Abstract: A lens handler includes a first arm and a second arm, the first and second arms of the lens handler being moveable relative to each other to define an open position, a closed position, and a lens handling position. The lens handler also includes a power source electrically connected to the first and second arms and configured to pass an electrical current between the first and second arms when the arms are in the closed position.

Abstract: An input device for a robotic surgical instrument includes an operator input on a handle that is rotatably supported by a supporting link structure. A primary winding of a rotary transformer is fixed to the supporting link structure and connected to an electric power source. A secondary winding is fixed to the handle. An axial passage extends through the primary and secondary windings. An optical data transmitter is connected to the operator input to transmit data from the operator input through the axial passage. The secondary transformer winding provides power to the optical data transmitter without physical contact. An optical data receiver fixed to the supporting link structure receives data from the optical data transmitter transmitted through the axial passage in the rotary transformer without physical contact. The transmission of power and data without physical contact allows the handle to rotate continuously.

Abstract: Fluid pressures of a plurality of compressible fluid pressure actuators that drive a joint through antagonistic driving are controlled by a main-fluid pressure control device, and at the time of applying quick brake upon collision, a proximate fluid pressure high-speed control device, disposed closely to the actuators, carries out pressure application or pressure reduction at a high speed on the actuators so as to be quickly accelerated or decelerated.

Abstract: The invention relates to a suspended control device (20) which is suspended by means of a control line (1, 24) connected to a unit to be controlled (21). Said suspended control device is especially a control switch or a suspended push-button switch for controlling hoisting equipment, the control line (1, 24) comprising electrical lines (2) for transmitting control signals, and a traction relief element (22) which is supported at the top, on the unit (21), and used to absorb weight and tractive forces. The aim of the invention is to provide a suspended control device (20) whereby the length of the control line (1, 24) can be easily changed. To this end, a storage element for receiving and releasing a defined length of the electrical lines (2) is provided behind the region wherein the traction relief element (22) is supported, seen in the direction of the unit (21) from the suspended control device (20).

Abstract: A remotely operable machine (1) comprises a manipulator arm (17), a machine body (3), and a support (5). The support is disposed between the machine body and the manipulator arm for coupling the arm to the body. The support is movable from one position (D) to another (E) relative to said body so as to provide for variation or extension of the reach of the manipulator arm. The support may be provided by a linkage having an attachment (15) for pivotally supporting the arm, the attachment being pivotally coupled to an extension arm (19) at one end thereof, the extension arm being pivotally coupled to the machine body at its other end. Alternatively, a track assembly for facilitating movement of the support on the machine body may be provided. The track assembly or linkage are configured to allow deployment of the support on the ground adjacent to said body.

Abstract: A wafer transfer robot, having a robot hand which transfers a wafer in an improved driving manner by changing a driving force transfer device of the robot hand, is disclosed. The wafer transfer robot having at least robot hand to transfer a wafer includes an arm frame supported on an elevating shaft to vertically move the robot hand, wherein the robot hand includes a first robot arm rotatably supported on the arm frame, a second robot arm rotatably supported at an end of the first robot arm, a first driving device which rotates the first robot arm to rotate the robot hand, a second driving device which rotates the second robot arm to extend and contract the robot hand in a radial direction with the first driving device, and a controller which operates the first driving device and stops the second driving device when the robot hand is rotated, and operates both the first driving device and the second driving device at the same time when the robot hand is extended and contracted in a radial direction.

Abstract: The invention concerns an industrial robot (4) comprising a machining tool (2) attached to one hand (3) of the robot, designed to perform a hydraulic-driven movement relative to the hand (3) and connected therefor to a hydraulic unit (10). The hydraulic unit (10) is placed directly on a mobile part of the robot, in particular directly on the robot hand (3). Therefore there is no more need for hydraulic supply lines along the arm of the robot. Further, when the robot hand (3) changes tool, no separation of hydraulic lines is required. The machining tool (2) is in particular a device for placing blind rivets, thereby enabling an entirely automated process for placing blind rivets.

