Multifunction Manipulator (i.e., Robot) Patents (Class 318/568.11)
  • 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: 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: 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: 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: 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: 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: 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: 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: 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: 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: 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: 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: 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: 11034026
    Abstract: Methods and systems for controlling a snake-arm robot. In an embodiment, a server computer receives real-time image data associated with at least one of an operating environment and a location of a workpiece from an optical sensor mounted on a robot head of a snake-arm robot, and receives, input data describing a desired pose of the robot head from a user device. The server computer then computes a desired velocity of the robot head using an image Jacobian, translates the desired velocity of the robot head into incremental displacement data and rotation data within a control cycle, computes a position of each of a plurality of links comprising a snake-arm of the snake-arm robot to follow motion of the robot head, computes a current position of each of the plurality of links utilizing a forward dynamics model, and computes force and torque data required to move at least one of a plurality of joints connecting the links to move the snake-arm robot to the desired pose.
    Type: Grant
    Filed: January 10, 2019
    Date of Patent: June 15, 2021
    Assignee: General Electric Company
    Inventors: Huan Tan, Xiao Bian, Todd Danko
  • 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
  • Patent number: 11017610
    Abstract: An electronic device detects and recovers from fault conditions while tracking its motion and building a map of its environment. A front-end motion tracking module detects fault conditions while tracking motion over time and provides mapping data to a back-end mapping module. The front-end motion tracking module indicates to the back-end mapping module when a fault condition has been detected and when the fault condition is no longer detected. The back-end mapping module generates maps from the mapping data and merges the maps to build a three-dimensional representation of the environment. The back-end mapping module buffers or discards any mapping data received from the front-end motion tracking module during the existence of a fault condition. The back-end mapping module merges the maps generated based on mapping data received before and after the fault condition and adds the merged maps to the three-dimensional representation of the environment.
    Type: Grant
    Filed: May 17, 2017
    Date of Patent: May 25, 2021
    Assignee: GOOGLE LLC
    Inventors: Esha Nerurkar, Sheng Zhao
  • Patent number: 11014233
    Abstract: Indicators are set on a marker positioned on a working stage in conformity with a target teaching point. A stereo camera images the indicator in a state of being positioned on a robot hand, and measures the three-dimensional position of the marker. In robot arm controlling, the robot hand is positioned at the correction teaching point for off-line that is offset from an off-line teaching point in the depth of field direction of the stereo camera. In imaging, while the robot hand is positioned at the correction teaching point for off-line, the indicators are imaged by the stereo camera. In correcting, based on an imaging result of the indicator, the on-line teaching point is corrected toward the target teaching point to obtain the on-line teaching point.
    Type: Grant
    Filed: September 23, 2016
    Date of Patent: May 25, 2021
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Keita Dan, Hideaki Suzuki
  • Patent number: 11013825
    Abstract: A method of making an organ or tissue comprises: (a) providing a first dispenser containing a structural support polymer and a second dispenser containing a live cell-containing composition; (b) depositing a layer on said support from said first and second dispenser, said layer comprising a structural support polymer and said cell-containing composition; and then (c) iteratively repeating said depositing step a plurality of times to form a plurality of layers one on another, with separate and discrete regions in each of said layers comprising one or the other of said support polymer or said cell-containing composition, to thereby produce provide a composite three dimensional structure containing both structural support regions and cell-containing regions. Apparatus for carrying out the method and composite products produced by the method are also described.
    Type: Grant
    Filed: August 9, 2017
    Date of Patent: May 25, 2021
    Assignee: Wake Forest University Health Sciences
    Inventors: Hyun-Wook Kang, Sang Jin Lee, Anthony Atala, James J. Yoo
  • Patent number: 11000338
    Abstract: An arm control method including determining, using a processor, whether or not there is an abnormality in an arm that operates by being driven by an actuator in a state in which the arm is fixed by a brake mechanism, to make it possible to determine whether or not there is an abnormality in an arm in a state in which the arm is fixed by a brake mechanism. Therefore, it is possible to more safely determine whether or not there is an abnormality in the arm. In addition, it is possible to more reliably prevent the arm from performing an abnormal operation.
    Type: Grant
    Filed: February 3, 2017
    Date of Patent: May 11, 2021
    Assignee: SONY CORPORATION
    Inventors: Daisuke Nagao, Takara Kasai
  • Patent number: 10994422
    Abstract: A robot system that performs desired processing on a processing target object using a processing tool. The robot system includes a robot having an arm tip that holds the processing tool, a position detector that detects a position of the arm tip, and a robot controller that controls an operation of the robot based on a position command and a position feedback detected by the position detector. The robot controller includes an adjustment operation creating unit that, during adjustment of operation parameters for controlling the operation of the robot, acquires an application and an operation area of the robot and automatically creates an adjustment operation corresponding to the acquired application and the operation area and a parameter adjustment unit that automatically adjusts the operation parameters during execution of the adjustment operation created by the adjustment operation creating unit so that a performance required for the application is satisfied.
