Multifunction Manipulator (i.e., Robot) Patents (Class 318/568.11)
  • 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: 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: 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: 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: 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: 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
  • Patent number: 10875185
    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: August 20, 2019
    Date of Patent: December 29, 2020
    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: 10852206
    Abstract: A tactile sensor has an elastically deformable sheet, a coil that is provided in the sheet, a powdery or fibrous magnetic material that is provided in the sheet with the coil, and a detection portion that detects an inductance of the coil. Also included as an android with a mechanical portion that is a skeleton, a skin portion that covers the mechanical portion, and at least part of the skin portion includes the tactile sensor.
    Type: Grant
    Filed: December 6, 2018
    Date of Patent: December 1, 2020
    Assignee: JTEKT CORPORATION
    Inventor: Yohei Shimizu
  • Patent number: 10814484
    Abstract: The invention relates to a method for controlling the movements of articulated arms (21, 22, 23) of an industrial robot (2) using a movement setting means (3) to be guided by hand by an operator, the movements of which are provided for generating at least a portion of the movement control data for the industrial robot (2) to be controlled. At least one of a plurality of reference marks (19, 19?, 19?) is arranged or formed at least on individual articulated arms (21, 22, 23) adjustable by the operator. The movement setting means (3) comprises at least one imaging and/or at least one distance-sensitive sensor (16, 17) which at least one sensor (16, 17) can be set with at least one of the plurality of reference marks (19, 19?, 19?) into a relative spatial position selected by the operator.
    Type: Grant
    Filed: October 28, 2016
    Date of Patent: October 27, 2020
    Assignee: KEBA AG
    Inventors: Gernot Preisinger, Manfred Schininger
  • Patent number: 10807251
    Abstract: Provided is a robot wrist structure provided with a first wrist element, a second wrist element, and a third wrist element. The first wrist element is provided with a casing having a hollow structure, two driving motors that drive the second wrist element and the third wrist element, and a conduit member that allows wiring to pass therethrough from an arm-side to a second-wrist-element-side in a direction along a first axis. A first opening and a second opening are provided in a first side wall and a second side wall that are positioned on either side of a reference plane. The first opening is large enough to allow the driving motors to pass therethrough. Centers of rotation shafts of the two driving motors are disposed between the first side wall and the reference plane. The conduit member is disposed between the second side wall. The wiring bypasses the driving motors.
    Type: Grant
    Filed: March 25, 2019
    Date of Patent: October 20, 2020
    Assignee: FANUC CORPORATION
    Inventor: Hirokazu Kume
  • Patent number: 10779788
    Abstract: A method is disclosed for registration on setting an alignment of an instrument relative to an object during a processing or treatment of the object by the instrument. A working image is registered to a planning image. The working image is recorded in a viewing direction that is selected dependent upon relevant degrees of freedom of the instrument such that the relevant degrees of freedom are the degrees of freedom with the greater registration accuracy. In addition, a robot system is provided which is configured for carrying out the method.
    Type: Grant
    Filed: December 19, 2018
    Date of Patent: September 22, 2020
    Assignee: Siemens Healthcare GmbH
    Inventors: Peter Fischer, Thomas Fuchs, Philip Mewes, Holger Mönnich, Martin Rube
  • Patent number: 10775774
    Abstract: Systems, apparatus, and methods to coordinate a robot swarm are disclosed. An example system includes an analyzer to create a planning message based on data associated with a first bot and a second bot, the planning message to be communicated to the swarm from a first source. In addition, the example system includes a scheduler to issue a first assignment of a first operation slot and a first role to the first bot based on the planning message, issue a second assignment of a second operation slot and a second role to the second bot based on the planning message, and create a decision message including the first assignment and the second assignment. The decision message is to be communicated to the swarm from a second source different than the first source.
