Abstract: A refuse vehicle includes a battery configured to provide electrical energy to drive at least one of a plurality of wheels, a vehicle body supported by the chassis and defining a receptacle for storing refuse therein, and an electric power take-off system including a motor configured to power to a hydraulic system in response to receiving the electrical energy from the battery, an inverter configured to provide the electrical energy to the motor from the battery, a sensor configured to detect thermal energy within the inverter, and a controller configured to receive data from the sensor, wherein the controller is further configured to determine if the data from the sensor is greater than a critical operating condition and reduce a rate of electrical energy supplied to the motor in response to determining that the data from the sensor is greater than the critical operating condition.

Abstract: A hydraulic excavator as an electric work machine includes a lower traveling body, an upper swivel body located above the lower traveling body and provided to be swivelable with respect to the lower traveling body, an electric motor arranged in the upper swivel body, a hydraulic pump arranged in the upper swivel body and driven by the electric motor, a battery unit arranged in the upper swivel body and storing electric power to drive the electric motor, and a hydraulic actuator driven by hydraulic oil supplied from the hydraulic pump. The upper swivel body has a swivel frame at a bottom portion thereof. The battery unit is arranged on the swivel frame. The electric motor and the hydraulic pump are arranged on the swivel frame, side by side in a left-right direction of the upper swivel body.

Abstract: The present disclosure relates to a vehicle, in particular an off-highway vehicle, comprising a first axle and a second axle and a sensor unit comprising at least one load sensor configured to produce a load sensor signal indicative of a load on at least one of the first axle and the second axle. The vehicle further comprises a movable weight configured to be moved relative to the first axle and to the second axle, an actuator system configured to move the movable weight relative to the first axle and to the second axle, and a control unit configured to control the actuator system based at least on the load sensor signal.

Abstract: A load-handling vehicle, including a body; a boom, pivotally mounted to the body at a rear end region so that the boom can pivot up and down about an axis extending laterally with respect to the vehicle, wherein the boom has a load carrying implement attachable at a forward end region thereof; a steerable ground engageable propulsion arrangement; an electrically powered drive for the propulsion arrangement; a platform positioned at the rear of the body and to the side of the boom; and a battery pack positioned on the platform.

Abstract: A joint structure for a robot of the present invention includes: a first member; a speed reducer coupled to one surface of a wall portion of the first member; a motor located at a side opposite to the one surface of the wall portion of the first member; a first gear attached to a shaft of the motor; a second gear attached to a shaft of an input unit of the speed reducer and intermeshing with the first gear; and a second member attached to an output unit of the speed reducer. The diameter of the second gear is larger than a coupling unit that couples to the first member. The first member is provided with a gear accommodating portion that accommodates the first and second gear, a part of the gear accommodating portion which covers at least the second gear is removable with respect to the first member.

Abstract: A system and method for controlling the electrical power consumption of selected consumers of an electric vehicle limits power to consumers in dependence upon the prevailing charge state of a battery that is provided for driving the vehicle. The electric power consumption of high current consumers is adjusted to use an available residual amount of energy in an efficient manner. Consumers may be selected and corresponding power limits or reduction factors for the consumers and associated battery states of charge via a vehicle graphical user interface.

Abstract: A working vehicle is provided with a traveling vehicle, a working section which is supported on a rotatable base, an operator's cab, and a connection section. The connection section includes: a connection section body which connects the rotatable base and the operator's cab and which is provided so as to be capable of pivoting about a base-side connection section connected to the rotatable base and about the operator's cab-side connection section connected to the operator's cab; and a pivot control section which extends so as to always intersect the connection section body in the range of pivoting of the connection section body, connects the rotatable base and the operator's cab, and is provided so as to be capable of pivoting about a base-side connection section connected to the rotatable base and about an operator's cab-side connection section connected to the operator's cab.

Abstract: To improve the precision of position of a fastener hole and a seating face for mounting a counterweight, a counterweight supporting member is comprised of a support plate erected and fixed at the rear end of a revolving frame and a supporting member attached to the support plate. The supporting member is comprised of a base member that is locked and secured to a through hole opened on the support plate in a back and forth adjustable manner and has a counterweight fixing surface and a bolt fastening member in which a fastener hole for receiving a fastener bolt is formed.