Abstract: A manipulator comprises an operation command unit provided with an attitude adjusting unit and an end effector control unit, a connecting unit having one end connected to the operation command unit, a working unit connected to the other end of the connecting unit and provided with an end effector and a support unit supporting the end effector for motions, and a control unit that transmits an operation command provided by the attitude adjusting unit to the support unit to adjust the attitude of the end effector and transmits an operation command provided by the end effector control unit to the end effector to operate the end effector. The support unit includes a first joint capable of turning about a first axis perpendicular to the center axis of the connecting unit, and a second joint capable of turning about a second axis perpendicular to the first axis. The end effector can be turned for rolling about an axis substantially parallel to the second axis of the second joint.

Abstract: An electromagnetic rheological (“EMR”) fluid (18) broadly includes a conducting medium (22) and a plurality of micronparticles (24) suspended in the medium (22). Each of the micronparticles (24) includes a magnetically permeable core (26), an electrically insulating coating (28) surrounding the core (26), and a conductive winding (30) at least partially wound around the core (26) so that the coating (28) is disposed between the winding (30) and the core (26). An apparatus (10) constructed in accordance with a preferred embodiment of the present invention broadly includes a deformable membrane (12), a pair of polar opposed plates (14 and 16) coupled to the membrane (12), the EMR fluid (18) filling the membrane (12) and being in communication with a current source (20). Current flowing through adjacent windings (30) induces magnetic fields in the corresponding micronparticles (24) that mutually draw the adjacent micronparticles (30) causing them to move together into a north pole-south pole alignment.

Abstract: The invention relates to an arm exoskeleton comprising a moving system of joints placed in parallel with the joints of the human arm, the exoskeleton comprising a shoulder exoskeleton, an elbow exoskeleton, and a wrist exoskeleton. In all, the exoskeleton has sixteen joints providing sixteen degrees of freedom. A support worn on the torso of a human operator comprises a rigid front plate and a rigid back plate. The shoulder exoskeleton has its proximal end fixed to the front plate, whereby the front plate provides a fixed reference for all movements of the exoskeleton, and the wrist exoskeleton is fixed to a rigid glove worn on the hand of the operator. Active joints are controlled by flexible cable tendons bridging the exoskeleton, said tendons themselves being actuated by control units disposed on the rigid back plate. Inflatable cushions prevent the wrist exoskeleton and the shoulder exoskeleton from moving relative to the arm of the operator.

Abstract: A force detection device of the present invention includes a handle to be given an operation force by an operator, disposed on a support reciprocatably in a first axis direction along a forward/backward direction of the truck and a second axis direction orthogonal thereto. A pair of force detection parts capable of detecting only a force in the first axis direction is disposed on the support in a spaced-apart relationship in the second axis direction. A force propagation body intervenes between both force detection parts and the handle. A part of the force propagation body passes through the inside of a gripped part of the handle. The force propagation body is coupled to the handle by a coupling axis extending in a third axis direction orthogonal to the first axis and second axis so as to be capable of relative rotation about the coupling axis.

Abstract: A force detection device of the present invention is for detecting an operation force of an operator applied in a uniaxial direction, and includes a force receiving part for receiving the operation force, a force detection part placed on a support for detecting the uniaxial force, a force propagation body disposed reciprocatably along the uniaxial direction on the support for propagating the operation force received by the force receiving part to the force detection part, a guide provided on the support for guiding reciprocation of the force propagation body, a preload receiving part pivoted to the force propagation body and capable of swinging within a plane along the uniaxial direction, and a pair of coil springs coupled to both sides of the preload receiving part with a pivot axis thereof held therebetween for giving a preload to the force detection part.

Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.

Abstract: A medical master/slave manipulator is excellent in operability and capable of reducing burden on the operator. The medical master/slave manipulator includes a master unit provided with an operation control portion, a slave unit provided with a working device, an interlocking mechanism interlocking the slave unit with the master unit, an orientation difference measuring mechanism for measuring the orientation difference between the orientation of the master unit and that of the slave unit, and a control mechanism for controlling the slave unit to adjust the orientation of the slave unit to that of the master unit so that the orientation difference is reduced to zero in a transient master/slave operation mode in which an operation mode changes from an unrestricted operation mode to a master/slave operation mode.