    Type: Grant
    Filed: December 28, 2017
    Date of Patent: September 15, 2020
    Assignee: Intel Corporation
    Inventors: Maximilian Von Tschirschnitz, Dibyendu Ghosh, Karthik Narayanan, Arjun Ram S P, Marcel Wagner, Vinayak Honkote
  • Patent number: 10769448
    Abstract: In a surveillance system, a server and a plurality of cameras provided in a surveillance area are communicably connected to each other. The server includes a table memory that retains information on free resources of each of cameras. The server determines for each camera, a process to be executed by the camera, based on the information on the free resources of the camera, and transmits an instruction to execute the determined process to each camera. Each of the cameras executes a process corresponding to the instruction to execute, based on an instruction to execute the process transmitted from the server.
    Type: Grant
    Filed: May 23, 2018
    Date of Patent: September 8, 2020
    Assignee: Panasonic i-PRO Sensing Solutions Co., Ltd.
    Inventors: Toshiaki Shinohara, Yoshito Touzawa, Toru Terada
  • Patent number: 10761513
    Abstract: An information processing device includes an actuator emulator that simulates a behavior of a drive apparatus that is for driving a first control target, an actuator emulator that simulates a behavior of a drive apparatus that is for driving a second control target that cooperates with the first control target, a timer that generates a virtual time, and an execution part that executes a PLC program for controlling the actuator emulator and a robot program for controlling the actuator emulator. Execution modes of the control programs used by the execution part include a synchronous execution mode in which the PLC program and the robot program are synchronously executed in accordance with a virtual time and an asynchronous execution mode in which the PLC program and the robot program are asynchronously executed.
    Type: Grant
    Filed: February 9, 2018
    Date of Patent: September 1, 2020
    Assignee: OMRON Corporation
    Inventors: Taku Oya, Haruna Shimakawa, Yoshihide Tamura
  • Patent number: 10764544
    Abstract: A robotic mount is configured to move an entertainment element such as a video display, a video projector, a video projector screen or a staircase. The robotic mount is moveable in multiple degrees of freedom, whereby the associated entertainment element is moveable in three-dimensional space. In one embodiment, a system of entertainment elements are made to move and operate in synchronicity with each other.
    Type: Grant
    Filed: April 5, 2019
    Date of Patent: September 1, 2020
    Inventor: Andrew Flessas
  • Patent number: 10736702
    Abstract: Various surgical tools are provided with multi-axis articulation joints and with the ability to rotate distal to the joint. In one embodiment, a surgical tool is provided having an elongate shaft with an end effector disposed at a distal end of the elongate shaft. The end effector can have first and second jaws configured to grasp tissue and a sled or cutting element configured to advance through the jaws and cut tissue therein. A multi-axis articulation joint can be formed on the shaft or between the shaft and the end effector. The joint can allow articulation of the end effector in multiple directions. The end effector can be configured to rotate distal to the multi-axis articulation joint about a longitudinal axis of the elongate shaft. Methods for allowing rotation and articulation of the end effector are also provided.
    Type: Grant
    Filed: August 16, 2016
    Date of Patent: August 11, 2020
    Assignee: Ethicon LLC
    Inventors: Jason L. Harris, Michael J. Vendely, Frederick E. Shelton, IV, Charles J. Scheib
  • Patent number: 10737386
    Abstract: An automatic control method and an automatic control device are provided. The automatic control device includes an automatic joint mechanism and a processor. The automatic joint mechanism includes a first motor and a second motor. The processor is adapted to perform a force adjustment on the first motor and the second motor. When a first motor state parameter of the first motor is different from a second motor state parameter of the second motor, the processor adjusts at least one of a first target position parameter of the first motor and a second target position parameter of the second motor, so that a degree of force of at least one of the first motor and the second motor is automatically and correspondingly adjusted.
    Type: Grant
    Filed: November 13, 2018
    Date of Patent: August 11, 2020
    Assignee: New Era AI Robotic Inc.
    Inventor: Chi-Chang Tung
  • Patent number: 10735517
    Abstract: A communication system includes a management device, a reception device, and a transmission device. The reception device and the transmission device are configured to hold first information included in a received first communication message each time the reception device and the transmission device receive the first communication message. The transmission device is configured to manage second information of a management code, and generate a first authenticator from communication data and a management code formed by combining the held first information with the managed second information. The reception device is configured to receive a second communication message transmitted by the transmission device, and authenticate the received second communication message based on a comparison between the first authenticator included in the received second communication message and a regenerated authenticator regenerated based on the received second communication message.