    Type: Grant
    Filed: November 27, 2018
    Date of Patent: May 4, 2021
    Assignee: FANUC CORPORATION
    Inventors: Hajime Suzuki, Shuusuke Watanabe, Kaimeng Wang
  • Patent number: 10960549
    Abstract: A vibration analyzer includes a sensor that measures a vibration of an end effector supported by a distal end of a robot, a storage unit that stores a vibration calculation model of the robot, and a control unit configured to perform separation processing for separating a vibration to be reduced that is measured by the sensor into vibration data of the robot and vibration data of the end effector by using the vibration calculation model of the robot.
    Type: Grant
    Filed: February 5, 2019
    Date of Patent: March 30, 2021
    Assignee: FANUC CORPORATION
    Inventors: Satoshi Inagaki, Hajime Suzuki
  • Patent number: 10953537
    Abstract: A robot includes a base, a robot arm including a first arm provided on the base and rotating around a first rotation axis, a first motor provided in the first arm and configured to rotate the first arm, a control board provided on an inside of the base and configured to control driving of the robot arm, and a power supply board provided on the inside of the base and configured to supply electric power to the control board. The robot includes a first driving board configured to drive the first motor on the basis of a command of the control board. The first driving board is provided in the first arm.
    Type: Grant
    Filed: September 27, 2018
    Date of Patent: March 23, 2021
    Inventor: Akio Niu
  • Patent number: 10940506
    Abstract: Disclosed is an actuator generating haptic sensations, the actuator having a spherical rotor driven by a magnetic force vector created around the same, a stator having a space corresponding in shape to the spherical rotor defined therein to allow the spherical rotor to be positioned in the space and having a portion of an upper part of the spherical rotor exposed, at least three rotation-driving coils formed in the stator at a given distance from each other to provide the magnetic force vector to the spherical rotor, and a driving unit independently controlling electric current supplied to each of the rotation-driving coils to create the magnetic force vector.
    Type: Grant
    Filed: March 23, 2017
    Date of Patent: March 9, 2021
    Inventors: Jai Hi Cho, Shin Young Kim, Dae Keun Yoon, Joong Jae Lee, Bum Jae You
  • Patent number: 10943454
    Abstract: A surgical instrument for use with a surgical hub in a surgical procedure is disclosed. The surgical instrument includes a surgical end effector, a communication module configured to wirelessly pair the surgical instrument to the surgical hub, and a control circuit. The control circuit is configured to detect a first security violation, cause the surgical instrument to generate a first response to the first security violation, store a record of the first security violation, detect a second security violation, and cause the surgical instrument to generate a second response to the second security violation, wherein the second response is escalated from the first response.
    Type: Grant
    Filed: November 6, 2018
    Date of Patent: March 9, 2021
    Assignee: Ethicon LLC
    Inventors: Frederick E. Shelton, IV, Jason L. Harris, Hilary A. Reinhardt
  • Patent number: 10931143
    Abstract: Rechargeable wafer carrier systems and methods are provided. A rechargeable wafer carrier system includes, for instance, a housing for holding at least one wafer and at least one electronics system therein, a rechargeable power source operably connected to the housing for powering the at least one electronics system, and a charging interface for receiving a supply of power for charging the rechargeable power source. The housing may be configured for transport within an automated material handling system. Also provided are methods of charging a rechargeable wafer carrier system, which includes, for instance, providing a rechargeable wafer carrier system having at least one electronics system and a rechargeable power source, operably connecting the rechargeable wafer carrier system to a charging base, and supplying power from the charging base to the rechargeable power source.
    Type: Grant
    Filed: August 10, 2016
    Date of Patent: February 23, 2021
    Assignee: GLOBALFOUNDRIES U.S. INC.
    Inventors: Abner Bello, Stephanie Waite, William J. Fosnight
  • Patent number: 10930812
    Abstract: A fully automated fabrication method and system utilizing a single additive manufacturing platform to fabricate solar cell panels without human-touch labor. The system includes a computer and a robotic arm having a machine vision device and a tool changer to which tools are releasably secured. In an exemplary embodiment, the fabrication method uses pre-fabricated substrates wherein the computer controls the robotic arm to deposit an adhesive layer on a pre-fabricated substrate and thereafter place solar cells on the adhesive layer. The solar cells become bonded to the substrate when the adhesive layer cures. The computer then controls the robotic arm to print electrical connections and electrical bus bars on the substrate with electrically conductive ink in order to electrically connect the solar cells. After the electrically conductive ink cures, the computer controls the robotic arm to spray an encapsulating material over the solar cells and substrate.
