Abstract: A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular to the master pivot axis; one or more processors to convert the sensor signal to motor control signals to cause the motors to impart the feedback shear force to the first and second master grip members.

Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.

Abstract: A linkage assembly to connect a tool to a robotic device. The linkage assembly includes a body and a first linkage pair with first and second links that are configured to be connected to a first section of the tool. The linkage assembly also includes a second linkage pair that includes first and second links that are configured to be connected to a second section of the tool. The first linkage pair are powered to provide a force to move the tool relative to the body. The second linkage pair supports the tool and moves with the first linkage pair. Each of the first and second linkage pairs are pivotally connected to the body and may maintain parallel positioning during the movement.

Abstract: A strain sensor comprising a conductive member having a plurality of elements arranged adjacent to one another, and a non-conductive and elastically deformable material encapsulating the conductive member, wherein, in an equilibrium state, compressive forces cause at least one of the plurality of elements to contact at least a portion of an adjacent element, and wherein, when a strain is applied, a resulting elastic deformation causes at least one of the plurality of elements to space apart from an adjacent element such that the contacted portion decreases or is eliminated. A multi-axis force sensor comprising a sensing array comprising at least two planar sensors arranged radially on a planar substrate in antagonistic pairs, and a compressible member positioned between the substrate and a central portion of the sensing array, the compressible member acting to displace the central portion of the sensing array away from the substrate.

Abstract: Disclosed is an electronic device including a robot arm configured to include at least one coupling portion configured to be coupled to a force sensor to which a specified object is attached, at least one actuator configured to drive the robot arm such that a position of the at least one coupling portion is changed, and a processor electrically connected to the actuator, wherein the processor is configured to: receive a first measurement value of the force sensor due to a weight of the specified object with respect to a first position of the at least one coupling portion, receive a second measurement value of the force sensor due to the weight of the specified object with respect to a second position of the at least one coupling portion, receive a third measurement value of the force sensor due to the weight of the specified object with respect to a third position of the at least one coupling portion, and estimate a relationship between a first coordinate system relative to the at least one coupling portion a

Abstract: A vehicle occupant count monitoring system includes: an imaging unit that captures a depth image including a distance to an occupant in a cabin of a vehicle; a facial recognizing unit that recognizes a face of the occupant from the depth image captured by the imaging unit; an upper half body recognizing unit that recognizes an upper half body of the occupant from the depth image captured by the imaging unit; and a counting unit that counts the number of occupants by combining a recognition result of the face using the facial recognizing unit and a recognition result of the upper half body using the upper half body recognizing unit.

Abstract: A method for the surface treatment of an article (2) by means of a robotic device (3) comprising a robotic arm (5) and a spraying head (4) fitted on the robotic arm (5); the method comprises a learning step, during which the operator moves the spraying head (4) by means of a handling device (9) and the movements made by the spraying head (4) are stored by a storage unit (8); and a reproduction step, which is subsequent to the learning step and during which the robotic arm (5) is operated so that the spraying head (4) repeats the movements stored by the storage unit (8).

Abstract: A robot having actuator-driven elements, actuators to drive the elements, and brakes to decelerate the elements, the robot requiring voltage UB and/or current IB, the robot including: a source having an input to which voltage UP and current IP are applied, wherein, during normal operation, UP is equal to voltage UP,desired and IP is equal to current IP,desired, and having an output to which voltage Uactual and current Iactual are supplied, wherein during normal operation: Uactual=UB and Iactual=IB, an energy store integrated into the source for maintaining UB and IB for time ?t following failure or drop in UP and/or IP, a unit for monitoring UP, wherein as soon as UP deviates by amount ?U from UP,desired, a signal is generated, and a control unit connected to the unit for controlling the robot and its elements into a predefined safe state upon receipt of the signal.

