Abstract: Articulating gripper tooling for gripping an object, the articulating gripper tooling comprising: an articulating finger jaw including a slot; a gripping element including a shaft and at least one finger attached to the shaft, the shaft having a longitudinal axis; and a locking pin disposed through the slot and coupling the shaft to the articulating finger jaw; wherein the gripping element is free to rotate a predetermined amount about the longitudinal axis of the shaft, limited by the locking pin contacting a surface of the articulating finger jaw and/or an adjustment element.

Abstract: Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.

Abstract: The endoscope treatment system includes an endoscope treatment tool that has an operating part having a distal end and a proximal end, and a sheath that is connected to the distal end of the operating part and is formed with a lumen through that enables a guide wire to be inserted therethrough; a guide wire holder around which a tube member housing the guide wire is wound circumferentially; and a fixing member that couples the operating part to the guide wire holder such that the distal end and the proximal end of the operating part are located outside the circumference of the guide wire holder.

Abstract: The distance between a pair of fall prevention members can be adjusted by causing the pair of fall prevention members to be linearly moved in mutually opposite directions along the spaced-apart direction along which the pair of fall prevention members are spaced apart from each other. A distance adjustment actuator portion is configured to be able to adjust the distance between the pair of fall prevention members to any of a distance for retraction greater than a width of a larger transported object in the spaced-apart direction; a distance for the larger transported object which is less than the distance for retraction and which corresponds to the width of the larger transported object in the spaced-apart direction; and a distance for the smaller transported object which is less than the distance for the larger transported object and which corresponds to a width of the smaller transported object in the spaced-apart direction.

Abstract: A traffic barrier lifter mountable on a boom and having a gearbox with a first and a second rotating axis; a pair of opposing arms directly mounted to the first and second rotating axis and a rotator capable of rotating the lifter relative to the boom, wherein the gearbox is capable of moving the pair of opposing arms from an open position to a closed position such that the arms can clamp onto a traffic barrier. The rotator being capable of rotating the arms and traffic barrier relative to the boom.

Abstract: A cable handling device may include a clamp assembly having a first member having a jaw end and an arm end and a second member having a jaw end and an arm end. The first and second members of the clamp assembly are pivotally connected together so that when the arm ends are moved away from one another the jaw ends move away from one another and vice-versa. A proximal end of a first elongate electrically insulated handle is mounted to the arm end of the first member of the clamp assembly. A proximal end of a second elongate electrically insulated handle is mounted to the arm end of the second member of the clamp assembly.

Abstract: A rocket extraction device and method is disclosed. In one embodiment, the device comprises an upper and a lower casing; an interior cutout in each of the upper and lower casings, the interior cutouts having contours matching exterior surface contours of a rocket fuze; an upper fuze clamp and a lower fuze clamp disposed respectively within the upper and lower casings, each upper and lower fuze clamp having interior surface contours matching exterior surface contours of the rocket fuze; a clamp adjustment screw onto which the upper fuze clamp is mountable; an adjustment wheel mountable at the exterior end of the clamp adjustment screw by which the clamp adjustment screw and the upper fuse clamp are movable to secure the upper and lower fuze clamps to the fuze and force the fuze into the contours of the lower fuze clamp and the interior cutout of the lower casing to lock the fuze into the rocket extraction device.

Abstract: A wearable apparatus for measuring position and action of an arm includes: a main frame worn on an upper body of a user; and an arm motion-measuring unit connected to a side of the main frame, having a plurality of joints, and worn on an arm of a user, in which at least any one of the joints of the arm motion-measuring unit has a straight-motional degree of freedom. Accordingly, an instructor can conveniently move both arms in the apparatus, can precisely instruct a two-arm robot in motions of the instructor's arms, can reduce learning time of the robot, and can make the robot quickly and accurately learn the motions.