    Type: Grant
    Filed: October 11, 2017
    Date of Patent: August 4, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Masahide Banno
  • Patent number: 10723017
    Abstract: Aspects of present disclosure relates to a robotic eye system. In certain embodiments, robotic eye driving system includes: a robotic eye body, a first eyeball and a second eyeball, a lower eyelid, an upper eyelid, an eyeball driving system, an eyelid driving system, and a robotic eye controller. Robotic eye body includes a front panel and a rear panel. Front panel includes a first eye socket and a second eye socket. First eyeball and second eyeball are positioned in first eye socket and second eye socket, respectively. First eye socket and second eye socket limit first eyeball and second eyeball to rotate around a first eyeball center and a second eyeball center, respectively. The eyeball driving system includes an eyeball vertical driving mechanism and an eyeball horizontal driving mechanism to drive the first eyeball and the second eyeball, and the eyelid driving system drives the upper eyelid, concurrently and independently.
    Type: Grant
    Filed: April 1, 2019
    Date of Patent: July 28, 2020
    Assignee: SHENZHEN WANGRUI TECHNOLOGY CO., LTD.
    Inventors: Pianhong Xu, Tao Huang
  • Patent number: 10687910
    Abstract: An orthopedic surgery assistant system includes: a multi-axis mechanical arm module; at least one end effector, including: two linear actuating elements, two actuating element encoders, a central annular structure, a connector, and a power/torque sensing element; a guide and positioning module; and a surgery remote control module, so that a user pulls the multi-axis mechanical arm and the end effector according to a real-time three-dimensional model, so that the multi-axis mechanical arm performs translation and rotation motions in a plurality of axial directions on an applied end, and the end effector performs a rotation motion of two degrees of freedom on the applied end.
    Type: Grant
    Filed: December 18, 2018
    Date of Patent: June 23, 2020
    Assignee: METAL INDUSTRIES RESEARCH & DEVELOPMENT CENTRE
    Inventors: Chin-Yu Chang, Bing-Feng Huang, Chih-Lung Lin
  • Patent number: 10661989
    Abstract: An automated equipment system including a stacker crane includes an emergency stop terminal and a controller that executes operational control of the stacker crane. The emergency stop terminal includes an emergency stop button; and a first communicator that performs wireless communication with the controller, and changes a state of the wireless communication with the controller when the emergency stop button is operated. The controller: executes the operational control of the stacker crane according to a command from an operation terminal, when wireless communication with both the emergency stop terminal and the operation terminal, which transmits a command for the operational control of the stacker crane, is possible; and stops operation of the stacker crane when the state of the wireless communication with the first communicator is changed.
    Type: Grant
    Filed: April 8, 2016
    Date of Patent: May 26, 2020
    Assignee: MURATA MACHINERY, LTD.
    Inventor: Takeshi Muranaka
  • Patent number: 10657802
    Abstract: Provided is a method, device, and computer-readable medium for controlling a robot graphic user interface (“RGUI”) on a mobile device. The method can include determining a distance, a position, or both of the mobile device with respect to a first robot; and causing, by a processor, a first RGUI to be displayed on a display of the mobile device based on the determining.
    Type: Grant
    Filed: November 2, 2016
    Date of Patent: May 19, 2020
    Assignee: THE JOHNS HOPKINS UNIVERSITY
    Inventors: Kelleher Guerin, Gregory Hager
  • Patent number: 10624672
    Abstract: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.
    Type: Grant
    Filed: September 28, 2017
    Date of Patent: April 21, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Daniel H. Gomez, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers, Todd R. Solomon
  • Patent number: 10619869
    Abstract: An air humidifying device and a moving method thereof, an air humidifying system and a control method thereof, and a monitoring system are disclosed. The moving method includes: determining a target region to be humidified, the target region being any one of N to-be-humidified regions, and N being an integer greater than or equal to 2; determining movement trace information of the air humidifying device moving towards the target region; moving to the target region according to the movement trace information; and humidifying the target region. The method is used in a humidifying process of the air humidifying device, which not only expands the scope of air humidification, but also makes the air humidifying device move flexibly.