Abstract: The disclosure relates to an articulated robot having a serial kinematic mechanism for positioning an end effector, the kinematic mechanism having at least one part kinematic mechanism with a robot joint, with a robot limb mounted upstream of the robot joint, and with a robot limb mounted downstream of the robot joint. The at least one part kinematic mechanism has a linear drive, with a drive element, and a coupler with two coupler joints which are spaced apart from one another along the coupler extent, wherein the linear drive is arranged on a first robot limb of the part kinematic mechanism, and wherein the coupler is articulated on one side on the drive element of the linear drive and on the other side on the second robot limb of the part kinematic mechanism, spaced apart from the geometric axis of the robot joint of the part kinematic mechanism.

Abstract: A segmented bending system includes multiple linkages coupled to one another in a stacked arrangement. The segmented bending system also includes multiple rotation assemblies coupled to one another to extend through the multiple linkages. The multiple rotation assemblies include multiple cam members, and each cam member of the multiple members extends into a respective opening formed in a corresponding linkage of the multiple linkages. At least one cam member of the multiple cam members is offset from at least one other cam member of the multiple cam members in a circumferential direction about a center axis of the multiple rotation assemblies.

Abstract: A setting-up arrangement and a method for setting up a mobile automaton includes at least the steps of a) coupling a movable element of the mobile automaton to a movable guide element of a guide device, b) exerting a force on the movable element via the movable guide element by operating the guide device, by which the movable element is moved in a guided manner along a predetermined movement profile via the guide element, c) acquiring a setup dataset characterizing the movement profile and, as a result, setting up the mobile automaton.

Abstract: A plurality of autonomous mobile robots includes a first mobile robot and a second mobile robot. The first mobile robot is provided with a transmitting optical sensor for outputting laser light, and a first module for transmitting and receiving an Ultra-Wideband (UWB) signal. The second mobile robot is provided with a receiving optical sensor for receiving the laser light and a plurality of second modules for transmitting and receiving the UWB signal. A control unit of the second mobile robot determines a relative position of the first mobile robot based on the received UWB signal and a determination of whether the laser light is received by the optical sensor.

Abstract: A walking assistance apparatus includes a suit to be worn on a knee and waist of a user, a first wire that couples a portion included in the suit and worn above the knee to a portion included in the suit and worn on the waist, a second wire that couples a portion included in the suit and worn above a back of the knee to a portion included in the suit and worn on the waist, and motors coupled to the first and second wires. The motors are controlled to generate tensions so that each of the first and second wires has a stiffness greater than 200 N/m during a first period including a period of 95% or more and 100% or less of a first gait cycle of the user and a period of 0% or more and 50% or less of a second gait cycle subsequent to the first gait cycle.

Abstract: The present disclosure provides a positioning device, including a laser projector, and a servo system for driving the laser projector and collecting a coordinate data. The present disclosure further provides a positioning method and a color film coating machine, including a warehouse and a marble platform arranged in the warehouse, wherein further includes a positioning device, the positioning device includes a laser projector and a servo system for driving the laser projector and collecting a coordinate data, a projection direction of the laser projector is opposite to a surface of the marble platform. Compared with the prior art, by knowing the current position of the laser projector to output the corresponding coordinates, the corresponding target foreign objects can be quickly found on the marble platform according to the coordinates, cleared in time, the inspection time is saved, and the product yield is improved.

Abstract: An exoskeleton to assist a user in moving as object comprising an upper body harness, a mid-body harness, and a lower body harness. First and second sets of elongated energy return members are located between the harnesses and are used to assist a user in moving an object.

Abstract: Resistance garments are disclosed. In some embodiments, the resistance garments may include a body portion, first and second leg portions, and an elastic strap assembly secured to the body portion and the first and second leg portions. The elastic strap assembly may be configured to apply (1) a first force at the wearer's hips that urges the thighs of the wearer toward the wearer's torso, and (2) a second force at the wearer's thighs that urges the thighs of the wearer toward each other. In some embodiments, the elastic band assembly may include a belt, first and second knee bands, front elastic straps in the form of an X-shape with ends that are attached to, or formed with, the belt and knee bands, and rear elastic straps in the form of an X-shape with ends that are attached to, or formed with, the belt and knee bands.

