Multifunction Manipulator (i.e., Robot) Patents (Class 318/568.11)
  • Patent number: 11865723
    Abstract: An exemplary robotic system includes a plurality of controllable joints and a controller. An exemplary control method provides for controlling the controllable joints by the controller. The control method provides for determining a configuration space for the robotic system and determining a reference movement path within the configuration space. The control method then provides for assigning a plurality of streamlines in the configuration space to yield a flow field based on the reference movement path. The control method then provides for measuring actual velocity vectors of the robotic system in the configuration space. The control method then provides for determining an error velocity vector based on a difference between the actual velocity vector and the desired velocity vector given by the flow field corresponding to the current robot configuration.
    Type: Grant
    Filed: April 30, 2019
    Date of Patent: January 9, 2024
    Assignee: Vanderbilt University
    Inventors: Michael Goldfarb, Andres Martinez-Guerra, Brian Lawson
  • Patent number: 11815895
    Abstract: A method of using an intelligent, multi-function robot having and using internal Artificial Intelligence and functioning autonomously when not connected to external Artificial Intelligence, comprising the steps of: during a pre-initialization process or an initialization process prior to autonomous operation of the robot downloading from a server when the robot is online the functionality and data required for the robot to perform a particular task; during autonomous operation of the robot, the robot not using said external server or said external Artificial Intelligence; running software natively on the robot itself and the hardware processing the software is on the robot itself, and wherein data stored on the robot consists only of that necessary for performing preconfigured functions; limiting on board hardware processing power consists only of that necessary for performing the preconfigured functions; and adapting said robot for autonomous movement within a defined premises.
    Type: Grant
    Filed: January 3, 2023
    Date of Patent: November 14, 2023
    Assignee: XTEND AI Inc.
    Inventors: Harry Fox, Sergh Sapojnikov, Boris Zlotnikov, Jacob Benjamin
  • Patent number: 11794334
    Abstract: Adaptable and customizable truss-like robots are provided. The robotic truss has robotic roller modules configured to translate along one or more pliable member and therewith control the shape or design of the robot.
    Type: Grant
    Filed: September 10, 2020
    Date of Patent: October 24, 2023
    Assignee: The Board of Trustees of the Leland Stanford Junior University
    Inventors: Allison M. Okamura, Sean Follmer, Elliot W. Hawkes, Zachary Hammond, Nathan Scot Usevitch, Mac Schwager, James Ballard
  • Patent number: 11691302
    Abstract: A robot has an electronic surveillance system embedded within a chassis disposed between two wheels. The wheels include a main body and a plurality of treads. The treads are generally disposed radially around the main body and extend distally from outer portion of the main body. The main body generally defines a plurality of compression cells and may present a substantially frustoconical outer surface.
    Type: Grant
    Filed: April 26, 2022
    Date of Patent: July 4, 2023
    Assignee: ReconRobotics, Inc.
    Inventors: Casey R. Carlson, Andrew Drenner, Alex J. Kossett, Ian T. Burt
  • Patent number: 11657275
    Abstract: A computer-implemented method for obtaining a detection and/or a prediction about a state of a physical system is provided.
    Type: Grant
    Filed: March 30, 2020
    Date of Patent: May 23, 2023
    Assignee: SAP SE
    Inventors: Joerg Koenning, Eduard-Andrei Boamba, Ovidiu Boc, Yuanxun Gu, Yevgen Borodkin
  • Patent number: 11634938
    Abstract: Improved systems and methods for operating moveable architectural elements (e.g., furniture) are described. The system can include improved features implemented throughout various elements, including hardware elements, controller elements, and/or software elements. As one example, the system can feature the ability to map a characteristic load profile across a particular length of actuation and, if during operation a measured load exceeds the profile, adjust (e.g., stop) the system's motion. The system can also advantageously map its current draw to increase energy efficiency. In addition, the system can include a positioning system that enables it to automatically determine its position upon start up and during operation. In some implementations, the system includes multiple moveable elements (e.g., furniture items). In some cases, power is distributed to the moveable element(s) using a moveable power distribution module. Many other improvements and features are contemplated and described.
    Type: Grant
    Filed: June 21, 2018
    Date of Patent: April 25, 2023
    Assignee: Ori Inc.
    Inventors: Chad Bean, Carlos Rubio, Hasier Larrea-Tamayo, Ivan Fernandez De Casadevante
  • Patent number: 11628564
    Abstract: A control device for a robot includes a comparing unit and a controller. When the robot equipped with a force sensor capable of detecting force components of a same type in a plurality of directions operates, the comparing unit compares a magnitude of each of the force components detected by the force sensor with a predetermined threshold value for each of the directions. If the comparing unit determines that a magnitude of a force component in any of the directions exceeds the threshold value, the controller controls the robot to avoid an increase in the magnitude of the force component in the direction.
