the lens module and the image sensor; and ii) an inspection system operative to view fiducials of the lens modules and the image sensor. In particular, the positioning system is configured to align the lens module and the image sensor based on a relative alignment of the respective fiducials of the lens module and the image sensor as viewed by the inspection system. A method of assembling a lens module and an image sensor to form a camera module is also disclosed.

Abstract: An automatic assembling system, comprising: a robot performing an operation of inserting a first member into a second member; a force sensor for detecting an insertion force exerted on the first member by the robot; and a controller for controlling the insertion force with a closed-loop feedback control according to a difference between the insertion force detected by the force sensor and a predetermined insertion force, so that the insertion force is less than the predetermined insertion force to protect the first member and/or the second member from damage due to an overlarge insertion force. The present invention also is directed to a method for automatically assembling a product.

Abstract: A method for installing a heated piston into a cylinder sleeve that is initially smaller than the piston includes: receiving the engine block at a heating station, heating the engine cylinder sleeve with heated air for a predetermined time at a predetermined temperature such that a temperature of the cylinder sleeve is equal to or greater than a temperature of the piston, and inserting the piston into the heated cylinder sleeve.

Abstract: When bump electrodes 26 of a semiconductor light-emitting element 2 and electrode portions 21 of a mounting board 3 are joined to each other, power is supplied to the electrode portions 21 of the mounting board 3 to allow the semiconductor light-emitting element 2 to emit light, the optical properties of the semiconductor light-emitting element 2 having emitted light are detected, and the detected value of optical properties is processed to obtain the joining state of the bump electrodes 26 of the semiconductor light-emitting element 2 and the electrode portions 21 of the mounting board 3, so that the completion of joining is determined. Thus, the semiconductor light-emitting element can be satisfactorily joined to the electrode portions on the mounting board via the metal electrodes formed on the semiconductor light-emitting element.

Abstract: An apparatus for positioning a component relative to an associated component. The apparatus includes a component receiver and onto which the component is disposed. The apparatus also includes an associated component receiver and onto which the associated component is disposed. The component receiver orients the component into a position for retaining the component to the associated component. The apparatus further includes a retention device driver for inserting a retention device, the retention device retaining the component to the associated component in the position. The apparatus also includes an optical position verifier for verifying the position of the component and the associated component.

Abstract: A system and method for vehicle assembly may include a vehicle body sensing unit sensing positions of vehicle bodies conveyed at regular intervals along a vehicle body convey line, a tool sensing unit disposed on a fastening tool for assembling parts to a vehicle body and sensing movement displacement of the fastening tool with respect to an origin of the fastening tool, a tool controller that transmits a fastening torque value of a predetermined part to the fastening tool in accordance with the movement displacement of the fastening tool and records an accumulated value of the movement displacement of the fastening tool, and a main controller that stores a result value of fastening the part, corresponding to a vehicle number of the vehicle body, on the basis of the accumulated value of the movement displacement of the fastening tool and positional information of the vehicle body.

Abstract: A device that includes a frame having a first part and a second part and a plurality of first suction devices connected to the first part of the frame, the first suction devices positioned so as to contact a glass plane. Also included in the device is a plurality of second suction devices connected to the second part of the frame, the second suction devices positioned so as to contact a body having an opening to receive the glass plane. A plurality of positioning components that position the frame with respect to the opening in the body, the positioning components connected to the first part of the frame and a plurality of shimming elements that move down between the glass plane and the opening and shift the glass plane forward, the shimming elements connected to the first part of the frame are as included in the device.

Abstract: A handling apparatus having a belt conveyor (2) for conveying a work (10), a robot (4) for performing a predetermined operation for the work (10), a visual sensor (3) for photographing the work (10) being conveyed to produce work data indicating each work (10) in the photographed image, and a robot controller (5) for gathering the work data for each image thereby to produce a tracking data, and for storing the tracking data in a database, thereby to control the robot (4) with the database so that a predetermined operation is performed on the work (10) transferred to the position of the robot (4). The robot controller (5) performs a predetermined calculation on the work data read out from the database, detects the overlapped work data, and cancels the control of the actions of the robot (4) based on the overlapped work data. The robot controller (5) rearranges the sequences, in which the robot (4) performs the operation on each work (10).

Abstract: A method for delivering fasteners to a remote installation tool is provided. The method includes delivering a first fastener of a first type to a remote installation tool in response to receiving a request for a fastener of the first type from an operator and staging a second fastener of the first type for delivery to the remote installation tool. The staging begins prior to receiving a request for another fastener of the first type from the operator. The staging includes retrieving the second fastener of the first type from a storage location and transferring the second fastener of the first type from the storage location to a staging location.

Abstract: A fastener automation system for assembly of fasteners to a substrate, includes a projection system for projecting an image on a substrate of a predetermined location of a correct fastener to be installed in the substrate and data relating to the correct fastener and the substrate, and a computer operably associated with the projection system storing data regarding the correct fastener and the predetermined location on the substrate where the correct fastener is to be installed. An automated method of installing a fastener in a substrate at a predetermined location includes using a projector system to identify a predetermined location for installation of a correct fastener to the substrate, collecting data regarding the correct fastener installation at the predetermined location and storing the data in a computer, and installing the correct fastener in the substrate at the predetermined location based upon the data.