    Type: Grant
    Filed: November 21, 2019
    Date of Patent: February 23, 2021
    Assignee: United States of America as represented by the Administrator of NASA
    Inventors: John A Carr, Furman VanDrake Thompson, II, Austin T Bumbalough
  • Patent number: 10919152
    Abstract: A system enables teleoperation of a robot based on a pose of a subject. The system includes an image capturing device and an operator system controller that are remotely located from a robotic system controller and a robot. The image capturing device captures images of the subject. The operator system controller maps a processed version of the captured image to a three-dimensional skeleton model of the subject and generates body pose information of the subject in the captured image. The robotic system controller communicates with the operator system controller over a network. The robotic system controller generates a plurality of kinematic parameters for the robot and causes the robot to take a pose corresponding to the pose of the subject in the captured image.
    Type: Grant
    Filed: April 16, 2018
    Date of Patent: February 16, 2021
    Assignee: Nimble Robotics, Inc.
    Inventor: Simon Kalouche
  • Patent number: 10913159
    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: January 15, 2020
    Date of Patent: February 9, 2021
    Assignee: Berkshire Grey, 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: 10899018
    Abstract: A human-collaborative robot, by which the robot is unlikely to be accidentally operated despite the intention of the human, even if a relatively simple action pattern is determined as a command to the robot. When an external force by a human is applied to the robot, the force is detected by a force sensor. The robot is configured to be stopped when the detected external force exceeds a predetermined threshold. In order to restart the stopped motion of the robot, the human purposely applies the external force to the robot. When a judging section judges that the external force is applied to a specified portion the robot based on a predetermined action pattern, a commanding section commands the robot so that the robot performs a motion which is previously associated with the pattern.
    Type: Grant
    Filed: September 5, 2017
    Date of Patent: January 26, 2021
    Assignee: FANUC CORPORATION
    Inventor: Yasuhiro Naitou
  • Patent number: 10893913
    Abstract: A robotic surgical system includes a linkage, an input device, and a processing unit. The linkage moveably supports a surgical tool relative to a base. The input device is rotatable about a first axis of rotation and a second axis of rotation. The processing unit is in communication with the input device and is operatively associated with the linkage to rotate the surgical tool about a first axis of movement based on a scaled rotation of the input device about the first axis of rotation by a first scaling factor and to rotate the surgical tool about a second axis of movement based on a scaled rotation of the input device about the second axis of rotation by a second scaling factor that is different from the first scaling factor.
    Type: Grant
    Filed: December 8, 2016
    Date of Patent: January 19, 2021
    Assignee: COVIDIEN LP
    Inventor: William Peine
  • Patent number: 10894323
    Abstract: A pipeline robot, a pipeline video signal acquisition and transmission device, and a pipeline detection system and method. The pipeline robot comprises a camera module and a crawler, wherein the camera module comprises a front-view digital camera, a first microprocessor and a rotation motor; the crawler comprises a frame body, wheels on the both sides of the frame body, a driving motor, a sensor group, a second microprocessor, a network transmission module and a first power carrier module; a cable reel comprises a power line, a second power carrier module, a fourth microprocessor and a network communication module; and an acquisition control terminal is a mobile terminal provided with a detection module.
    Type: Grant
    Filed: June 30, 2016
    Date of Patent: January 19, 2021
    Assignee: WUHAN EASY-SIGHT TECHNOLOGY CO., LTD.
    Inventors: Zhiguo Liu, Yanlei Lu, Fang Yu, Jincheng Jiang, Xiang Wang, Jia Yu, Geng Peng, Lisha Wang, Jiansheng Liu, Lu Chen, Wanjia Zhang, Hao Li
  • Patent number: 10882188
    Abstract: A robot controller and a robot control method, capable of preventing an operator from being sandwiched between a robot and a workpiece, when a conveyor for conveying the workpiece is stopped. The robot controller is configured to output a robot stop command when a conveyor starts the stop operation thereof. The robot stop command includes at least one of: a first stop command by which, when a movable section of the robot is positioned anterior to the workpiece, the movable section is moved at a higher velocity than the conveyor, and then is stopped after traveling a distance longer than a coasting distance of the conveyor; and a second stop command by which, when the movable section is positioned posterior to the workpiece, the movable section is moved at a lower velocity than the conveyor, and then is stopped after traveling a distance shorter than the coasting distance.
    Type: Grant
    Filed: February 28, 2019
    Date of Patent: January 5, 2021
    Assignee: Fanuc Corporation
    Inventor: Yasuhiro Naitou