    Type: Grant
    Filed: April 20, 2020
    Date of Patent: April 18, 2023
    Assignee: FANUC CORPORATION
    Inventors: Masahiro Morioka, Takashi Satou
  • Patent number: 11620097
    Abstract: There is provided an information processing apparatus and an information processing method capable of intuitively and easily indicating a state of feeling of the autonomous moving body to the user. The information processing apparatus includes a control unit that, according to a change in a position of the autonomous moving body sensed by a sensing unit that senses the position of the autonomous moving body and a feeling parameter indicating the feeling of the autonomous moving body, causes a display screen to display a figure corresponding to the autonomous moving body while changing a state of the figure. The present disclosure can be applied to, for example, an apparatus and the like that controls an autonomous moving body.
    Type: Grant
    Filed: January 31, 2020
    Date of Patent: April 4, 2023
    Assignee: Sony Group Corporation
    Inventors: Emika Kaneko, Hirotsugu Sato
  • Patent number: 11604520
    Abstract: A position indicating device includes a housing in which an electronic pen including a pen tip is mountable, a force sense generator configured to generate a force sense, and a processor configured to control the force sense generator to generate the force sense when, with the electronic pen mounted in the housing, a distance between a position of the pen tip of the electronic pen in a virtual reality space and an object in the virtual reality space is equal to or less than a predetermined value.
    Type: Grant
    Filed: November 18, 2020
    Date of Patent: March 14, 2023
    Assignee: Wacom Co., Ltd.
    Inventors: Yuichi Ide, Hiroshi Tamano
  • Patent number: 11583350
    Abstract: An input control device can be configured to operate in different modes depending on proximity data provided by a proximity detection system. The input control device can include a feedback generator configured to generate feedback in response to the input control device switching between operational modes, the proximity data provided by the proximity detection system, and/or other conditions of the surgical procedure, robotic surgical tool, surgical site, and/or patient. The input control device can include a variable resistance assembly for resisting input control motions applied to an actuator thereof. Additionally or alternatively, the input control device can include an end effector actuator assembly for repositioning the end effector actuator based on feedback from a paired robotic surgical tool.
    Type: Grant
    Filed: March 15, 2019
    Date of Patent: February 21, 2023
    Assignee: Cilag GmbH International
    Inventors: Clinton W. Denlinger, Charles J. Scheib, Jeffrey S. Swayze
  • Patent number: 11559893
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for avoiding singular configurations of a robot. A singular configuration of the robot is obtained. A location of an end effector of the robot when the robot is in the singular configuration is determined. For each of a plurality of voxels in a workcell, a distance from the voxel to the location of the end effector when the robot is in the singular configuration is computed. A negative potential gradient of the computed distance is computed. Control rules are generated, wherein the control rules, when followed by the robot, offset the trajectory of the robot according to the negative potential gradient.
    Type: Grant
    Filed: April 2, 2020
    Date of Patent: January 24, 2023
    Assignee: Intrinsic Innovation LLC
    Inventor: Sean Alexander Cassero
  • Patent number: 11556131
    Abstract: A robot includes a base, at least one roller bearing having an inner hub supported to the base and an outer hub rotated about the inner hub, a spacer contacting the outer hub, a spin body to which the spacer is attached, and a spin mechanism coupled to the spin body to rotate the spin body. The spacer separates the spin body from the roller bearing between the spin body and the roller bearing. A surface hardness of the spacer is greater than a surface hardness of the spin body.
    Type: Grant
    Filed: July 3, 2019
    Date of Patent: January 17, 2023
    Assignee: LG ELECTRONICS INC.
    Inventor: Moonchan Kim
  • Patent number: 11538705
    Abstract: Embodiments of the present disclosure provide a plasma processing system, comprising: a transfer chamber, the transfer chamber including a plurality of sidewalls, each sidewall being connected with a plurality of process chambers; each process chamber including a base therein, the base including a central point; wherein at least two process chambers connected to a same sidewall form one process chamber group, wherein a first distance is provided between the central points of two bases in a first process chamber group, and a second distance is provided between the central points of two bases in a second process chamber group, the first distance being greater than the second distance; and the transfer chamber comprises a mechanical transfer device; a rotating pedestal includes two independently movable robot arms thereon, the two robot arms; and the two robot arms both include a plurality of rotating shafts and a plurality of rotating arms, wherein a remote rotating arm of each robot arm further includes an end
    Type: Grant
    Filed: December 20, 2018
    Date of Patent: December 27, 2022
    Assignee: ADVANCED MICRO-FABRICATION EQUIPMENT INC. CHINA
    Inventors: Larry Lei, Qian Wang
  • Patent number: 11532205
    Abstract: A robot management system (RMS) includes a plurality of service robots deployed within an operations venue that includes a plurality of gaming devices, an operator terminal presenting a graphical user interface (GUI) to an operator, and a robot management system server (RMS server) configured in networked communication with the plurality of service robots. The RMS server is configured to: identify location data for the service robots; create an interactive overlay map of the operations venue that includes a static map of the operations venue, overlay data showing the location data of the plurality of service robots over the static map, and an interactive icon for each service robot of the plurality of service robots; display, via the GUI, the overlay map; receive a first input indicating a selection of a first interactive icon associated with a first service robot; and display current status information associated with the first service robot.