Abstract: A workshop for preparing aeroengines for shipping, the workshop including a station for fitting test and measurement mechanism on an engine, a mechanism for transporting the engine to test premises and for returning the engine to the workshop, a station for removing the test and measurement mechanism, a station for endoscopic inspection, a finishing station, and a shipping station. The engines are transported from one station to another by spreaders fastened on the engines and attached to hoists that are movable in translation along an overhead structure arranged in the workshop, each station being fitted with computer terminals for displaying and tracking the tasks to be performed on the engine in the corresponding station.

Abstract: A tire mounting apparatus is constructed from a first working mechanism and a second working mechanism that are separate from each other. The first working mechanism is provided with a tire holding device for holding a tire and with a temporary tightening device for temporarily tightening nuts onto hub bolts to which the tire is mounted. The second working mechanism is provided with a final tightening device means for finally tightening the temporarily tightened nuts. The final tightening device includes two nut runners and an interval adjuster for adjusting an interval between the two nut runners.

Abstract: The invention relates to a device for inserting and crimping a ring on an attachment rod in a hole, comprising a robot, a monitoring and control system and an end tool designed to crimp the ring on the rod. The end tool includes a crimping device and a ring installation device which are solidly connected to a fine-positioning device, by means of which the end tool is attached to an end element of the robot. A ring insertion subassembly of the ring installation device and a crimping nose of the crimping device can move on the end tool so as to be positioned alternatively on an axis of an attachment to be installed, with no controlled movement of the robot when the end tool has been pre-positioned.

Abstract: Apparatus for installing a cable into a tube with the assistance of a fluid drag acting on the cable within the tube with an installation device, the apparatus including a driving mechanism comprising a driving surface arranged to contact the cable substantially along the full driving surface length, for driving the cable into the tube, a first measurement device for obtaining a first value indicative of a rate at which the installation device is driving the cable into the tube, a second measurement device for obtaining a second value indicative of a rate at which the cable is travelling through the apparatus, a processor for detecting when the first value exceeds the second value, and for reducing the rate at which the installation device is driving the cable into the tube for the duration when the first value exceeds the second value.

Abstract: An ICs modeling manufacturing procedure is disclosed. A first pattern is printed on a first surface of a printed circuit board (PCB). The first pattern includes a first barcode and a plurality of production codes. A plurality of elements are disposed on the first surface of the PCB. The PCB is heated to fix the elements on the first surface and secure the first pattern on the first surface of the PCB. When the first pattern is read, a first production information is obtained.

Abstract: It is an objective of the present invention to eliminate wafer testing. Provided is a manufacturing apparatus comprising a detecting section that detects a position of a device terminal of a device; a generating section that generates a substrate-side terminal, which connects to the device terminal, on a substrate at a position corresponding to the device terminal; and a mounting section that mounts the device on the substrate and connects the device terminal to the substrate-side terminal. The detecting section captures an image of the device and detects the position of the device terminal based on the captured image, and the generating section prints a pattern of the substrate-side terminal on the substrate at a position corresponding to the device terminal.

Abstract: A mounting apparatus includes a first placing unit and a second placing unit each configured to thrust an electronic component that is held toward a substrate, place the electronic component on the substrate, and leave the substrate, and a controller configured to set an inhibit period during which, while one placing unit of the first placing unit and the second placing unit thrusts the electronic component or leaves the substrate, at least one of a thrusting operation of the electronic component and an operation of leaving the substrate by another placing unit is inhibited so that the other placing unit does not execute the at least one of the thrusting operation and the operation of leaving the substrate.

Abstract: A lashing platform includes a base frame, a setting plate resiliently supported on the base frame, a plurality of screwing devices for inserting twistlocks into container fittings or removing twistlocks from container fittings, a plurality of magazines for accommodating the twistlocks, and a plurality of transfer devices for transferring a twistlock from a magazine to a screwing device or from a screwing device to a magazine. The lashing platform being characterized by at least two units, which are each formed by at least two screwing devices, at least one transfer device, and at least one magazine and which can be moved relative to each other in the longitudinal direction of the lashing platform within the base frame, at least one drive for moving the units, and a controller for moving the units into positions in which the screwing devices have access to the container fittings of containers of different size.

Abstract: The invention relates to a device (D2) employed in a system for facilitating the assembly of a product, said assembly being carried out by following one or more assembly sequences, an assembly sequence comprising several successive assembly steps graded by execution ranks, said device comprising: a presence sensor (C2), at least one signalling member (V2), a sequencer (SQ2) connected to the presence sensor (C2) and to the signalling member (V2), said sequencer comprising a microcontroller designed to manage said assembly sequence. The invention also relates to a system for facilitating the assembly of a product comprising several devices (D2) connected together via a communication line.