Abstract: An object pick-up system able to use a simpler configuration to place picked up objects at a predetermined location with the directions of the picked up objects aligned. The object pick-up system is provided with a robot hand, manipulator, vision sensor, arrangement determination part setting the position and posture of the robot hand when gripping an object, manipulator controller controlling the manipulator, and robot hand controller controlling the robot hand. The manipulator controller places the robot hand at a position and posture giving rise to a moment in the object. The robot hand controller prevents an object from dropping from the robot hand while the object is rotated by the action of gravity.

Abstract: A gripper mechanism configured to clamp an object includes at least one pair of clamping arms, a connecting element hinging at least one pair of clamping arms, a power cylinder driving the connecting element to move, and a limiting element with a through slot. The clamping arms pass through the through slot and connect to the limiting element. The power cylinder can drive the connecting element to move opposite or to move closer, thus (respectively) closing the clamping arms together or causing them to open.

Abstract: An example robotic gripping apparatus includes a robotic wrist and a motor contained within the robotic wrist. The motor includes a drive shaft that rotates about a primary axis during motor operation. The robotic gripping apparatus also includes a cylindrical worm gear, connected to the drive shaft, that encircles the motor and rotates about the primary axis during motor operation. Additionally, the robotic gripping apparatus includes two or more robotic fingers, each having a proximal end and a distal end. The robotic gripping apparatus further includes two or more spur gears corresponding to the two or more robotic fingers. Each spur gear is attached to the proximal end of the corresponding robotic finger. Each spur gear engages the cylindrical worm gear and rotates the corresponding robotic finger when the cylindrical worm gear rotates about the primary axis.

Abstract: A lifting arm assembly for lifting an elongate element includes a lifting arm comprising a complementary fastener and at least one fastening element, and a holder for at least one tool which comprises a first complementary fastening device. The holder is configured to be replaceable. The holder comprises a suspension device configured to fasten to the complementary fastener on the lifting arm, and at least one first receiving device configured to cooperate with the first complementary fastening device on the at least one tool.

Abstract: An electrode lifting apparatus provides a mechanism for lifting a free electrode in a vertical orientation and moving the free electrode suspended below the lifting apparatus to a location for a joining procedure with another electrode or portion of an electrode. The electrode lifting apparatus also supports the free electrode during a joining procedure that includes driven rotation of the free electrode by an electrode torque station. The electrode lifting apparatus includes a bail and a body, the body having a yoke and a housing. First and second arms on the body connect the housing to the yoke. The body may angularly rotate relative to the relatively fixed bail about a reference vertical axis during driven rotation of the free electrode by the torque station. A threaded stem attached to the bail provides a threaded engagement with the yoke allowing such relative angular rotation in some embodiments.

Abstract: A gripping device comprises a base, a first finger rotatably or movably connected to the base, and a second finger connected to the base. The first finger and the second finger are capable of selectively entering an opened gripping mode and a closed gripping mode to grip an object. In the opened gripping mode, the first and second fingers grip the object from the same side of the object. In the closed gripping mode, the first and second fingers grip the object from different sides of the object.

Abstract: An adapter assembly is provided for selectively interconnecting a surgical end effector that is configured to perform a function and a surgical device that is configured to actuate the end effector, the end effector including at least one axially translatable drive member, and the surgical device including at least one rotatable drive shaft. The adapter assembly includes at least one drive converter assembly including a drive shaft; a drive coupling nut threadably connected to a distal end portion of the drive shaft; and an axially translatable drive bar connected to the drive coupling nut, wherein rotation of the drive shaft results in axial translation of the drive bar. The drive coupling nut engages 29 teeth of the threaded distal end portion of the drive shaft. The drive coupling nut is manufactured from unreinforced PEEK thermoplastic polymer.

Abstract: A hand mechanism including a first multi-joint finger, a second multi-joint finger, and a single-joint finger rotatable about a center of a predetermined connecting portion together with the first and second multi-joint fingers. The mechanism executes a first mode in which the respective entire fingers of the first and second multi-joint fingers are rotated in an identical direction using a connecting portion with respect to an attachment member when driven by a driving actuator, and a second mode in which a finger section other than a first predetermined finger section included in the first multi-joint finger is rotated with respect to the first predetermined finger section and a finger section other than a second predetermined finger section included in the second multi-joint finger is rotated with respect to the second predetermined finger section, when the rotation of the first and second predetermined finger sections are inhibited in the first mode.