    Type: Grant
    Filed: March 25, 2021
    Date of Patent: December 20, 2022
    Assignee: Aristocrat Technologies, Inc.
    Inventors: Michelle Cupersmith, Victor Blanco, Donovan Meyer, Frank Rodriguez, Rajendrasinh Jadeja, Steven Santisi, Eric Taylor
  • Patent number: 11458620
    Abstract: The present disclosure relates to the field of modular robot control, and more particularly to a correction method and system for constructing a modular robot thereof. The correction method and system for constructing a modular robot according to the present invention can be corrected according to whether the assembly structure matches the target structure during the assembly of the modular robot, avoiding repeated assembly work by users, Which brings a good user experience to users.
    Type: Grant
    Filed: June 18, 2020
    Date of Patent: October 4, 2022
    Assignee: BEIJING KEYI TECHNOLOGY CO., LTD.
    Inventor: Jianbo Yang
  • Patent number: 11458619
    Abstract: A method for calculating an arm angle range of a robot arm includes: determining a pose at an tail end position of the robot arm; judging whether an angle of an elbow joint is within a limit thereof when an arm angle is 180 degrees; if yes, constructing a first position matrix characterizing the elbow joint by using the pose and the arm angle; constructing a second position matrix of the elbow joint by using DH parameters of other joints of the robot arm; calculating, according to the first position matrix and the second position matrix, a first arm angle feasible region satisfying a limit of a position joint; judging whether the robot arm has a secondary position joint; and intersecting with the calculated first arm angle feasible region to obtain an arm angle range if no secondary position joint is present at the robot arm.
    Type: Grant
    Filed: December 30, 2019
    Date of Patent: October 4, 2022
    Assignee: CLOUDMINDS ROBOTICS CO., LTD.
    Inventors: Tianhao Wang, Shenhua Xu
  • Patent number: 11453114
    Abstract: A full-state control method for a master-slave robot system with flexible joints and time-varying delays is provided. In a teleoperation system formed by connecting a master robot and a slave robot through network, a proportional damping controller based on a position error and velocities, and a full-state feedback controller based on backstepping are designed for the master robot and the slave robot, respectively. High-dimension uniform accurate differentiators are designed to realize an exact difference to the virtual controllers. Delay-dependent stability criteria are established by constructing Lyapunov functions. Therefore, the criteria for selecting controller parameters are presented such that the global stability of the master-slave robot system with flexible joints and time-varying delays is realized.
    Type: Grant
    Filed: January 11, 2021
    Date of Patent: September 27, 2022
    Assignee: YANSHAN UNIVERSITY
    Inventors: Yana Yang, Changchun Hua, Junpeng Li, Lu Gan, Yilu Wang
  • Patent number: 11457551
    Abstract: A mounting system includes multiple mounting-related devices to execute a mounting-related process for mounting a component on a mounting target that are arranged side by side along the conveyance direction of the mounting target. The mounting-related device used in the mounting system includes an execution unit configured to execute the mounting-related process; a first interface configured to enable a mobile work device to access the execution unit, the mobile work device moving a member related to the mounting-related process; and an operation panel disposed in a second interface, being located on an opposite side of the first interface, to which an operator is allowed to access without access of the mobile work device.
    Type: Grant
    Filed: March 15, 2018
    Date of Patent: September 27, 2022
    Assignee: FUJI CORPORATION
    Inventor: Daniel Brown
  • Patent number: 11370122
    Abstract: A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.
    Type: Grant
    Filed: December 16, 2020
    Date of Patent: June 28, 2022
    Assignee: Berkshire Grey Operating Company, Inc.