Abstract: A robotically manipulable tool, such as a colony picking head or robotic pipetting tool, includes a processor on the tool. The processor may receive high level instruction from a robot controller and use the instruction to cause devices on the tool to perform desired functions. The processor can also store maintenance and other information regarding past use or repair of the tool. In addition, the processor may perform self-diagnostic tests on the tool or be used to perform functions during bench testing of the tool.

Abstract: A robotic mechanism for an automated storage library having media cartridge storage cells each housing a media cartridge includes drive wheels operable to ride on tracks of the automated storage library to access the media cartridges in the media cartridge storage cells, a drive mechanism for driving the drive wheels, and a clutch mechanism for disconnecting the drive mechanism from the drive wheels to enable the robotic mechanism to be pushed by an external force along the tracks when the robotic mechanism is disabled and unable to move.

Abstract: A robot control apparatus has keys for input/output control and an execution key for permitting execution therefor. A key can be allocated for a reservation sequence stored beforehand. When an operation program is taught for a robot, the reservation sequence allocated to the key can be executed when the key is pressed while the execution is pressed. Then, an operation program can be programmed more correctly by controlling the robot, and time for programming a sequence program is shortened. Execution of an input/output operation due to unintentional or erroneous operation is prevented. Two input/output control sequences can be allocated to one key.

Abstract: An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Abstract: A haptic interface for a remote manipulator uses a tunable spring to provide force reflection. The remote manipulator has an operating member coupled to the tunable spring. The operating member is also coupled to a manipulator member. A controller monitors the force with which an operator so moves the operating member and varies a spring constant of the tunable spring to keep the force exerted by the manipulator member on an object at a desired level. The haptic interface allows simultaneous control over the maximum force exerted by the manipulator member as well as the transmission ratio between the operating member and the manipulator member. The remote manipulator may be a surgical grasper, for example. A tunable spring can be smaller and lighter than the high torque actuators used in some prior remote manipulators which provide force feedback.

Abstract: A hydraulically energized magnetorheological replicant muscle tissue is provided as well as a system and method for using and controlling the same. The artificial muscle tissue is capable of causing motion, inducing force and enabling control thereof with life-like action. Numerous muscle tissue elements may be combined together to form a tissue capable of causing motion, inducing force and enabling control. Each muscle tissue element may receive fluid from a fluid supply. Control of fluid entering and exiting the muscle tissue element through valves may be effected using a central processing unit. As a result thereof, life-like action and artificial muscle tissue may be formed that replicates actual muscle tissue.

Abstract: A micromanipulator fine control apparatus is operated with a mouse. As the mouse is moved to the front, rear, left and right, a control handle is tilted to the front, rear, left and right, respectively, and a fore and aft fine control slider and a left-right fine control slider are moved in the corresponding directions. A liquid amount contained in a first liquid-operated cylinder is varied by a fore and aft fine control liquid-operated arrangement responsive to the fore and aft fine control slider, and a liquid amount of a second liquid-operated cylinder is varied by left-right fine control liquid-operated arrangement responsive to the left-right fine control slider. Accordingly, the micromanipulator is finely moved in the same direction as the mouse is moved.

Abstract: A micromanipulator apparatus includes an operation handle joined to a slide plate for moving the slide plate forward and backward and leftward and rightward. A first lever joined to the slide plate is rotated in forward and backward direction around a supporting point pin by means of a first guide pin engaged in a first slot in the slide plate, and a second lever is rotated in leftward and rightward direction around a second supporting pin by means of a second guide pin engaged in a second slot in the slide plate. Separate hydraulic devices are operated in response to activation by working rods associated with the respective levers. Movement of the slide plate and operation of the hydraulic devices provides precise movement to a workpiece supported by the apparatus.

Abstract: A micromanipulator fine control apparatus of the present invention is operated with a mouse. As the mouse is moved to the front, rear, left and right, a control handle is tilted to the front, rear, left and right, respectively, and a fore and aft fine control slider and a first left right fine control slider are moved in the respective directions. Then, a liquid amount of a first liquid-operated cylinder is varied by fore and aft slider movement, and a liquid amount of a second liquid-operated cylinder is varied by the left right slider movement. Accordingly, the micromanipulator is finely moved in the same direction as the mouse is moved.