Abstract: A work machine includes a lower-part traveling body, an upper-part turning body, an arm, a boom, a cab, an engine, a fuel tank, and a counterweight. The upper-part turning body is turnably disposed on the lower-part traveling body. The boom has a first end connected to the upper-part turning body and a second end connected to the arm. The cab is mounted on a front left of a frame of the upper-part turning body. The engine is disposed behind the cab on the frame. The fuel tank is disposed behind the engine on the frame. The counterweight is disposed behind the fuel tank on the frame. The fuel tank is disposed in a hollow formed in the counterweight.

Abstract: A working machine comprising: a base assembly including a ground engaging structure; an undercarriage connected to the ground engaging structure; a superstructure connected to the undercarriage; a working arm mounted to the superstructure; a connector connecting the undercarriage to the superstructure; and a drive arrangement located in the base assembly for moving the ground engaging structure to propel, in use, the working machine.

Abstract: An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a robotic surgical manipulator system, a robotic surgical system, and a method for improved sensing of forces on a robotic surgical instrument and/or manipulator arm are disclosed.

Abstract: Disclosed is a sporting vehicle lift that lifts a sporting vehicle and allows a car to be placed under the lifted vehicle. Sling arms that move vertically on a lift tower are connected to a lift pan with pivot connector to raise and lower the lift pan with respect to the floor and allow said lift pan to pivot. The lift pan rotates towards the tower by either placing the pivot connectors on the lift pan in a position so that the center of gravity causes the lift pan to rotate towards the tower, or by using a tilt arm, that is connected to the lift pan, which engages a pivot pin on the tower to rotate the lift pan as the lift pan is raised.

Abstract: The present invention provides a configurable and variable counterweight system for a material handling machine comprising one or more planar paths, said planar paths containing any one or combinations of straight, curved or angled portions between at least a first and second end, said planar path having transferable counterweights, said planar path or counterweights communicating with a control device and system, said control device and system comprising one or more drive unit and optionally one or more sensors, said counterweights being able to move along any curved, angled or straight portions of said planar path.

Abstract: A mining shovel includes a base, a revolving frame coupled to the base and rotatable about an axis, a boom pivotally coupled to the revolving frame, a handle coupled to the boom, and a dipper coupled to the handle. The dipper has a dipper door, and is located at a front end of the shovel. A counterweight having a center of gravity is disposed at the rear end of the shovel to balance the shovel, and is supported by a truss structure that is coupled to the revolving frame, such that the center of gravity is disposed above the revolving frame.

Abstract: The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object.

Abstract: The invention relates to an industrial robot having an apparatus for driving an attachable/detachable four-bar link mechanism, comprising: a base frame having a rotating joint for a robot body; a pivot frame which is coupled to the rotating joint and which has a rotating joint; a column frame which is coupled to the rotating joint of the pivot frame, and which has a straight-line joint; a motor arranged in the pivot frame to rotate the column frame; a decelerator attachably/detachably mounted on the rotating joint of the pivot frame or directly on the pivot frame to receive driving force from the motor; and a four-bar link installed between an output shaft of the decelerator and the column frame.

Abstract: A left weight mounting part (16) and a right weight mounting part (17) are provided with rear ends of a left vertical plate (8) and a right vertical plate (9) of a main frame (6), and a placing plate (24) adapted to place a battery (29) thereon is provided between the left weight mounting part (16) and the right weight mounting part (17). An accommodating groove (25G) is provided in a counterweight (25) by notching, in a front-rear direction, a part that faces the placing plate (24) in an up-down direction. A space (26A) formed by the placing plate (24) and the accommodating groove (25G) can be configured as an article accommodating room (26) that accommodates the battery (29).

Abstract: The present disclosure provides a backhoe boom lock for engaging a hook member of a boom in a transport position. The boom lock includes a pair of side members disposed parallel to one another along a substantially horizontal axis, each side member having a first end and a second end. A transverse member is coupled between the first end of the pair of side members, the transverse member is configured to engage the hook member in the transport position. The boom lock further includes a pivot point defined near the second end of the pair of side members, the pair of side members being pivotally coupled with respect to the pivot point such that the boom lock pivots about the pivot point. A flange is disposed between the second ends of the pair of side members and is further disposed outwardly from the pivot point at an angle with respect to the horizontal axis. The boom lock also includes a counterweight body integrally coupled to the second ends of the pair of side members.