    Inventors: Thomas Wagner, Kevin Ahearn, Michael Dawson-Haggerty, Christopher Geyer, Thomas Koletschka, Kyle Maroney, Matthew T. Mason, Gene Temple Price, Joseph Romano, Daniel Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 11373263
    Abstract: A work system includes a robot control device, a robot, an image processing device, and an imaging device. The robot control device controls an operation of the robot using a teaching point. The image processing device acquires an image by controlling the imaging device and capturing an image of a workpiece at the teaching point, and stores image data after imaging in association with data of an operation position of the robot corresponding to the teaching point. When a user performs work restoration, the image processing device performs a process of assisting with setting of work restoration by performing control for acquiring an image captured by the imaging device at the operation position of the robot during work restoration and displaying a difference between the image and the stored image.
    Type: Grant
    Filed: November 15, 2019
    Date of Patent: June 28, 2022
    Assignee: Canon Kabushiki Kaisha
    Inventors: Genki Cho, Yuuya Miyake
  • Patent number: 11364636
    Abstract: To perform a start-up operation of robots more simply than conventionally. A programming device includes: a program generation unit that generates a program for causing a predetermined operation passing through a plurality of movement destination points to be executed by a robot; a robot control unit that causes the predetermined operation to be executed by the robot according to control based on the program; an image acquisition unit that acquires a photographed image capturing a reference point that is arranged at a position having a predetermined relative relationship with a position of the movement destination point; and a movement destination point correction unit that corrects information of the movement destination point included in the program, based on the photographed image and the predetermined relative relationship, in which the robot control unit controls the robot based on corrected information of the movement destination point.
    Type: Grant
    Filed: November 20, 2019
    Date of Patent: June 21, 2022
    Assignee: FANUC CORPORATION
    Inventor: Kazunori Ban
  • Patent number: 11352071
    Abstract: Provided is a first robot including: a machine readable medium storing instructions that when executed by the processor of the first robot effectuates operations including: executing, with the processor of the first robot, a task; and transmitting, with the processor of the first robot, a signal to a processor of a second robot during execution of the task when its power supply level reduces below a predetermined threshold; and the second robot including: a machine readable medium storing instructions that when executed by the processor of the second robot effectuates operations including: executing, with the processor of the second robot, the remainder of the task upon receiving the signal transmitted from the processor of the first robot; and wherein the first robot navigates to a charging station when its power supply level reduces below the predetermined threshold and wherein the first robot and second robot provide the same services.
    Type: Grant
    Filed: September 23, 2019
    Date of Patent: June 7, 2022
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Lukas Fath, Shahin Fathi Djalali
  • Patent number: 11340576
    Abstract: The present disclosure relates to a method and apparatus for estimating a systematic error of a commissioning tool of an industrial robot, the industrial robot including an operational tool and an application camera, the commissioning tool including a touchscreen and a stylus, the method including: a driving step of driving the operational tool to rotate around a preset rotation axis; a first image obtaining step of obtaining a plurality of first images of the operational tool during rotation; and a first offset calculating step of calculating a first offset of the stylus relative to the operational tool according to the plurality of first images, so as to obtain the systematic error.
    Type: Grant
    Filed: September 26, 2019
    Date of Patent: May 24, 2022
    Assignee: ABB SCHWEIZ AG
    Inventors: Cheng Li, Hao Gu, Jihuan Tian
  • Patent number: 11324532
    Abstract: Some embodiments are directed to a robotic manipulator interface for coupling a hinged surgical tool to a manipulator of a surgical robot, the interface including a first interface member to be coupled to the manipulator, and a second interface member to be coupled to the first interface member, the second interface member being arranged to mount the hinged surgical tool, wherein the first interface member includes a pinching mechanism for pinching the hinged surgical tool when the second interface member is coupled to the first interface member, wherein the pinching mechanism includes two movable protrusions protruding from a surface of the first interface member, the first interface member including a built-in actuating mechanism for moving the protrusions to each other to push two arms of the mounted hinged surgical tool towards each other so as to actuate the mounted hinged surgical tool through the sterile drape.
    Type: Grant
    Filed: February 15, 2018
    Date of Patent: May 10, 2022
    Assignee: MICROSURE B.V.
    Inventor: Raimondo Cau
  • Patent number: 11318613
    Abstract: Disclosed is a method and system for determining a motion path of a mechanical arm in which, after a kinematics model of a mechanical arm is established, multiple objective optimization functions are constructed according to the model, theoretical coordinates of a tail end of the arm, and an arm length. If a number of individuals in an evolutionary population, that makes both lateral and longitudinal error optimization functions in an optimization function monotonically increase or decrease, reaches the threshold, an optimal solution is determined using a single-objective evolutionary algorithm; otherwise, a multi-objective evolutionary algorithm is used. The multi- or single-objective evolutionary algorithms can be adaptively selected according to the number of individuals in the population that makes the lateral and longitudinal error optimization functions change.