Abstract: A pair of connected joints is provided in a master-slave robotic system each operated by a plurality of force imparting means. Such force imparting means for the second joint supported on a member controlled by the first joint imparts force to a member controlled by the second joint at an acute angle. A third joint is used with a flexible drive tape partly internal thereto.

Abstract: In a region limiting excavation control system for a construction machine, a region where a front attachment (1A) is movable is set beforehand. A control unit (9) calculates the position and posture of the front attachment based on signals from angle sensors (8a-8c), calculates a target speed vector (Vc) of the front attachment based on signals from control lever units (4a, 4b), and modifies the target speed vector such that the target speed vector is maintained as it is when the front attachment is within the set region but not near the boundary thereof. A vector component (Vcy) of the target speed vector in the direction toward the boundary of the set region is reduced when the front attachment is within the set region near the boundary thereof, and the front attachment is returned to the set region and when the front attachment is outside the set region. As a result, the excavation within a limited region can be implemented efficiently and smoothly.

Abstract: A master input apparatus of the present invention comprises (i) a joystick apparatus having a joystick mounted as inclinable on a support body fixed at a predetermined position, the joystick apparatus generating a first control signal, based on an operation carried out by a hand of an operator on the joystick, and outputting the first control signal to a micromanipulator, thereby displacing a whole microgripper mounted on the micromanipulator; and (ii) a finger operating apparatus mounted on the joystick, the finger operating means generating a second control signal, based on an operation carried out by the hand of the operator thereon, and outputting the second control signal to the microgripper, thereby opening and closing of a pair of finger portions of the microgripper.

Abstract: A tool change device for manipulators, which have a rotary connection for fluidic supply lines of the tool. The rotary connection comprises a fixed part and a rotary part, whose contact plane is directed at right angles to the power take-off axis of rotation of the manipulator. The rotary and fixed parts have ring channels, which are arranged in concentric circles around the power take-off axis of rotation and open into cross channels. The rotary and fixed parts are flatly in contact with one another and are held together in the housing of the manipulator-side coupling part along the power take-off axis of rotation in an adjustable tensioning connection.

Abstract: An industrial robot is provided with a plurality of elements articulated to each other, whose rotation is driven by respective electric motors by reduction gear units which are integrated in the structure of these elements.

Abstract: An anatomically correct, humanlike, mechanical arm and hand is provided that an operator can control to perform with the dexterity and compliance of a human hand. Being humanlike and robotic enhances the device's control and gripper dexterity. Control of the movement of the arm and hand is performed or guided by a "teachglove" worn by the operator. As he or she performs some hand manipulation, a controller stores signals from sensors on the exoskeleton. The sensors monitor the operator's finger-joint movement positions. These values are later translated into actuator control signals for servomotors, eventually duplicating the operator's movement.

Abstract: In an apparatus for controlling the vertical movement of a scraper blade (18) of a bulldozer, a four-position hydraulic control valve (12), having HOLD, UP, DOWN, and FLOAT positions, maintains the scraper blade in the FLOAT condition without requiring a detent mechanism, even when the three-position operation lever (1, 51) is released with the hydraulic control valve (12) in the FLOAT position. The operation lever (1, 51), having HOLD, UP, and DOWN positions, provides electrical signals to a controller (4) for actuating the hydraulic control valve (12) with pilot pressures provided via solenoid pilot valves (6, 7). A hydraulic cylinder (19), connected to the scraper blade (18), is actuated by hydraulic oil from the hydraulic control valve (12).

Abstract: A non-contacting joystick includes a control shaft being universally movable about a Z-axis. A spherical conducting body is attached to an end of the control shaft. A plurality of conducting plates are disposed circumjacent to the spherical body. A charging power supply supplies electrical energy of a first polarity to the spherical body and electrical energy of a second polarity to the plurality of conducting plates. Each conducting plate forms a variable capacitor with the spherical body. The capacitance value of each variable capacitor is a function of the displacement of the spherical body relative to the Z-axis. A circuit produces a plurality of position signals, each position signal being responsive to a capacitance value of a respective variable capacitor. The position signals indicate the relative position of the spherical body.