Abstract: The electrical pin installation apparatus provides a user with a real time video display of the process of pinning an electrical connector body. Such real time video display substantially improves the user's ability to accurately and effectively install electrical pins into electrical connectors without the attendant electrical test equipment and fixturing of prior art devices. The apparatus assists in the pinning process by providing various prompts and guides to guide the user in error-proof pin installation. The apparatus further includes built-in electrical pin insertion and retention load assessment to assure proper insertion and retention loads are applied during the pin installation process. Additionally, the apparatus may include storage of manufacturing data as it is inputted into the apparatus.

Abstract: An image taking system including: (a) a CMOS or CCD image sensor; (b) an interest-region setter configured to set regions of interest within an image taking area of the image sensor; (c) an acquiring-condition determiner configured to determine an image-data acquiring condition required for acquiring at least two image data generated in at least two of the regions of interest; and (d) an image-data acquirer configured to acquire the at least two image data. The acquiring-condition determiner includes an exposure-time determining portion configured to determine, as the image-data acquiring conditions, at least two different exposure times required for acquiring the at least two image data generated in the at least two regions of interest. The image-data acquirer includes an exposure-time-based-image-data acquiring portion configured to acquire the at least two image data, such that the acquired at least two image data are based on the at least two different exposure times.

Abstract: The present invention relates to a method for surface treatment of a wind turbine rotor blade (1) comprising a leading edge and a trailing edge separating substantially opposing first and second surfaces of said rotor blade. The method comprises the steps of providing a wind turbine rotor blade, supporting said rotor blade at least at a root end and at a distal position along a longitudinal axis of the rotor blade and providing moveably arranged first and second surface treatment devices (24, 25) adapted to provide surface treatment of the first and second surfaces of the rotor blade, respectively, wherein the first and second surface treatment devices are moved in opposite directions and towards the leading and trailing edges, respectively, during surface treatment of the first and second surfaces of the rotor blade.

Abstract: A guide and setting device for elements, in particular fastener elements comprising a hollow guide piece, a plunger axially displaceably arranged within the guide piece and holding members which are displaceably guided perpendicular to the plunger and biased in the direction towards the longitudinal axis of the plunger and/or of the guide piece. In a retracted loading position of the plunger one element can be inserted between the holding members and the free end of the plunger. The holding members can be opened as a result of the axial advanced movement of the plunger and the respective element moved in the axial direction past the holding members. Further holding members following the first named holding members are provided which hold the element during a setting stroke.

Abstract: Roots-type blowers with helical cycloidal rotors exhibit variation in leakback flow with angular position intrinsic to these rotor geometries. Calibration of individual blowers using a combination of high-resolution alignment and enhanced detection of residual noise phenomena permits noise in as-produced blowers to be significantly attenuated. Intrinsic lower limits of noise induced by leakback variation are associated with manufacturing tolerances, necessary clearances, and particular geometric considerations. Gross alignment errors (excluding contact between rotors) produce a characteristic noise pulse rate that is three times the shaft rate. Proper alignment suppresses this and reveals a pulse sequence at double this rate and at about half of the amplitude of faulty alignment. The novel process explains the error mechanisms and defines repeatable calibration methods for a mass-production environment, introducing appropriate gauges and methods for the task.

Abstract: A tray feeder includes tray supply mechanisms and arranged in parallel. Each of the tray supply mechanisms has a function of retrieving a tray from a tray housing portion by a tray retrieving unit, and transferring the pallet up to a component pickup position set in the vicinity of a height at the upper end of the tray housing portion. A lock state of a door by a door lock mechanism is released only in a state where the tray retrieving unit is located at the component pickup position and blocks an interior of the tray feeder from a head transfer space in which the mounting head transfers.

Abstract: A device for removing of profiles cut out from mattresses of cellular material including at least one conveyor, onto which a mattress of cellular material is laid. The mattress is led towards a turn around device for bending the mattress. At the turn around device at least an adjustable gap for a brush, at least an adjustable back pressure member and at least an adjustable brush are provided. The member bends the mattress into the gap and the brush removes the cut out profiles from the bend in the mattress.

Abstract: A monitoring device for monitoring the operation of a hand-held pliers-type crimping tool, including a pair of pivotally connected handles for displacing a pair of crimping dies between open and closed crimping positions, a support seat connected with one of the handles for supporting at least one plug terminal between the crimping dies, a transport tool for transporting a plug terminal to a seated position on the support seat, and a counter arrangement on the transport tool for producing a signal that is a function of the number of displacements of the handles from the open position toward the closed position. The transport tool includes a housing, an electronic circuit including a counter mounted in the housing, a transport pin extending from the housing for insertion within one end of a hollow plug terminal, and a signal transmitting pin parallel with the transport pin.

Abstract: A method of controlling a power assist device that includes an operating handle, a force sensor, a robot arm, an actuator that drives the robot arm, and a conveying portion for conveying the robot arm. When a body in motion, the conveying portion is controlled to move in synchronization with the body, and when the motion of the body is stopped or has resumed, the drive of the robot arm is stopped for a predetermined time, and does not resume until after a predetermined time has elapsed.