Abstract: An object pick-up system able to use a simpler configuration to place picked up objects at a predetermined location with the directions of the picked up objects aligned. The object pick-up system is provided with a robot hand, manipulator, vision sensor, arrangement determination part setting the position and posture of the robot hand when gripping an object, manipulator controller controlling the manipulator, and robot hand controller controlling the robot hand. The manipulator controller places the robot hand at a position and posture giving rise to a moment in the object. The robot hand controller prevents an object from dropping from the robot hand while the object is rotated by the action of gravity.

Abstract: The invention relates to a gripping device, such as an automated hand, comprising a plurality of metacarpal members, each metacarpal member having a first end attached to a support frame via a universal joint and having a second end attached to a gripping member, wherein the metacarpal members are able to pivot upwardly, downwardly and laterally. Where adjacent metacarpal members together form a palm of the hand, the ability of the metacarpal members to move up, down and laterally helps the palm to grip an object and also helps the palm to withstand at least some forces from above, below and from the side.

Abstract: A gripping device for attachment to a machine is disclosed. The gripping device may have a mounting structure and a tool housing attached to the mounting structure. The tool housing may have at least one tool attachment portion. The gripping device may have a first tool portion pivotally supported on the at least one tool attachment portion at a first pivot point, and an actuation member disposed between the mounting structure and the first tool portion. Further, the gripping device may have a second tool portion pivotally supported on the first tool portion. The gripping device may also have a push rod disposed between the second tool portion and the at least one tool attachment portion. The push rod may be selectively locked at the first pivot point or second pivot point on the at least one tool attachment portion.

Abstract: Disclosed is a gripper for robot hand capable of adaptive grasp, including a finger unit having one or more finger which includes a first link of which one end is rotatably fixed to a casing; a second link of which one end is jointly coupled with the other end of the first link; a third link of which one end is rotatably fixed to the casing, which is operated by receiving a driving force from the outside; a fourth link of which one end is jointly coupled with the other end of the third link; and a gripping member jointly coupled with the other end of the second link and the other end of the fourth link.

Abstract: The invention relates to a robotic module for driving a catheterization system, which includes a base and a movable element rotatably mounted, relative to the base, about a rotation axle. The movable element includes: a mounting having a surface for rotating about the axle, the rotating surface comprising an access opening; a transfer system including a fixed part supported by the base and a mobile part for translating the catheter, supported by the mounting, the mobile part having an access opening. The access opening of the mobile part is aligned with the access opening of the rotating surface, regardless of the relative orientation of the mounting and of the base.

Abstract: A lifting arm arrangement for lifting a pipe includes a pipe stacking tool comprising a first end, a second end, and a pipe handling head arranged at the second end. The pipe handling head is configured to grip around the pipe. A gripper head is connected to the first end of the pipe stacking tool. A tilt shaft is configured to connect the pipe stacking tool and the gripper head so as to form an articulated joint. The articulated joint comprises a locked position in which the pipe stacking tool is prevented from tilting about the tilt shaft, and a neutral position in which the pipe stacking tool is allowed to tilt about the tilt shaft.

Abstract: A pole erection apparatus comprising a guide portion for receiving a pole longitudinally; a support portion that is pivotable with respect to the guide portion and which receives the pole and supports it pole longitudinally; and actuator for pivoting the support portion with respect to the guide portion between a relatively reclined state and a relatively upright state. In the relatively upright state, the respective bodies of the guide portion and the support portion are aligned with one another to allow the pole to slide longitudinally from the support portion into the guide portion.