Abstract: A treating instrument for medical treatment, comprises an insertion section to be inserted into a body cavity of a patient, biopsying forceps provided at a distal end of the insertion section, a pair of cups provided at the forceps, a grip member connected to an operator-end side of the insertion section; a drive unit provided on the distal end of the insertion section and generating a drive force for the cups, a conduction circuit for carrying electric current through the drive unit, and an operation switch interposed at lead wires of the conduction circuit.

Abstract: A three function control mechanism for independently or conjointly controlling three separate functions of an off-highway implement. The control mechanism basically includes lever means accessible to the operator of the implement and connected to a singular modular controller having three separate actuator means arranged relative to various pivotal axes of the controller for effecting the three functions either independently or conjointly relative to each other.

Abstract: An actuator system provides force feedback to a master support. A first, second and third digit support are connectable by a finger mount to the thumb, index and middle, and ring digits, respectively. First, second, third and fourth actuators comprising pneumatic cylinders extend between the first, second, third and fourth digit supports and an "L" shaped palm support mountable on the palm of the glove. Sensors are mounted to the pneumatic cylinders to provide electrical signals on the positioning of the fingers. The signals are forwarded by a stand alone feature to a host computer. The host computer computes the positioning of the finger and provides feedback through interface to the first, second and third actuators. Azimuthal mounts connect the first, second, third and fourth actuators to the palm support for increased movement of the digits.

Abstract: A method and apparatus for controlling the movement of an end point of an articulated arm in the x, y and z directions using a manually operated resolved motion control by controlling the component of velocity of the end point in each of the x, y and z directions to change by the same amount for a given change in the component of displacement of the manual controller in the respective x, y and z directions provided the total displacement in the selected x, y or z direction is less than a preselected displacement in the respective x, y or z direction and the end point is within a preselected work space.

Abstract: A control mechanism for independently or conjointly controlling three different functions of an off-highway implement. The control mechanism includes a single, vertical elongated control lever mounted for manipulation in first and second directions about first and second axes and for manipulation through a twisting action about a vertical axis extending substantially perpendicular to the first and second axes. A salient feature of the present invention is that manipulation of the control lever in the first and second directions, conjointly or independently, controls first and second functions of the implement while twisting manipulation of the control lever about its vertical axis controls a third implement function independently or conjointly relative to the other two implement functions.

Abstract: A robot wrist with two articulation axes has a first body which is carried at the distal end of the robot arm, a second body which is supported by the first body for rotation about a first axis which intersects the longitudinal axis of the robot arm at right angles, and a third body which is supported by the second body for rotation about a second axis which intersects the first axis at right angles. The second and third bodies are rotated by two electric motors which are mounted on the first body and the second body respectively, with the interposition of "Harmonic Drive" reduction units of the type in which the output rotor is supported for rotation by a load-bearing element which forms part of the reduction unit.

Abstract: An interactive system for guiding the use of a surgical tool uses at least one imaging technique, such as CT scanning. A mechanical arm has a fixed base at a first end and a tool holder that holds the surgical tool at a second end. A display displays one or more images from the image space of a patient's anatomy. A computer is coupled to the display and the mechanical arm. The computer tracks the location of the surgical tool through physical space, performs a transforming rotation of the physical space to the image space, and causes the display to display the location of the surgical tool within the image space.

Abstract: A control system is provided. The control system allows for control of four independent movement functions with an overriding safety switch or deadman switch. The four different movement functions can be operated simultaneously, or independently, as desired. In preferred embodiments the movement functions of the control handle are coordinated to movement of the controlled device.

Abstract: A system for controlling x, y and z directional movement of a point adjacent to the free end of an arm composed of a plurality of interconnected articulated arm segments mounted for movement relative to at least three axes and providing for individual, independent control of movement of the point in any selected one of the x, y or z directions by controllably relatively adjusting the relationships between the segments. The system is particularly suitable for use in equipment when the arm incorporates a boom and stick such as backhoes or the like.

Abstract: A telescopic manipulation arm includes a module formed by two segments and a toggle joint. All movements of the toggle joint are transmitted across the module by identical mechanisms in such a way that the friction and inertia are the same for each movement. These mechanisms incorporate shafts positioned equidistantly of an axis in the lower segment and shafts positioned equidistantly of the axis in an upper segment. Shafts are provided for carrying identical pinions, which engage on identical toothed gears, and which are also engaged on substantially identical pinions rotatable with the shafts.