    Type: Grant
    Filed: September 6, 2019
    Date of Patent: May 3, 2022
    Assignee: Xiangtan University
    Inventors: Juan Zou, Chan Fan, Xinghong Wu, Bin Deng, Qiuzhen Wang, Jinhua Zheng
  • Patent number: 11320678
    Abstract: A pressure sensor and a pressure detecting method are provided, the pressure sensor includes a liquid crystal cell including a cholesteric liquid crystal layer, a liquid crystal state detector module and a pressure finder module, and the liquid crystal cell includes a pressure receiving surface. The liquid crystal state detector module is configured to detect a liquid crystal arrangement state in the cholesteric liquid crystal layer in a situation where a pressure is applied on the pressure receiving surface of the liquid crystal cell; the pressure finder module is configured to find a value of the pressure corresponding to the liquid crystal arrangement state from a pre-stored correspondence table.
    Type: Grant
    Filed: July 24, 2018
    Date of Patent: May 3, 2022
    Assignees: BEIJING BOE OPTOELECTRONICS TECHNOLOGY CO., LTD., BOE TECHNOLOGY GROUP CO., LTD.
    Inventors: Ying Wang, Tien Lun Ting, Xue Cao, Chuncheng Che, Hailin Xue, Xibin Shao, Peizhi Cai
  • Patent number: 11312436
    Abstract: A robot is provided, the robot comprising a body carrying a first drive arrangement, a second drive arrangement and a stabiliser. The robot further comprises actuators operable to cause relative movement of the first drive arrangement, the second drive arrangement and the stabiliser, and to drive the first and the second drive arrangements. The robot is arrangeable in first, second and third configurations each having static stability. In the first configuration, the stabiliser and the first drive arrangement are arranged to contact the ground. In the second configuration, the stabiliser and the second drive arrangement are arranged to contact the ground. In the third configuration, the first and the second drive arrangements are arranged to contact the ground. No other ground contacting point is involved in conferring said static stability in said configurations.
    Type: Grant
    Filed: March 31, 2017
    Date of Patent: April 26, 2022
    Assignee: THE PROVOST, FELLOWS, FOUNDATION SCHOLARS, AND THE OTHER MEMBERS OF BOARD, OF THF COLLEGE OF THE HOLY AND UNDIVIDED TRINITY OF QUEEN ELIZABETH, NEAR DUBLIN
    Inventor: Conor Mcginn
  • Patent number: 11312002
    Abstract: A system for controlling a configurable apparatus includes a configuration identification unit operable to identify a preferred configuration of the apparatus in response to media content to be provided to a user, and a configuration modification unit operable to modify the configuration of the apparatus in dependence upon the identified preferred configuration, where different configurations of the apparatus correspond to the shapes of different objects relating to the media content.
    Type: Grant
    Filed: April 22, 2019
    Date of Patent: April 26, 2022
    Assignee: Sony Interactive Entertainment Inc.
    Inventors: Fabio Cappello, Jason Gordon Doig, Michael Eder, Rajeev Gupta
  • Patent number: 11312011
    Abstract: A manipulator system according to an embodiment includes a manipulator, an actuator, and a control device. The actuator is configured to operate the manipulator. The control device is configured to control the actuator so that the manipulator moves while avoiding an obstacle. The control device controls the actuator so that an angle between a moving velocity vector of a first target point on the manipulator and a normal vector at a second target point on a surface of the obstacle is within 90°.
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: April 26, 2022
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Nobukatsu Sugiyama, Yoshiyuki Ishihara, Junji Oaki, Akihito Ogawa
  • Patent number: 11312031
    Abstract: A robot has an electronic surveillance system embedded within a chassis disposed between two wheels. The wheels include a main body and a plurality of treads. The treads are generally disposed radially around the main body and extend distally from outer portion of the main body. The main body generally defines a plurality of compression cells and may present a substantially frustoconical outer surface.
    Type: Grant
    Filed: June 23, 2020
    Date of Patent: April 26, 2022
    Assignee: ReconRobotics, Inc.
    Inventors: Casey R. Carlson, Andrew Drenner, Alex J. Kossett, Ian T. Burt
  • Patent number: 11285609
    Abstract: A work robot includes a multi-joint type robot arm and an actuator configured to drive each joint of the robot arm, and corrects a designated target position by a correction parameter to operate the robot arm. The correction of the target position is performed by setting multiple work points in a movable area of the robot, setting a correction parameter in which a spatial coordinate value and a correction value are associated with respect to the set multiple work points, and reflecting the set correction parameter on the target position.