Abstract: A hand interface device is provided comprising: A glove portion to be worn on top of a user's hand, including a plurality of anchoring finger caps circumscribed around the extremities of the user's fingers and thumb; at least one haptic actuator housed within each of the anchoring finger caps; a housing structure attached to the forearm; and a plurality of wires running between at least one haptic actuator and the housing structure.

Abstract: A robot includes an arm that rotates about a rotation axis, a motor that is provided in the arm, and an amplifier unit that includes an amplifier substrate which drives the motor and that is provided in the motor, in which, when a longitudinal direction of the arm as seen from an axial direction that is parallel to the rotation axis is a first direction and a direction orthogonal to the first direction is a second direction, the amplifier unit and the motor are arranged in a direction different from the second direction.

Abstract: An electronic equipment assembly apparatus includes a cable holding tool, a work stage, and a robot unit. The cable holding tool holds the cable. The work stage holds the electronic equipment. The robot unit relatively moves the cable holding tool with respect to the electronic equipment held by the work stage. The cable holding tool includes a contactor and a width direction regulator. The contactor holds the cable by vacuum-sucking. The width direction regulator regulates a position in a width direction of the cable which comes into contact with the contactor.

Abstract: A transfer device configured to transfer a workpiece includes a rotary table, a fixing seat, and a supporting member. The rotary table is capable of rotating a predetermined angle. The fixing seat is mounted on the rotary table. The supporting member is slidably mounted on the fixing seat and configured to support the workpiece. The supporting member raises or lowers the workpiece when sliding on the fixing seat, and the supporting member rotates with the rotary table.

Abstract: An autonomous mobile device includes a map interpretation module, an image collection module, an image collection module, an artificial marker identification module, a personal guidance module, a voice input module and a control module. The image collection module collects an image in front of the autonomous mobile device and form an image signal. The artificial marker identification module receives the image signal and identifies the artificial marker in the image to achieve a positioning of the autonomous mobile device. The personal guidance module activates a personal guidance mode of the autonomous mobile device, and stores a location of a guidance point and an actual movement information of the autonomous mobile device to form a guidance path. The voice input module inputs a name of the guidance path. The control module controls the autonomous mobile device to move according to the guidance path stored by the map interpretation module.

Abstract: Systems and methods are provided for supporting an arm of a user while using a tool that include a harness configured to be worn on a body of a user; an arm support pivotally coupled to the harness for supporting a user's arm; and a tool mount on a free end of the arm support for receiving a tool such that the tool is manipulatable by a hand of user's arm supported by the arm support. One or more compensation elements may be coupled to the arm support and/or the tool mount for at least partially offsetting a gravitational force acting on the user's arm and/or the tool received on the tool mount.

Abstract: Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.

Abstract: A rotational indexer is provided that may be rotated to move semiconductor wafers or other items between various stations arranged in a circular array; the items being moved may be supported by arms of the indexer during such movement. The rotational indexer may be further configured to also cause the items being moved to rotate about other rotational axes to cause rotation of the items relative to the arms supporting them.

Abstract: A device comprising a main body, an arm assembly comprising first arm member, a first joint, a second arm member, a second joint, orientation control means for adjusting the orientation of the arm members and/or joints of the arm assembly relative to the main body, one or more passive actuating means for counterbalancing at least a part of the weight of the arm assembly, wherein an adjustable lever mechanism is arranged between the main body and the arm assembly, drive means configured for adjusting the lever arm, one or more orientation sensors for determining the orientation of the arm members and/or joints of the arm assembly relative to the main body, and lever arm control means for adjusting the lever arm of the adjustable lever mechanism with the drive means. The invention further relates to a method of adjusting a lever arm of such a device.