Abstract: On a rear part side of a revolving frame (5) constituting an upper revolving structure (3), a counterweight (7) holding weight balance with a working mechanism (4) is provided, and on the front side of the counterweight (7), an engine (9) and an exhaust gas post-treatment device (21) for applying purification treatment to an exhaust gas of the engine (9) are provided. The exhaust gas post-treatment device (21) is configured by connecting a PM trapping filter device (22) and an NOx purifying device (23), and the PM trapping filter device (22) is mounted on the engine (9), while the NOx purifying device (23) is mounted on the counterweight (7). When the counterweight (7) is to be removed from the revolving frame (5), the NOx purifying device (23) is supported by a treatment device support bracket (26) mounted on the engine (9). As a result, the counterweight (7) can be removed while the PM trapping filter device (22) and the NOx purifying device (23) are connected.

Abstract: A ballast assembly for a work vehicle includes a ballast weight having a central groove. Two pairs of coupling pins extend across the central groove. A pair of support rods are attached to an underside of a frame part of the vehicle. The assembly also includes a pair of ballast bracket, each of which is releasably coupled to a corresponding pair of the coupling pins. The assembly also includes a pair of links, each having an end pivotally coupled to a corresponding ballast bracket, and having a body with a slot which slidably receives a corresponding support rod. A hydraulic cylinder has a first end pivotally coupled to one of the links and a second end pivotally coupled to the frame part. Each ballast bracket includes a latch member which releasably holds the ballast bracket to the corresponding pair of coupling pins.

Abstract: The present invention provides a configurable and variable counterweight system for a material handling machine comprising one or more planar paths, said planar paths containing any one or combinations of straight, curved or angled portions between at least a first and second end, said planar path having transferrable counterweights, said planar path or counterweights communicating with a control device and system, said control device and system comprising one or more drive unit and optionally one or more sensors, said counterweights being able to move along any curved, angled or straight portions of said planar path.

Abstract: A boom assembly includes a lower boom, an intermediate member, an upper boom, an intermediate link, and an actuator coupled between the intermediate member and the upper boom. The lower boom includes an intermediate member end and a base end, and the base end is configured to be pivotally coupled to a lift device. The intermediate member is pivotally coupled to the intermediate member end of the lower boom. The upper boom includes a first end pivotally coupled to the intermediate member, and the intermediate link is coupled directly between the upper boom and the lower boom. The intermediate member includes a base portion positioned to carry structural loading and a weighted portion positioned to provide counterweight for the lift device.

Abstract: A movable counterweight system moves under a material-handling vehicle to provide a safe low center of gravity, and avoid interference to the operator.

Abstract: A wheel loader includes a vehicle body frame, an engine, a working unit a fuel tank and a cooling device. The fuel tank is attached to a bottom surface of a rear part of the vehicle body frame, and has a rear end surface slanted obliquely rearwards from up to down. The cooling device is configured to release heat of a coolant flowing through an inside thereof. The cooling device is supported by the rear part of the vehicle body frame. A bottom end portion of the cooling device is opposed to and separated away from a rear end surface of the fuel tank at a predetermined distance in a back-and-forth direction. A bottom surface of the cooling device is positioned lower than a top surface of a rear end portion of the fuel tank.

Abstract: A power shovel including a tool for lifting, a machine house, a hoist drum, hoist drum machinery and an auxiliary weight box having a perimeter, the hoist drum and hoist drum machinery being at least partially disposed within the perimeter of the auxiliary weight box and the hoist drum being disposed outside of the machine house.

Abstract: An apparatus including a plurality of electric vehicle movement components, where a first one of the components is configurable to operate in one of a plurality of power operational modes; and a connection connecting the plurality of electric vehicle components to each other. The first component is configured to select one of the operational modes based, at least partially, upon information through the connection regarding an identification of a second different one of the components and/or an operational capability of the second component.