Abstract: Provided is a robot hand applicable to purpose for holding various types of objects different in size or shape. The robot hand includes a hand base, a first hand arm having a first butting part and a first adsorption part, a second hand arm having a second butting part and a second adsorption part, and a driving mechanism for moving the first and second butting parts in directions to approach each other or separate from each other by moving the first and second hand arms relatively to each other.

Abstract: A clamping tool having an elongated housing, a handle, a thrust plate, a screw member, a linearly movable actuator, and first and second clamping arms is provided. When the handle and the screw member are rotated in a first rotational direction, the linearly movable actuator moves in a first longitudinal direction which induces first and second coupling members to slide within first and second end plate slots, respectively, of a first end plate of the linearly movable actuator, and the first and second clamping arms rotate about third and fourth coupling members, respectively, from a first operational position to a second operational position.

Abstract: A gripping device for a drill string component handling device in a rock drill rig. Gripper element pairs are supported by a body and include at least one gripper element, being pivotally movable around a pivot joint, between a closed position, including a gripping position, and an open position. The pivotally movable gripper element is pivotal in a respective gripper plane forming a right angle to an axial direction. Each movable gripper element includes an actuation portion, which co-operates with a wedge device being movable in directions parallel to the axial direction for pivoting said movable gripper element. A method, a drill string component handling device for a rock drill rig and a rock drill rig including a drill string component handling device.

Abstract: A method for operating a grasping device and grasping devices therefrom are provided. The grasping device is configured to use a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device. The method include receiving at least one control signal, determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device, and selectively actuating the plurality of joints to traverse the sequence of poses, where a direction for traversing the sequence of poses is based on the at least one control signal.

Abstract: A lifting beam is provided. The lifting beam includes a lower beam and an upper beam arranged above the lower beam; an arranger for arranging the beams in close and releasable engagement with one another; and systems for gripping the load. The gripping systems are kept in an open position when the beams are in engagement with one another, and in a closed position when an engager is released.

Abstract: A robotic gripper mechanism has a housing, a gripper arm and a retention projection. The gripper arm extends from the housing. The gripper arm has a gripper finger provided at a distal end thereof. The retention projection is provided on the housing and cooperates with the gripper arm to exert a retention force on the gripper arm. Wherein when an external force is applied to the gripper finger in a direction which is parallel to a longitudinal axis of the housing, the gripper arm will move relative to the housing if the external force is greater than the retention force.

Abstract: Disclosed herein is a tire handler for the movement and manipulation of tires and wheels for large vehicles. The tire handler is lifted by a crane or similar hoisting equipment. The tire handler comprises improvements including an automatic leveling system, power adjustable tire control and support arms, and wireless remote operation of powered functions.

Abstract: An example robotic gripping apparatus includes a robotic wrist and a motor contained within the robotic wrist. The motor includes a drive shaft that rotates about a primary axis during motor operation. The robotic gripping apparatus also includes a cylindrical worm gear, connected to the drive shaft, that encircles the motor and rotates about the primary axis during motor operation. Additionally, the robotic gripping apparatus includes two or more robotic fingers, each having a proximal end and a distal end. The robotic gripping apparatus further includes two or more spur gears corresponding to the two or more robotic fingers. Each spur gear is attached to the proximal end of the corresponding robotic finger. Each spur gear engages the cylindrical worm gear and rotates the corresponding robotic finger when the cylindrical worm gear rotates about the primary axis.

Abstract: Systems and methods permit remote control of the operation of an endoscope. The system includes a control housing that removably attaches to an endoscope, with the housing including actuators and manipulators that engage with a control device of the endoscope in order to operate the control device. The system includes an axial roller that may be used to control the depth of the endoscope shaft within a patient's body.

Abstract: A compliant gripper with integrated position and force sensors dedicated to automated micro-assembly tasks. The gripper possesses a larger gripping range with a bidirectional drive, and is capable of detecting grasping force and environmental interaction forces in horizontal and vertical axes. The gripper has a compliant rotary flexure bearing. The gripper further has a compliant mechanism with two-stage stiffness designed to provide force sensing with dual sensitivities in two measuring ranges to accommodate the grasping of objects with different sizes. The dual-sensitivity, dual-range force sensor provides finer and coarser force sensing in a small and large ranges, respectively. Analytical models are derived to predict the grasping range, force sensing sensitivities, and force measuring ranges. These models are verified by conducting finite-element analysis simulations.