    Type: Grant
    Filed: November 17, 2016
    Date of Patent: March 29, 2022
    Assignee: FUJI CORPORATION
    Inventors: Masatoshi Fujita, Masato Suzuki
  • Patent number: 11275421
    Abstract: A predicting device of a production system includes a machine learning device that learns the relationship between a change in measurement data indicating the state of a power supply and a failure which occurs in the power supply. The machine learning device learns the measurement data including at least a measurement value of electric power consumption in a factory by correlating a state variable indicating the current state of an environment with judgment data indicating a failure notification indicating the occurrence of a failure. A control device of the production system includes a receiving section that receives a prediction notification of a failure which occurs in the power supply, the failure being predicted based on a change in the measurement data indicating the state of the power supply, and a retracting operation control section that makes a working machine transition to a safely retracted state when receiving the prediction notification.
    Type: Grant
    Filed: September 18, 2018
    Date of Patent: March 15, 2022
    Assignee: FANUC CORPORATION
    Inventors: Taketsugu Tsuda, Shuntaro Toda
  • Patent number: 11275387
    Abstract: A coach apparatus and a cooperative operation controlling method for a coach-driven multi-robot cooperative operation system are provided. The coach apparatus connects with a plurality of action robots and receives state space data from each action robot. The coach apparatus divides the action robots into a plurality of action group. The coach apparatus reduces the state space data of the action robots in each action group to generate reduced state space data of each action group, and trains and builds a cooperative model based on the reduced state space data. In addition, for each action group, the coach apparatus selects a group strategy based on the reduced state space data, and transmits the cooperative model and the group strategy to the action robots in the action group to make them carry out an action mission according to the cooperative model and the group strategy.
    Type: Grant
    Filed: December 11, 2018
    Date of Patent: March 15, 2022
    Assignee: INSTITUTE FOR INFORMATION INDUSTRY
    Inventors: Ping-Feng Wang, Jong-Yih Kuo, Chen-Ti Wang
  • Patent number: 11235412
    Abstract: An apparatus includes a welding torch, a laser capable of projecting a beam towards a seam on a surface, a camera directed towards the surface, a memory, and a processor. The processor receives an image of the surface from the camera. Next, the processor determines, based on the reflection of the laser beam from the surface, a vertical distance from the torch to the seam. The processor adjusts the brightness and contrast of the image, applies a gamma correction, and applies at least one gradient filter to the image to produce a new image. Next, the processor determines a horizontal location of the seam in the new image, which it uses to determine a horizontal distance from the torch to the seam. Based on the vertical and horizontal distances from the torch to the seam, the processor adjusts a vertical and a horizontal position of the torch.
    Type: Grant
    Filed: January 31, 2019
    Date of Patent: February 1, 2022
    Assignee: TRINITY CENTRAL MAINTENANCE, LLC
    Inventor: Greg Alan Radighieri
  • Patent number: 11233408
    Abstract: The present disclosure relates to methods and associated systems for maintaining energy storage devices positioned in a device-exchange station. The method includes, for example, (1) periodically sending, by the device-exchange station, a request to a battery management system (BMS) associated with an energy storage device positioned in the device-exchange station; (2) receiving, by the device-exchange station, maintenance information from the BMS; and (3) in response to the maintenance information, determine whether to perform a maintenance action.
    Type: Grant
    Filed: December 28, 2018
    Date of Patent: January 25, 2022
    Assignee: Gogoro Inc.
    Inventors: Yun-Chun Lai, Chien-Chung Chen, I-Fen Shih
  • Patent number: 11224488
    Abstract: A surgical robot comprising an articulated arm, the arm having a terminal portion comprising: a distal segment having an attachment for a surgical instrument; an intermediate segment; and a basal segment whereby the terminal portion is attached to the remainder of the arm; a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis; and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis; wherein: the intermediate segment comprises a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes; and the first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the thir
    Type: Grant
    Filed: March 2, 2018
    Date of Patent: January 18, 2022
    Assignee: CMR SURGICAL LIMITED
    Inventors: Luke David Ronald Hares, Steven James Randle
  • Patent number: 11203120
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for a mobile robotic frame system. In some implementations, a mobile robot includes a motorized frame that is configured to travel to a location. The mobile robot includes a positioning assembly coupled to the motorized frame, a robotic arm having a manipulator, and sensors coupled to the motorized frame. A control system is configured to process data from the sensors and, based on the data from the sensors, provide control data to (i) move the motorized frame, (ii) adjust one or more movable components of the positioning assembly, and (ii) move the robotic arm relative to the motorized frame. The one or more movable components and the robotic arm are operable to position the manipulator at any position in a three-dimensional work volume with 6 degrees of freedom while the motorized frame remains at the location.