    Type: Grant
    Filed: February 8, 2017
    Date of Patent: April 14, 2020
    Assignee: BOE TECHNOLOGY GROUP CO., LTD.
    Inventors: Yue Li, Haijun Su
  • Patent number: 10618177
    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 6, 2018
    Date of Patent: April 14, 2020
    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: 10603791
    Abstract: An apparatus comprises a holding unit configured to hold data related to a worker; an obtaining unit configured to obtain measurement data for recognizing the worker; a recognizing unit configured to recognize the worker based on the data related to the worker and the measurement data; a determination unit configured to determine work information about a work which the worker and a robot perform on a target object together, corresponding to the recognized worker, based on a physical feature of the recognized worker; and a controlling unit configured to control the robot based on the work information so that the worker and the robot perform a work on the target object together.
    Type: Grant
    Filed: January 10, 2018
    Date of Patent: March 31, 2020
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Yusuke Nakazato, Kazuhiko Kobayashi, Masahiro Suzuki
  • Patent number: 10601351
    Abstract: A motor control apparatus that controls a stepping motor includes a calculation unit configured to determine a time with respect to a distance based on a theoretical formula expressing a parameter in an acceleration period or deceleration period of the stepping motor. The calculation unit includes a first calculation unit and a second calculation unit. The first calculation unit is configured to apply an iterative root-finding procedure to a distance which is a function of a time included in the theoretical formula to determine the time with respect to the distance of the n-th step expressed using a reciprocal of a derivative of the function. The second calculation unit is configured to apply the iterative root-finding procedure to the reciprocal of the derivative to determine the reciprocal of the derivative at a time when the first calculation unit determines the time with respect to the distance of the n-th step.
    Type: Grant
    Filed: April 9, 2018
    Date of Patent: March 24, 2020
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Masahiko Mizoguchi
  • Patent number: 10579145
    Abstract: In various example embodiments, a system and method for simulating touch in a virtual environment is disclosed. In one example embodiment, a system includes one or more circuits configured to receive an indicator of a sensed touch in a virtual environment and to determine, based on the indicator, an area of the sensed touch. The one or more circuits are further configured to generate a simulated touch by applying a ld to one or more touch simulators, the field actuating the one or more touch simulators by linearly displacing an element of the one or more touch simulators.
    Type: Grant
    Filed: June 6, 2018
    Date of Patent: March 3, 2020
    Assignee: eBay Inc.
    Inventor: Clayton Gustin
  • Patent number: 10568701
    Abstract: A surgical system includes a detector, comprising an array of pixels configured to detect light reflected by a surgical instrument and generate a first signal comprising a first dataset representative of a visible image of the surgical instrument. The surgical system also includes a processor configured to receive the first signal, generate a modified image of the surgical instrument that includes a control panel. The control panel includes one or more control elements representative of one or more operating parameters of the surgical instrument. The processor is further configured to receive an input to the control panel from a user, the input being effective to change one of the operating parameters. The processor is also configured to generate a command signal based on the input to change the one of the operating parameters.
    Type: Grant
    Filed: December 19, 2016
    Date of Patent: February 25, 2020
    Assignee: Ethicon LLC
    Inventors: Jeffrey S. Swayze, Joshua Young, Andrew Beckman
  • Patent number: 10564632
    Abstract: In an embodiment an automated material handling system (AMHS) for a semiconductor fabrication facility (FAB) includes: a sensor supported by a rail, wherein the sensor is configured to collect sensor data characterizing a vehicle that moves along the rail, wherein the vehicle is configured to carry at least one wafer; and a monitoring module configured to: detect a trigger event based on the sensor data, and initiate a remediation action in response to the trigger event.
    Type: Grant
    Filed: January 30, 2018
    Date of Patent: February 18, 2020
    Assignee: Taiwan Semiconductor Manufacturing Co., Ltd.