Abstract: A device configured for securing objects such as ornamental light strings to surfaces. The device includes a first clip with a bottom section, a first leg and a second leg, the first leg and second leg being perpendicular to the bottom section. The first clip comprises a pole adaptor attachment portion located on a bottom surface of the bottom section. A second clip including an arm projecting away from the pole adaptor attachment portion, such that at a distal end of the arm, a leg portion projects at an acute angle to a direction of the arm, and in a same direction of a distal end of the first leg. The leg portion is displaced in a space by a length of the arm, such that the leg portion projects at an acute angle to the pole adaptor attachment section.

Abstract: An integrated grip arm for transfer reticles and carrier boxes is disclosed for improving throughput, yield and reliability of transport equipment. The integrated grip arm comprises a plurality of grippers to accommodate a plurality of reticles and carrier boxes without the need of separate arm or gripper changes. The integrated grip arm can further comprise sensor or means to select the right gripper for the right reticles or carrier boxes.

Abstract: The invention relates to a mechanical device for manually clamping objects (10), which allows a user to clamp objects which, owing to their characteristics, uses or processes, would be dangerous to the user's hand, as well as simply to clamp different objects. The device consists of five main parts: an upper jaw (15), a lower jaw (25), an upper handle (45), a lower handle (30), and a simple lever two-point shaft (65). In order to clamp an object with the device, the user inserts his/her thumb into the thumb hole (35) in the lower handle (30) and the rest of the fingers into the upper handle (45). By expanding the fingers of the hand the upper (15) and lower (25) jaws open and by contracting the fingers the jaws close. Objects are clamped on the opposite side of the palm. This device (10) can be used ambidextrously.

Abstract: A transport device includes a large-article drive portion that moves each of a pair of large-article supporting portions between a large-article supporting position and a large-article retracted position, and a small-article drive portion that moves each of a pair of small-article supporting portions between a small-article supporting position and a small-article retracted position. The small-article retracted position is set at a height at which the pair of small-article supporting portions are located above a supported portion supported by the pair of large-article supporting portions, and the pair of small-article supporting portions are provided between the pair of large-article supporting portions in a lateral width direction.

Abstract: A gripping mechanism is provided for use with an apparatus for removing and inserting a rail tie that needs repair or replacement from a railroad track, and includes at least one gripper lever constructed and arranged to be actuated between a closed position and an open position, and a plurality of gripper fingers. Each gripper finger is configured for being individually attachable to and removable from a corresponding one of the at least one gripper lever for grasping the rail tie.

Abstract: A gripping apparatus for outfitting vehicles for handling loads include a structure, which can be removably coupled with an operating arm of a vehicle for handling of loads. It includes: a support element which comprises a coupling base for connection with a corresponding coupling head which is fitted to the operating arm, a holding element which is fixed to the coupling base and can rotate, on command, with respect to the coupling base and about a first axis. The holding element is provided with a load gripping apparatus for gripping a load. A load handled by the load gripping apparatus can translate along a predetermined direction contained in a plane extending perpendicularly with respect to the first axis.

Abstract: Technologies pertaining to a robotic hand are described herein. The robotic hand includes one or more fingers releasably attached to a robotic hand frame. The fingers can abduct and adduct as well as flex and tense. The fingers are releasably attached to the frame by magnets that allow for the fingers to detach from the frame when excess force is applied to the fingers.