    Type: Grant
    Filed: February 6, 2019
    Date of Patent: December 21, 2021
    Assignee: Intrinsic Innovation LLC
    Inventor: Michael Barrett Hill
  • Patent number: 11185455
    Abstract: In some embodiments, an apparatus can include a surgical table and an adapter coupled thereto. The adapter includes an interface structure, a first link member pivotally coupled to the interface structure at a first joint, and coupled to a second link member of the adapter at a second joint. The second link member can also be coupleable to a robotic arm via a coupling. The first joint can allow the first link member to rotate about a first axis defined in a vertical direction relative to the table top, and the second joint can allow the second link member and a robotic arm coupled thereto to move in a vertical direction relative to the table top. The first link member and the second link member collectively provide for movement of the robotic arm in at least one of a lateral, longitudinal or vertical direction relative to the table top.
    Type: Grant
    Filed: September 15, 2017
    Date of Patent: November 30, 2021
    Assignees: Verb Surgical Inc., Maquet GmbH
    Inventors: David Cagle, Pablo E. Garcia Kilroy, Karen Shakespear Koenig, Jacob Spencer Gee, Wayne Grout, Michael P. Schaller
  • Patent number: 11137770
    Abstract: There is provided a smart detection system including multiple sensors and a central server. The central server confirms a model of every sensor and a position thereof in an operation area. The central server confirms an event position and predicts a user action according to event signals sent by the multiple sensors.
    Type: Grant
    Filed: April 30, 2019
    Date of Patent: October 5, 2021
    Assignee: PIXART IMAGING INC.
    Inventors: Yi-Hsien Ko, Yen-Min Chang, Nien-Tse Chen
  • Patent number: 11117258
    Abstract: A force transmission system as part of a surgical system which may be configured to be a minimally invasive and/or computer assisted surgical system. Operation of the system may be controlled by transmission of a force from a first section to a second section of the system. The first section and the second section may be separated by a partition or a barrier. The first section may be a non-sterile section and the second section may be a sterile section of the surgical system.
    Type: Grant
    Filed: July 26, 2018
    Date of Patent: September 14, 2021
    Assignee: DEKA Products Limited Partnership
    Inventors: Christopher C. Langenfeld, Michael J. Slate, Prashant Bhat, Dirk A. van der Merwe, David D. B. Cannan, Keith D. Violette
  • Patent number: 11117254
    Abstract: A robotic navigation system includes a handheld navigation unit associated with a frame of reference. The handheld navigation unit is moveable with respect to a plurality of axes and is configured to send movement signals based on movement of the handheld navigation unit. A controller is configured to receive the movement signals from the handheld navigation unit and determine control signals for the robot. The control signals are configured to incrementally move the robot with respect to a point of interest removed from the robot. The point of interest is removed from a fixed point on the robot as defined by assigned coordinates. The controller is further configured to reassign the assigned coordinates following each incremental movement of the robot.
    Type: Grant
    Filed: January 29, 2020
    Date of Patent: September 14, 2021
    Assignee: Comprehensive Engineering Solutions, Inc.
    Inventor: Mark A. Battisti
  • Patent number: 11109924
    Abstract: A method of operating a robotic system involves servoing a multitude of joints of the robotic system in a first joint velocity space. The movement of the multitude of joints in the first velocity space moves a remote center or an end effector of the robotic system. The method further involves floating the multitude of joints in a second velocity space. The movement of the multitude of joints in the second velocity space moves the end effector or the remote center, respectively. The method further involves controlling motion of the multitude of joints in a third velocity space. The movement of the multitude of joints in the third velocity space does not move the end effector and does not move the remote center.
    Type: Grant
    Filed: April 27, 2020
    Date of Patent: September 7, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nitish Swarup, Arjang M. Hourtash
  • Patent number: 11090809
    Abstract: The invention concerns a method, arrangement and computer program product for distributing processing for a first robot in a cell among more than one processing entities. The arrangement includes a processing entity determining unit that obtains data about current limitations in the processing environment of a prospective processing entity intended to perform a processing task for the first robot, determines, based on the processing environment limitations, whether a performance requirement will be fulfilled or not if the task is performed in the prospective processing entity, and assigns the processing task for processing in the prospective processing entity or in at least one other processing entity based on the determining of whether the performance requirement is fulfilled or not.