Abstract: A crowd machinery guard system for a mining shovel is provided. The crowd machinery guard system includes a mounting bracket assembly coupled to the front of the mining shovel frame. The crowd machinery guard system also includes at least one support leg rotatably coupled to the mounting bracket assembly, and an impact plate assembly coupled to the support leg. The impact plate assembly includes an impact plate configured to receive dipper impacts, at least one support leg bracket coupled to the impact plate, and at least one cushion subassembly including a dampening portion. The crowd machinery guard system is configured to absorb and distribute the force of dipper impacts.

Abstract: A weight adapter bracket is provided for a drawbar support frame having a cylinder coupling member for coupling to a hydraulic cylinder. The coupling member has a slot for removably receiving an end of the cylinder. The adapter bracket includes a lug which extends from a flange. The lug is removably receivable by the coupling member, and the flange is adapted to engage and support a weight. A coupling bore extends through the lug and bracket bores extend through the coupling member. A coupling pin is insertable through the coupling bore and the bracket bores and to releasably hold the bracket in the coupling member. A pin bore extends vertically through the bracket, and a further coupling pin is removably insertable through the pin bore. The further coupling pin is adapted to engage a weight which is mounted on the bracket.

Abstract: On a rear part side of a revolving frame (5) constituting an upper revolving structure (3), a counterweight (7) holding weight balance with a working mechanism (4) is provided, and on the front side of the counterweight (7), an engine (9) and an exhaust gas post-treatment device (21) for applying purification treatment to an exhaust gas of the engine (9) are provided. The exhaust gas post-treatment device (21) is configured by connecting a PM trapping filter device (22) and an NOx purifying device (23), and the PM trapping filter device (22) is mounted on the engine (9), while the NOx purifying device (23) is mounted on the counterweight (7). When the counterweight (7) is to be removed from the revolving frame (5), the NOx purifying device (23) is supported by a treatment device support bracket (26) mounted on the engine (9). As a result, the counterweight (7) can be removed while the PM trapping filter device (22) and the NOx purifying device (23) are connected.

Abstract: A mounting structure is provided for an NOx reduction system for a hydraulic excavator. The NOx reduction system includes a PM collection filter to be arranged in an exhaust passage of an engine to collect suspended particulate matter in exhaust gas from the engine, a urea SCR catalyst for reducing and purifying nitrogen oxides in the exhaust gas from the engine, a urea water spay device for spraying a urea water into the exhaust passage of the engine, a urea water feeder for feeding the urea water to the urea water spray device, and a urea water storage tank for storing therein the urea water to be guided to the urea water feeder. In the mounting structure, the counterweight is provided with a recessed section formed therein, the urea SCR catalyst is arranged in the recessed section, and the PM collection filter is arranged in the engine compartment. The urea SCR catalyst and PM collection filter are arranged to form an “L” pattern.

Abstract: A counterweight system for an industrial machine includes a body having a front end and a back end, the body defining a cavity, and a plurality of walls defining a plurality of discrete sections within the body, each discrete section having an aperture for inserting a counterweight into the cavity.

Abstract: Disclosed is a counterweight which is filled with a heavy-weight concrete containing, instead of currently used iron ores, a heavy-weight aggregate that scarcely causes the material segregation from cement paste and which can be produced at a low cost and is effectively enhanced in the filling factor of heavy-weight concrete into a case. A counterweight 6 comprises a case 62 and heavy-weight concrete filled therein, wherein the heavy-weight concrete contains a heavy-weight fine aggregate containing 20 mass % or more of aggregate particles having particle diameters of less than 0.15 mm and 20 mass % or more of aggregate particles having particle diameters of 2.5 mm to less than 5 mm.

Abstract: An electric construction machine that enables quick and easy replacement of the battery device with different types of battery devices is provided. An upper swing structure has a vehicle main body and a vehicle rear part. The battery device is mounted on the vehicle rear part and the vehicle rear part is attachable and detachable to/from a vehicle body frame of the vehicle main body using a bolt. A main frame overhangs and extends in a longitudinal direction to reach the underside of the vehicle rear part. The vehicle rear part also includes a rear frame to be mounted on the main frame and is fixed with the bolt and a rear cover covering the rear frame forming a battery compartment, and having a shape imitating a counter weight.