Abstract: The handling device for cases and boxes contained in the cases, comprising a housing intended to receive a case, said housing being closed at a first longitudinal end and open at a second longitudinal end, a holding device (14) mounted at the level of the second end of the housing, the latter comprising two clamping jaws, said clamping jaws applying a clamping force to the case (E), an actuator for opening and closing said jaws, two stop jaws (36, 38), each (36, 38) being supported by a clamping jaw and being articulated in a free manner about and relative to the clamping jaw, springs (40) connecting said stop jaws (36, 38), such that opening of the clamping jaws causes opening of the stop jaws (36, 38) and the stop jaws (36, 38) can be opened independently of the clamping jaws.

Abstract: Provided is a robot hand that is capable of gripping an object and manipulating the gripped object in a manner similar to that of a human hand, and that makes it possible to reduce the number of actuators. This robot hand is provided with: a first actuator (31) that imparts driving force to a first finger link (11) so that the first finger link (11) pivots relative to a base section (1); and a second actuator (32) that imparts driving force to at least one of a second finger link (12) and a third finger link (13) so that the second finger link (12) pivots relative to the first finger link (11) and the third finger link (13) pivots relative to the second finger link (12).

Abstract: An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.

Abstract: End effectors of reticle mechanical interface pods as well as reticle handling methods are provided, which handle the reticle by the end effector by applying a lateral force and/or a downward force on the reticle during the handling to fixate the reticle to at least two supports (e.g., at least four fingers) which are attached to at least two arms of the end effector and are configured to apply an upwards force on the reticle. Hence the reticle is fixated to the end effector and can be handled with higher accelerations and at a higher throughput than current methods. End effectors may have multiple fingers to fixate the reticle, and on more pushers may apply a downwards force to further fixate the reticle to the supports.

Abstract: A dexterous robotic apparatus includes an asymmetrical hand mechanism including only two finger components: a first independent finger and a second independent finger, and a respective first finger motor and a respective second finger motor disposed in the hand mechanism, wherein the hand mechanism is characterized by only two continuous degrees of freedom.

Abstract: In one embodiment, a method for blindly detecting low density activity includes receiving, by a first node from a second node, a signal and executing a joint message passing algorithm (JMPA) on the signal, where executing the JMPA includes jointly producing a decoded signal and an activity list in accordance with the decoded signal, and calculating a plurality of a priori probabilities in accordance with a plurality of log likelihood ratios (LLRs) corresponding to the signal and a plurality of decoded LLRs.

Abstract: Provided is a motion control device. The device comprises one or more frames which supports an exoskeleton of a body; a string which connects the frames with each other; a pulley which is disposed between the frames and connected to one end of the string; and a motor which is connected to the other end of the string to control the string, wherein the pulley rotates the string according to control of the motor.

Abstract: Systems and methods for transferring a micro device or an array of micro devices to or from a substrate are disclosed. In an embodiment, a remote center robot allows on-the-fly alignment between a micro pick up array and a target substrate. The remote center robot may include a plurality of symmetric linkages that move independently and share a remote rotational center. In an embodiment, the remote rotational center may be positioned at a surface of the micro pick up array to prevent damage to the array of micro devices during transfer.

Abstract: A movable instrument holding apparatus and method of retaining a medical instrument with a movable instrument holding apparatus are disclosed. The movable instrument holding apparatus includes a housing structure retaining a gripping structure. A rail is connected to the housing structure. A depressible arm is connected to the rail, the depressible arm having a first quantity of ratchet teeth, wherein the first quantity of ratchet teeth is movable with the depressible arm. A track is sized to receive the rail, wherein the track has a second quantity of ratchet teeth, and wherein the first quantity of ratchet teeth are engagable with the second quantity of ratchet teeth when the rail is positioned at least partially within the track.

Abstract: A transport device includes a large-article drive portion that moves each of a pair of large-article supporting portions between a large-article supporting position and a large-article retracted position, and a small-article drive portion that moves each of a pair of small-article supporting portions between a small-article supporting position and a small-article retracted position. The small-article retracted position is set at a height at which the pair of small-article supporting portions are located above a supported portion supported by the pair of large-article supporting portions, and the pair of small-article supporting portions are provided between the pair of large-article supporting portions in a lateral width direction.