    Type: Grant
    Filed: May 23, 2016
    Date of Patent: August 17, 2021
    Assignee: ABB Schweiz AG
    Inventors: Hongyu Pei-Breivold, Kristian Sandström, Larisa Rizvanovic, Marko Lehtola, Roger Kulläng, Saad Azhar
  • Patent number: 11091211
    Abstract: Included is a method for collaboration between a first robotic chassis and a second robotic chassis, including: executing, with the processor of the first robotic chassis, a first part of a task; transmitting, with the processor of the first robotic chassis, a signal to a processor of the second robotic chassis upon completion of the first part of the task; and executing, with the processor of the second robotic chassis, a second part of the task upon receiving the signal transmitted from the processor of the first robotic chassis; wherein the first robotic chassis and the second robotic chassis provide differing services.
    Type: Grant
    Filed: December 21, 2018
    Date of Patent: August 17, 2021
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Lukas Fath, Shahin Fathi Djalali
  • Patent number: 11076866
    Abstract: A surgical system including a surgical tool and a navigation system for tracking the position of the surgical tool. The surgical tool comprising a housing including a variable speed motor and control module disposed within the housing. The navigation system comprising a navigation console in communication with the control module of the surgical tool, the navigation console may be configured to communicate instructions to the control module of the surgical tool based on the position of the surgical tool relative to a defined zone. The navigation console may be configured to deactivate the surgical tool based on the position of the surgical tool relative to the defined zone. The navigation console may also be configured to provide a user-selectable override option to allow continued operation of the surgical tool within the defined zone.
    Type: Grant
    Filed: December 13, 2019
    Date of Patent: August 3, 2021
    Assignee: Stryker Corporation
    Inventors: Christopher Philipp, Donald W. Malackowski
  • Patent number: 11071441
    Abstract: A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.
    Type: Grant
    Filed: April 20, 2018
    Date of Patent: July 27, 2021
    Assignee: VERB SURGICAL INC.
    Inventors: Haoran Yu, Renbin Zhou, Sina Nia Kosari, Andrea Bajo
  • Patent number: 11072070
    Abstract: A trajectory planning apparatus including a joint axis classification unit for classifying a plurality of joint axes of a robot into axis groups, according to joint axis classification information for classifying into the axis groups including at least a path search axis group, a path search unit for searching for a path of an angle of the joint axis classified into the path search axis group that minimizes an evaluation function for evaluating a planed trajectory, based on trajectory start point information representing a posture of the robot at a start point of the planed trajectory and trajectory endpoint information representing a posture of the robot at an end point of the planned trajectory, and an axis group angle calculation unit for calculating an angle of the joint axis classified into each axis group other than the path search axis group during the search of the path.
    Type: Grant
    Filed: October 22, 2018
    Date of Patent: July 27, 2021
    Assignee: HITACHI, LTD.
    Inventors: Takashi Seno, Daisuke Tsutsumi, Daiki Kajita, Nobuaki Nakasu
  • Patent number: 11045957
    Abstract: A robot character setting method includes: at a robot: adjusting an attribute value of at least one character attribute in a preset character feature according to feedback from a user, the character feature including a plurality of character attributes, each of the character attributes having an attribute value; and performing an action or speech according to the attribute value of the character attributes in the current character feature.
    Type: Grant
    Filed: January 13, 2020
    Date of Patent: June 29, 2021
    Assignee: CLOUDMINDS ROBOTICS CO., LTD.
    Inventor: Lei Luo
  • Patent number: 11039896
    Abstract: Methods and devices are provided for robotic surgery, and in particular for controlling various motions of a tool based on visual indicators. In general, a surgical tool can include an elongate shaft and an end effector coupled to a distal end of the elongate shaft and including first and second jaws. The tool can have at least one visual indicator disposed thereon and configured to indicate a size, position, or speed of movement of the tool or components of the tool.
    Type: Grant
    Filed: August 27, 2019
    Date of Patent: June 22, 2021
    Assignee: Ethicon LLC
    Inventors: David C. Yates, Jason L. Harris, Frederick E. Shelton, IV, Chad E. Eckert
  • Patent number: 11036267
    Abstract: In the event of a TDM failure, the associated computing device is either discarded or sent back to an original equipment manufacturer's facility for refurbishment. Field replacement of TDMs is typically not possible due to the lack of a secure process to recalibrate the touch controller to function properly with a replacement TDM. The presently disclosed systems and methods enable secure recalibration of a touch controller within a computing device to operate correctly with a new TDM field installed in the computing device. More specifically, the presently disclosed systems and methods provide a mechanism for detecting that a TDM has been field replaced, unlocking calibration data, performing a calibration process, and locking the new calibration data.
    Type: Grant
    Filed: February 26, 2019
    Date of Patent: June 15, 2021
    Assignee: Microsoft Technology Licensing, LLC
    Inventors: Srilatha Sridharan, John Schock, Kansu Dincer, Dennis Mamati Wavomba, Erng-Sing Wee, Dmitry Birenberg