Abstract: Provided herein is a robotic gripper comprising two gripping components, where each component may comprise a rotatable axle oriented along a longitudinal axis, and where the respective axles may be oriented substantially perpendicular to each other. Each component may further comprise a pair of opposing gripping fingers with each gripping finger of the pair being coupled to a respective end of the axle. Each axle may be independently operable to rotate the respective pair of gripping fingers about the longitudinal axis of the respective axle, and each pair of gripping fingers may be independently operable to move the gripping fingers of the respective pair toward and away from each other. A control system for the robotic gripper may thus actuate one or both pairs of gripping fingers to grasp one or more objects.

Abstract: An eating aid robot and a method performed thereby are provided. The robot comprises an arm capable of engaging an eating tool at an end of the arm. The arm is moveable to move the eating tool horizontally and vertically, wherein the arm is configured to be positioned with the eating tool in at least two vertical levels. The robot is connectable to a maneuver device which sends a signal to the robot, wherein the arm follows a cycle of different vertical and horizontal movements and pauses when the arm is kept still with the eating tool in at least one of the vertical levels. The method comprises receiving the signal from the maneuver device, and selecting a subsequent movement and/or pause of the cycle for the arm based on in which of the movements or pauses of the cycle the arm currently is when receiving the signal.

Abstract: A method for capturing an object in a cavity in a patient is described. The method includes advancing a ureteroscope into the cavity containing the object. A basket is advanced through a working channel of the ureteroscope. The basket is opened within the cavity and is positioned so as to enclose the object. Then, two actions are performed simultaneously. The basket is collapsed while simultaneously the basket tool is advanced forward so that the object remains within the basket, ideally near the center of the basket, as the basket closes around the object. Once the object is captured, the basket is retracted to remove the object out of the cavity. Further, this process may be automated by having the method carried out by robotic arms acting in tandem, with one or more robotic arms advancing the basket tool or ureteroscope, and another robotic arm collapsing the basket.

Abstract: A robot includes a base, a multi-joint arm provided in the base, and a wrist member configuring a part of the multi-joint arm. The wrist member includes: a motor including a rotor, a rotor shaft, and a stator; and a housing including a motor housing recess, in which the motor is positioned and housed, and forming an external shape of the wrist member. The housing has a motor incorporating recess including a positioning section for the stator, a hole section for fixing the stator incorporated in the motor incorporating recess, and a heat radiation groove section on a sidewall of the motor incorporating recess. A heat radiation member is filled in the heat radiation groove section.

Abstract: A flexible wrist-type element, comprising: a base housing extending along a first longitudinal axis towards a base end; an operational housing extending along a second longitudinal axis towards an operational end; an operational element moveably connected to the operational housing; a joint assembly movably connecting the base housing and the operational housing; wherein the joint assembly allows relative movement of the operational housing and the base housing between a first position and a second position, wherein a point of intersection between the second longitudinal axis and the first longitudinal axis moves during movement between the first position and the second position; a driver assembly moveably supported by the base housing and the operational housing; and wherein the driver assembly is configured to actuate the operational element relative to the operational housing.

Abstract: A work machine control method of controlling a work machine including a work unit with a working tool, the work machine control method includes: detecting a position of the work unit; obtaining the position of the work unit based on the detected position information item and generating a first target excavation ground shape information item as an information item of an intersection portion of at least one target construction face indicating a target shape with respect to a first cut face which intersects a work unit operation plane as an operation plane for the work unit and is parallel to a vertical direction; and controlling a velocity in a direction in which the work unit approaches an excavation target so that the velocity becomes equal to or less than a limitation velocity based on the first target excavation ground shape information item.