Abstract: A self-feeding device for automatically lifting food off of an eating surface of a plate to an eating position located above the device includes a plate and a plate support. A spoon support mechanism moves a spoon from an upper eating position to a lower food receiving position and causes the spoon to travel along a predetermined path on the eating surface of the plate to load food located along the path on to the spoon as the spoon moves from the upper eating position to the lower food receiving position.

Abstract: A powered, electromechanical manipulator assembly is disclosed which includes an electrically powered input device coupled by a hydraulic circuit to a mechanical manipulator. The hydraulic circuit is a fixed-volume, closed circuit in which a master piston-cylinder assembly is driven by a D.C. motor and is hydraulically coupled for direct and proportional displacement of a slave piston-cylinder assembly to enable smooth, accurate and easily controlled displacement of a manipulator arm. The manipulator arm is formed of a plurality of modules each having a fixed- volume, closed, hydraulic circuit and a slave cylinder. Both the slave and master cylinders include ambient pressure surfaces which are exposed to the water pressure at the operating depth of the assembly so that variation in depth does not materially affect the response or dexterity of the remote manipulator apparatus. An improved terminal module or jaw assembly is also disclosed.

Abstract: An internal pressure explosion-proof construction for an electrically-driven robot with which purging of airtight chambers of the robot in which electric motors are installed can be performed efficiently in a short time when air or inert gas is charged into the airtight chambers. The airtight chambers in which the electric motors are divided into a plurality of blocks, and an automatic opening and closing valve is provided at an outlet port connected to each of the blocks such that it may be opened only when the corresponding block is to be purged.

Abstract: Remote control of a micromanipulator employs laterally inextensible metal bellows, connected by flexible tubing of constant intermal diameter, in both the micromanipulator and the remote controller. Variations in the length of one bellows is communicated to the other bellows by variations in hydraulic volume, as opposed to variations in hydraulic pressure.

Abstract: The invention provides a method of positioning a robot intended to perform inspection and maintenance operations within a nuclear plant, and especially within a vessel of a pressurized-water reactor. The robot, which comprises an articulated arm, is controlled so that it initially attaches its head at one end of the arm to a support point having known coordinates. Then, supported on this point, the robot brings and attaches a foot-plate at the other end of the arm to a working support position having known coordinates adjacent the access opening of the vessel. The head is then released and the robot operated to move and position the head through the access opening and into the operating zone in the vessel.

Abstract: A rotary actuator includes a shaft rotatably mounted on a body, and a servovalve arranged to operate a vane motor for selectively rotating the shaft relative to the body. A portion of the shaft extends beyond the body. Supply and return passages are provided to the body and shaft so that fluid power supplied to the body is supplied to the servovalve and is also available at the end of the shaft beyond the body. Two or more such rotary actuators may be connected by intermediate brackets to provide a wrist actuator capable of movement about axes.

Abstract: A master controller for a mechanically dissimilar bilateral slave servo-manipulator is disclosed. The master controller includes a plurality of drive trains comprising a plurality of sheave arrangements and cables for controlling upper and lower degrees of master movement. The cables and sheaves of the master controller are arranged to effect kinematic duplication of the slave servo-manipulator, despite mechanical differences therebetween. A method for kinematically matching a master controller to a slave servo-manipulator is also disclosed.

Abstract: An article placement device particularly for marine use for selectively positioning a life boat in the water at a selected location from its associated ship comprises a programmable control for articulating a plurality of support elements or links which are pivotally interconnected and which may be selectively pivoted relative to each other for the placement of an article which is held at the upper end of the device. The programmable control is associated with each support element pivoting means which permits preselection of the amount of the pivoting of each interconnected support element so as to move the supported object such as a boat at a selected position both laterally and vertically away from the device.

Abstract: Remote manipulation method and system of the master-slave type in which an operation procedure plan is prepared for defining each of a sequence of pieces of work as being performed by manual operation or automatic operation at least on the basis of information on the level of skill of a human operator and the sequence of pieces of work is performed in accordance with the plan, whereby work can be done efficiently with human operator's skill taken into consideration.