Abstract: A counterweight attachment and removal system includes a machine mounting bracket and a link having two spaced apart arms. A proximal end of the link is pivotably coupled with the machine mounting bracket. A rotate cylinder has a proximal end pivotably coupled with the machine mounting bracket and a distal end pivotably coupled with a distal end of the link. A slide cylinder has a proximal end pivotably coupled with the link and a distal end pivotably coupled with a lift pin. The lift pin is positioned through slots defined by the two spaced apart arms. The counterweight attachment and removal system includes a first configuration in which the link is pivoted away from the machine mounting bracket, the rotate cylinder is retracted, the slide cylinder is extended, and the lift pin is positioned through distal portions of the slots.

Abstract: In a first aspect, the invention is directed to a manipulator that is relatively compact and has a relatively large range of motion. The manipulator includes a linkage that folds back on itself, which reduces the footprint of the linkage. In a particular embodiment, the manipulator includes a linkage and a load balancing device. The linkage includes a first link, a second link, a third link and a fourth link. The first link and second links are rotatably connected to a base about first and second connection axes. The third and fourth links are connected to the first and second links respectively about third and fourth connection axes respectively. The third and fourth links are rotatably connected to a lift arm about fifth and sixth connection axes respectively, wherein the fifth and sixth connection axes are horizontally displaced from the third and fourth connection axes in the direction of the first and second connection axes.

Abstract: A counterbalance mechanism counterbalances an eccentric mass on a rotating shaft supported by a frame. A first pulley is coupled to and concentric with the shaft. An arm is coupled to the shaft to rotatably support a second at a first distance from the first pulley. A third pulley is fixedly coupled to the frame at a second distance from the first pulley. A fourth pulley is rotatably coupled to and concentric with the third pulley. A spring is fixed at a first end to the frame and has a second end that is coupled to the fourth pulley such that the spring provides a restoring force as the fourth pulley is rotated. A first cable has a first end that is coupled to the fourth pulley and a second end that is coupled to the frame through the third pulley after passing over the first and second pulleys.

Abstract: An articulated lift aim assembly for a refuse receptacle generally includes an engaging device for releasably grasping the receptacle, an extendable boom along with an articulated arm mechanism interconnecting the book and the engaging device. A gear arrangement provides for coupling the boom and the arm for raising the arm mechanism with respect to the boom, rotating the arm mechanism with respect to the boom during raising of the arm mechanism and inverting the engaging device and receptacle during raising of the arm mechanism. A gravity operated hook is provided for latching the receptacle when the receptacle is inverted to prevent undesired release from the engaging device.

Abstract: Disclosed is a counterweight which is filled with a heavy-weight concrete containing, instead of currently used iron ores, a heavy-weight aggregate that scarcely causes the material segregation from cement paste and which can be produced at a low cost and is effectively enhanced in the filling factor of heavy-weight concrete into a case. A counterweight 6 comprises a case 62 and heavy-weight concrete filled therein, wherein the heavy-weight concrete contains a heavy-weight fine aggregate containing 20 mass % or more of aggregate particles having particle diameters of less than 0.15 mm and 20 mass % or more of aggregate particles having particle diameters of 2.5 mm to less than 5 mm.

Abstract: The present invention is a heavy equipment vehicle for laying pipe, such as a modified excavator. The vehicle includes an undercarriage with a tracks for moving, an excavator cab mounted to the undercarriage by a rotating platform, a counterweight mounted to the cab, a boom having a first arm and a second arm, two pipe hoists, and an excavator tool attachment. The excavator tool attachment can be a bucket, scoop, grapple, a pulverizer, claw or a hammer of an excavator. Each arm of the vehicle has a pipe hoist attached to an underside thereof. The pipe hoist element is a two-block hoist with a top block and a bottom block with a hook extending downward, and a winch with line connecting to the two-block hoist, such that the line lowers and raises a hook connected to a harness of a pipe. The boom can also have stabilizer attachments.

Abstract: A variable counterweight system includes a counterweight and at least one linear transfer device. The counterweight preferably includes a plurality of individual counterweight members. Each linear transfer device preferably includes a moving track and a drive device. The moving track could be a chain or a belt. The drive device is preferably a hydraulic, electric or pneumatic motor. The moving track is preferably retained in a guide track. A control unit receives input from at least one vertical sensor. If an attachment or a boom is in an elevated position, then the control unit powers the at least one drive device to move the counterweight to a rear of the skid steer. If the attachment or boom is in a lowered position, then the control unit powers the at least one drive device to move the counterweight to a front of the skid steer.