Abstract: Provided herein is a robotic gripper comprising two gripping components, where each component may comprise a rotatable axle oriented along a longitudinal axis, and where the respective axles may be oriented substantially perpendicular to each other. Each component may further comprise a pair of opposing gripping fingers with each gripping finger of the pair being coupled to a respective end of the axle. Each axle may be independently operable to rotate the respective pair of gripping fingers about the longitudinal axis of the respective axle, and each pair of gripping fingers may be independently operable to move the gripping fingers of the respective pair toward and away from each other. A control system for the robotic gripper may thus actuate one or both pairs of gripping fingers to grasp one or more objects.

Abstract: A motion limiting device includes: detection means that detects environmental information around a robot; generation means that generates, based on the environmental information detected by the detection means, a three-dimensional environment model that includes an unobservable area and an observable area and indicates a working environment in which the robot operates, the unobservable area being the area where the environmental information cannot be detected by the detection means, and the observable area being the area where the environmental information can be detected by the detection means; and limiting means that limits a motion of the robot when it is determined that the robot has entered the unobservable area based on the three-dimensional environment model generated by the generation means.

Abstract: A work vehicle includes a boom, an arm, a bucket, an arm cylinder, a direction control valve, a calculation portion, and a speed determination portion. The calculation portion calculates an estimated speed of the arm cylinder based on correlation between an amount of movement of the spool of the direction control valve in accordance with an amount of operation of an arm control lever and a speed of the arm cylinder. The speed determination portion determines a target speed of the boom based on the estimated speed of the arm cylinder. When the amount of operation of the arm control lever is smaller than a prescribed amount, the calculation portion calculates a speed higher than a speed of the arm cylinder in accordance with correlation as the estimated speed of the arm cylinder.

Abstract: An operation support device includes an operation part in which the operation input is performed by an operator, an action part to which a surgical tool is attached and which is driven by the operation input, a drive source that is provided in the operation part, and generates a driving force which adjusts the manipulation resistance at the time of the operation input, and a control unit that sets the magnitude and direction of the driving force, wherein the control unit sets the magnitude and direction of the driving force based on the operation input to the operation part.

Abstract: This disclosure includes a hand motion-capturing device with a force feedback system. In some embodiments the device includes a base, a microcontroller connected to the base, a thumb sensor module and four-finger sensor modules each electrically connected to the microcontroller. In some embodiments, the device may include five-link rods that interconnect the thumb sensor module to the base and each of the four-finger sensor modules to the base. In some embodiments, the device includes a thumb force feedback system adapted and configured to receive a human thumb and a four-finger force feedback system adapted and configured to receive an index finger, a middle finger, a ring finger, and a little finger. The thumb force feedback system and the four-finger force feedback system may each be movably connected to respective link rods and the thumb sensor module and four-finger sensor modules, respectively.

Abstract: A master-slave manipulator includes a slave manipulator, a master operation input device, and a control unit. The slave manipulator includes joints having multiple degrees of freedom. The master operation input device allows an operator to uniquely input a position and an orientation. The device includes a first operation unit configured to output the position and orientation, and a second operation unit including at least a joint configured to output value of the joint independently with the output of the first operation unit. The control unit calculates a driving amount of each joint of the slave manipulator using the position and orientation of the second operation unit and controls the slave manipulator in accordance with a joint driving command value.

Abstract: A modular hinged joint which attaches to the end of a structural member converts agonist-antagonist tensile forces to either side of a cord into a torque in a second structural member. Plain bearing surfaces with hour-glass shaped profiles maintain the alignment of the joint tensile forces are applied to the cord. Tensile forces introduced from the cord are resolved within the joint, reducing the robustness demand on the attachment to the second structural member. A pin-type fastener ensures that the joint remains intact when tensile forces to the cord are absent.

Abstract: A medical robot system includes a forceps arm provided with a forceps manipulator and a camera arm provided with an endoscope. The forceps manipulator and the endoscope are inserted into a living body through a common insertion implement. The system further includes an operating unit that generates a control signal to control the forceps manipulator and the forceps arm, a forceps motion control unit that controls motions of the forceps manipulator and the forceps arm according to the control signal from the operating unit, an endoscope motion control unit that controls motions of the endoscope and the camera arm, and an interference avoiding unit that controls an interference avoiding motion of the camera arm to avoid interference between the camera arm and the forceps arm while a visual point of the endoscope is kept constant.