    Inventors: Yung-Lin Hsu, Richard Lin, Chiung-Min Lin, Alan Yang
  • Patent number: 10557707
    Abstract: An encoder includes: a first scale which has a first index portion; a second scale which has a second index portion; a first detection unit which outputs a first signal based on the first index portion, regarding first relative rotation between a fixing member and a first rotating member; a second detection unit which outputs a second signal based on the second index portion, regarding second relative rotation between the fixing member and a second rotating member; and a signal-processing unit which calculates information regarding the first relative rotation on the basis of the first signal and which calculates information regarding the second relative rotation on the basis of the second signal.
    Type: Grant
    Filed: October 11, 2012
    Date of Patent: February 11, 2020
    Assignee: NIKON CORPORATION
    Inventors: Kenji Omata, Takashi Nagase, Kou Ohno, Masami Kikyo, Shintaro Hikichi
  • Patent number: 10548801
    Abstract: A motion assistance apparatus including a proximal support configured to support a proximal part of a user, a distal support configured to support a distal part of the user, a support assembly configured to connect the proximal support and the distal support and adjust a separation distance between the proximal support and the distal support and a rotation angle of the distal support, and a controller configured to control the support assembly based on a virtual dual spring-mass model designed using the proximal support as a body of mass, the controller including a first virtual spring configured to connect the proximal support and a first portion of the distal support and a second virtual spring configured to connect the proximal support and a second portion of the distal support is disclosed.
    Type: Grant
    Filed: June 27, 2017
    Date of Patent: February 4, 2020
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Youngjin Park, Keehong Seo, Bokman Lim, Seungyong Hyung
  • Patent number: 10551841
    Abstract: A autonomous robot includes a main body, a driving unit to move the main body within an operation region, a battery to supply power to the driving unit, and a controller to control the driving unit in a manner that the main body travels along a wall of the operation region to move to a charging stand when a remaining power level of the battery drops below a reference power level, wherein the controller controls the driving unit in a manner that the main body escape from one region corresponding to a closed curve when a movement path of the main body forms the closed curve while the driving unit performs wall following.
    Type: Grant
    Filed: August 2, 2017
    Date of Patent: February 4, 2020
    Assignee: LG ELECTRONICS INC.
    Inventors: Hyungtae Yun, Seungjin Ahn
  • Patent number: 10532782
    Abstract: A multi-leg independent mobile carrier device, comprising: a base (1), a traveling mechanism (2), and a posture adjustment mechanism (3). The base (1) is used for carrying a human being or an object. The traveling mechanism (2) comprises a driving unit (21) connected to the base (1) and a connecting rod unit (22) rotatably connected to the driving unit. The traveling mechanism (2) is used for driving the base (1) to travel and get over any obstacles. The posture adjustment mechanism (3) is connected to the base (1) and used for keeping the human being or object balanced. The multi-leg independent mobile carrier device integrates a traveling mechanism and a posture adjustment mechanism. The posture adjustment mechanism is used for keeping the base balanced all the time and the traveling mechanism is used for driving the entire device to travel and turn around more flexibly.
    Type: Grant
    Filed: August 30, 2017
    Date of Patent: January 14, 2020
    Inventor: Renhang Lu
  • Patent number: 10518413
    Abstract: An industrial robot including a manipulator and a robot control unit are disclosed, wherein the manipulator includes a plurality of joints that are moved under the control of the control unit, and the control unit includes a storage medium including program code for controlling the motions of the robot when executed by the control unit. The control unit is configured to automatically select which part of the program code to be executed next based on the position of the robot. A method for controlling the robot is also disclosed.
    Type: Grant
    Filed: December 11, 2015
    Date of Patent: December 31, 2019
    Assignee: ABB Schweiz AG
    Inventors: Annika Hedlund, Ivan Lundberg, Jonathan Styrud, Martin Nordvall, Ralph Sjöberg, Tomas Groth
  • Patent number: 10512514
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
    Type: Grant
    Filed: October 23, 2017
    Date of Patent: December 24, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 10507579
    Abstract: A robot control system according to the present invention includes a robot control device for controlling a robot, and a control CPU detachably provided on the robot control device, for generating an operation command to operate the robot. The robot control device includes a network controller for communicating with the outside of the robot control device, a servo controller for controlling the robot, and a connector for connecting the control CPU to the network controller.