Abstract: The work vehicle includes a main body frame, a counterweight, a first beam member, and a first cover member. The counterweight is placed at a rear portion of the main body frame. The counterweight forms a concave portion that is recessed rearwardly from a front surface side of the counterweight and extends to a top surface of the counterweight. The first beam member extends across the concave portion and is attached to both side ends of the counterweight. The first cover member is provided on a top surface of a first frame portion including the first beam member and the concave portion.

Abstract: The present invention is directed to a control circuit for automatically bringing a hydraulically operated work arm into a particular position without having to manually reverse the direction of the hydraulic operating system.

Abstract: A buffer station provides potential improvement for the operation of a facility. By storing to-be-accessed workpieces in the buffer stations of an equipment, the operation of the facility is not interrupted when the equipment is down. The workpieces can be retrieved through emergency access port of the buffer station, thus ensure the continuous supply of workpieces for the workpiece flow of the facility. Algorithm for getting the needed workpieces to the buffer station is also provided through a controller or a computer mechanism. The buffer station can be incorporated in a stocker, such as wafer stocker or reticle stocker.

Abstract: A spatial linkage including an inboard gimbal plate that provides a ground for the spatial linkage, an outboard gimbal plate, and three links that couple the outboard gimbal plate to the inboard gimbal plate. Each link has a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis. Each link is pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end. The pivotal couplings allow the outboard gimbal plate to move relative to the inboard gimbal plate and preventing relative rotation between the outboard gimbal plate and the inboard gimbal plate.

Abstract: A working machine includes a rear mounted 3 point hitch and a ballast assembly. The ballast assembly includes a housing and a metal frame positioned within the housing. The frame includes a 3 point coupler connected with the 3 point hitch. Concrete ballast is within the housing in contact with the frame.

Abstract: An objective of the present invention is to provide a counterweight of a power shovel interchangeable with that of a superordinate model without affecting a rear end radius of the shovel at the time of rotation. In the power shovel 50 in which the counterweight is formed at the rear part of a vehicle body frame 11 extended from a front end to a rear end of a lower part of a rotation upper body 10, and an engine 14 is mounted on the rear part of the vehicle body frame 11, an additional weight 12 is placed in a space between the rear part of the vehicle body frame 11 and the engine 14.

Abstract: A counterweight installation device includes: a weight support unit provided on a rear end of a body frame of a construction machine; a weight mounting unit disposed on a counterweight; a pin member for mounting the counterweight adapted to move between a first position at which the weight mounting unit is mounted on the weight support unit and a second position at which the weight mounting unit is dismounted from the weight support unit; and a rod device, one end of which is linked with the pin member and an other end of which extends so as to project to an outside of the counterweight, adapted to move the pin member between the first position and the second position by operation at the other end thereof.

Abstract: An industrial vehicle includes a vehicle body, a pair of rear wheels, a rear axle for supporting the rear wheels, a lock cylinder, a counterweight and a coupling portion. The rear axle is supported to be pivotable relative to the vehicle body. The lock cylinder is located between the vehicle body and the rear axle. The lock cylinder limits pivoting of the rear axle. The counterweight forms a rear portion of the vehicle body. The counter weight supports the rear axle. The coupling portion is integrally formed with the counterweight to couple the fluid pressure cylinder with the vehicle body. This reduces the number of components and the manufacturing steps of the industrial vehicle.

Abstract: The invention concerns a handling device comprising, in combination, a mechanical equilibrium mechanism (10) with low reaction time, having an arm (20) whereof the proximal end (22) is locked on a pivot pin (18) and whereof the distal (26) is adapted to support a load (10), a force sensor (30) positioned in a selected site for detecting apparent weight variation the load (10) resulting from a force being exerted on said load in response to an operator's movement, servo feed-back means (32) actuated by the force sensor (30), and an actuator (34) controlled by the servo feed-back means (32) and connected to the arm to assist the operator's movement. The invention is applicable in particular to robot arms or the like.

Abstract: A manipulator is provided that includes a foot part and a number of members connected to the foot part and to each other respectively, and at least a gripper part, such that the members, the gripper and the foot part form an arm. One or more motors are provided in the foot part for moving at least a one of the members and the gripper.