Abstract: A method of controlling two arms of a robot including: a finding-out step of finding out position differences in axial directions of an end of one arm and an end of the other arm; a generating step of generating a virtual force at the end of the other arm based on the position differences that have been found out; and a converting step of converting the generated virtual force into a driving torque for joints of the other arm, using a Jacobian matrix.

Abstract: According to one embodiment, a transport assist apparatus includes a backpack, a straight-move support unit and a drive unit. The straight-move support unit is connected to the backpack and includes a support member configured to be driven so as to make an end of the support member contact a floor surface. The drive unit is connected to the backpack and the straight-move support unit and drives the support member in a direction of moving the end toward the floor surface in accordance with lifting up of at least one of a target person and a target object by a user, or in a direction of moving the end away from the floor surface in accordance with setting down of the at least one of the target person and the target object by the user.

Abstract: Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.

Abstract: The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics.

Abstract: A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.

Abstract: A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.

Abstract: A self-feeding device for a user and method operating is provided. The self-feeding device includes a base assembly having a housing with an upper wall, a lower wall and a sidewall extending therebetween the upper wall and the lower wall. A plate is disposed on the upper housing wall of the base assembly, and the plate includes a food compartment having a food item located therein. A feed arm assembly located on the base assembly includes an arm moveable with a predetermined degree of freedom, and a feeding utensil is coupled to the feed arm. A controller actuates the feed arm assembly to obtain the food/drink item from the food compartment via the feed utensil, and to transfer the food item to the user. The methodology includes software to control operation of the self-feeding device within a STORAGE mode, a SELECT mode, and a RETRIEVE food and drink mode.

Abstract: A pistol-grip controller for the control of a robotic or virtual hand has multiple dual-action switching mechanisms positioned to simulate intuitively the motion of grasping and releasing an object. An externally-projecting switch trigger of each switching mechanism is hook-shaped to facilitate the operator donning and doffing the controller. These switches move in response to gripping and releasing movements of the associated fingers so as to close or open peripherals (fingers) of the end effector hand. A rocker switch allows an operator to toggle conveniently between commonly used modes of a virtual or robot hand, or the like. The mode toggling is complemented by a control to adjust between the commonly used modes of operation. To make the manipulation of the end effector more intuitive, the controller remaps the switching mechanisms to different functionalities on the end effector based on the mode of operation. The transition between switch to end effector mappings is hysteretic.

Abstract: A robot includes a base unit, at least two link mechanisms arranged on the base unit, drive units capable of bending and expanding the link mechanisms, and a control unit controlling the drive units. At least one drive unit has a drive force larger than those of the other drive units, and the other drive units are passively displaced by external forces larger than their own drive forces.

Abstract: A Sensor glove is an instrument, in the same way that a piano is an instrument. The Sensor glove is purchased and the owner then learns to use it and the sensors therein to develop the performance of a sound, character or model, or to “conduct” or “play” the sensor movements and experience the response of the model in real time. Several performers with a number of the Sensor glove can control over 200 motors or hundreds of control points on a character at one time, manipulate audio data, or computer images etc. The characteristics of the sensors on the gloves can be adjusted to the needs and demands of the wearer or the many performer and wearers in those venues where multiple performers are used with many gloves to control or produce the motions and sounds of many distinct characters in a screen play.

Abstract: A servo motor driven hoist includes a float mode in which a load is raised lowered in response to manually applied forces on the load exerted by an operator in which forces applied to the load as a result of accelerations of the load generated by hoist movement of said load are compensated for by sensing the accelerations and computing the forces resulting therefrom, and subtracting those forces from the sensed total magnitude of forces acting on the load to eliminate the effects of dynamically generated forces when in the float mode.