    Type: Grant
    Filed: April 6, 2017
    Date of Patent: December 17, 2019
    Assignee: FANUC CORPORATION
    Inventors: Tomoki Oya, Yuuki Fukumoto
  • Patent number: 10509404
    Abstract: A controller of a mobile object causes the mobile object to move by a first control amount corresponding to a first velocity absolute value and a first velocity direction. If the controller detects that first information indicating a first velocity of a first communication-partner mobile object is ceased to be received, the controller decides on a second control amount by which the mobile object is to be moved based on the first information that has already been received, the second control amount corresponding to a second velocity absolute value and a second velocity direction. The controller decides on, based on the first control amount and the second control amount, a third control amount corresponding to a third velocity absolute value and a third velocity direction, and causes the mobile object to move by switching from the first control amount to the third control amount.
    Type: Grant
    Filed: January 16, 2018
    Date of Patent: December 17, 2019
    Assignee: PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA
    Inventor: Satoru Hayama
  • Patent number: 10507585
    Abstract: A robot system includes a model storage unit; a model display unit; an input unit for inputting an allowable speed of the robot; a calculation unit for calculating a predicted maximum speed of the robot, based on a trajectory plan of an operation command to be applied to the robot; a speed modification unit for modifying a command speed of the robot such that the predicted maximum speed becomes the allowable speed or lower, when the predicted maximum speed is higher than the allowable speed; and a speed display unit for displaying at least one of the allowable speed, the predicted maximum speed, the ratio between an actual speed of the robot after the command speed is modified and the allowable speed, and the actual speed of the robot, in relation to the robot, in the model of the robot.
    Type: Grant
    Filed: June 12, 2018
    Date of Patent: December 17, 2019
    Assignee: FANUC CORPORATION
    Inventor: Takahiro Okamoto
  • Patent number: 10486308
    Abstract: Example systems and methods allow for use of a graphical interface to cause one or more robotic devices to construct an output product. One example method includes causing a graphical interface to be displayed on a display device, receiving input data corresponding to one or more interactions with the graphical interface indicating at least one motion path and at least one sequence of tool actions to execute at one or more points within the at least one motion path for use in construction of an output product, generating a plurality of digital nodes including at least one robot node, at least one motion command node, and at least one tool command node, and providing instructions for the at least one robot actor to move according to the sequence of robot motion commands determined by the at least one motion command node and execute the sequence of tool commands determined by the at least one tool command node to construct the output product.
    Type: Grant
    Filed: June 7, 2017
    Date of Patent: November 26, 2019
    Assignee: X Development LLC
    Inventors: Jeffrey Linnell, Kendra Byrne, Matthew Bitterman
  • Patent number: 10471589
    Abstract: A remotely controlled packable robot features a chassis, right and left main tracks for maneuvering the chassis, and right and left tracked rotatable flipper arms for maneuvering the chassis. An integrated drive assembly is provided for each main track and flipper pair and includes a motor in a housing attached to the chassis for rotating the flipper and a stator and rotor disposed about the motor housing for driving the main track and the flipper track.
    Type: Grant
    Filed: September 14, 2017
    Date of Patent: November 12, 2019
    Assignee: Foster-Miller, Inc.
    Inventors: David C. Meeker, Timothy J. Mason, Andrew Kirouac, Ryan Wasserman
  • Patent number: 10464207
    Abstract: There is set forth herein an articulated arm, the articulated arm comprising a first rigid link assembly and a second rigid link assembly. The articulated arm can be configured so that the second rigid link assembly rotates in relation to the first link assembly about a rotary axis. The articulated arm can include an actuator for causing rotary movement of the second rigid link assembly in relation to the first rigid link assembly about the rotary axis. The actuator can include a first fluid chamber, and a second fluid chamber. The articulated arm can include a fluid supply assembly for moving fluid into and out of the first fluid chamber and the second fluid chamber.
    Type: Grant
    Filed: May 15, 2017
    Date of Patent: November 5, 2019
    Assignee: ABB Schweiz AG
    Inventors: Harald Josef Staab, Jeremy Newkirk, Thomas Fuhlbrigge