Abstract: A surgical system comprising: at least two modular units, the modular units each comprising: a surgical arm; and a motor unit configured for actuating movement of the surgical arm, the motor unit configured to be operably attached to the surgical arm, where a first face of a motor unit housing generally defines a plane which is at an angle of 60-120° to a long axis of the surgical arm; wherein the motor unit is configured to be aligned adjacent a motor unit of at least one second modular unit; wherein a second face of a housing of the motor unit generally defines a plane which is at an angle to the first face and which comprises a connection geometry suitable for connecting the housing of the motor unit to a housing of the motor unit of the second modular unit.

Abstract: A robot is provided with a first base, a robot arm having a rotation arm member, and a second base. A bottom end portion of the first base is fixed to an upper end portion of the second base using a fixing member, the rotation arm member includes an arm member opening, the second base includes an upper surface having an upper opening and a side surface having a side opening, the rotation arm member and the first base are configured to allow the conduit containing the welding wire and introduced into an interior of the rotation arm member through the arm member opening to reach the upper opening, the side opening allows the conduit introduced into an interior of the second base through the upper opening to come out of the second base.

Abstract: An apparatus including a first base plate, where the first base plate is configured to have at least one linear drive component and/or at least one power coupling component connected to a top side of the first base plate, where the first base plate is configured to be located inside a vacuum chamber; and a plurality of rails or transport guides on the top side of the first base plate. An end of the first base plate includes at least one alignment feature configured to align an end of the first base plate to an end of a second base plate. The first base plate is configured to provide, in combination with the second base plate, a structural platform inside the vacuum chamber for a robot drive to move in the vacuum chamber along the plurality of transport guides.

Abstract: Example embodiments relate to surgical systems. The system includes an end-effector assembly having an instrument. The system includes a first arm assembly. A distal end of first arm assembly is securable to the end-effector assembly. The system includes an elbow joint assembly. A distal end of elbow joint assembly is secured to a proximal end of first arm assembly. A proximal end of elbow joint assembly is secured to a distal end of second arm assembly. The second arm assembly includes a first elbow drive assembly. The first elbow drive assembly includes an integrated motor for driving the elbow joint assembly to pivotally move the first arm assembly relative to an axis. The second arm assembly also includes a second elbow drive assembly. The second elbow drive assembly includes an integrated motor for driving the elbow joint assembly to pivotally move the first arm assembly relative to another axis.

Abstract: Embodiments of the present disclosure provide improved methods and apparatus for coupling a probe to an instrument device manipulator (e.g., robotic arm). In some embodiments, a probe, which may be carried by a handpiece, is configured to couple to the end of a device manipulator of a robotic arm. A transmission can be provided that is configured to couple to the probe and also couple to the instrument device manipulator. The transmission can be configured to receive motion input from the instrument device manipulator and transfer the motion input into motion of the probe. The transmission can provide improved movement of the probe. By decreasing the number of components on the handpiece and probe, the handpiece and probe can be provided as a sterile, single use consumable device and the transmission can be reused.

Abstract: A control system according to an embodiment includes a motor configured to drive a link, a first sensor configured to detect information about the driving by the motor or information about a relation between the driving means and the load member as first sensor information, a second sensor configured to detect information about a displacement of the link as second sensor information, and a control unit configured to perform feedback control of the driving means so as to follow a command value in a two-inertial system model including an inertial system on a load side and an inertial system on a driving side. The control unit includes a disturbance observer configured to estimate a disturbance, and a filter configured to convert an estimated value of the disturbance into a driving force of the motor.

Abstract: A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and a second kinematic chain from the second actuator to the end-effector platform, which gives a second degree of freedom for positioning the end-effector platform. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28).

Abstract: A parallel type integrated actuator is proposed. The actuator includes: a driving unit composed of a plurality of motors, each motor being stacked successively in a longitudinal direction of the driving unit, each motor having a stator fixed to a position outside the driving unit and a rotor positioned inside thereof, each motor rotating relative to each other; a plurality of shafts; a heat sink housing having a cylindrical shape formed around the outer surface of the driving unit, and having an inner circumferential surface thereof thermally connected with the plurality of stators and a plurality of flow paths formed on the outer circumferential surface thereof; and a blower fan installed on one end side of the driving unit, provided with a wing part disposed to be adjacent to one end side of the heat sink housing, wherein rotation generates convection for heat exchange.

Abstract: A series elastic actuator includes a first body, a motor, a pulley, a second body, a wire, a first adjuster, a second adjuster, a first spring, and a second spring. The wire is curved around a seat portion of the pulley, a first extending portion of the wire and the first adjuster are elastically supported with respect to the second body by the first spring, and the second extending portion of the wire and the second adjuster are elastically supported with respect to the second body by the second spring. When an external load is applied to the second body and relative rotation is generated between the pulley and the second body, a moment arm by the load is constant and the external load can be measured on the basis of the measured relative rotation angle and the spring constants of the first spring and the second spring.

Abstract: A patient support facility including at least one patient support plate and at least two supports for the patient support plate. Each of the supports are configured to be mobile has an autonomous drive module with a chassis permitting movements and rotations in all horizontal directions, a drive facility, and a control unit. The patient support facility includes a control facility that is configured to operate the drive modules in a coordinated and individual manner.

Abstract: A multi-axis actuator according to one embodiment of the present invention comprises: a rectangular parallelepiped housing having first and second output surfaces vertical to each other, and first and second facing surfaces, which are respectively arranged in parallel to the first and second output surfaces so as to be vertical to each other; a first output gear for rotating around a first rotary shaft vertical to the first output surface; a second output gear for rotating around a second rotary shaft vertical to the second output surface, wherein the second rotary shaft is positioned at a height different from that of the first rotary shaft; and first and second driving motors provided inside the housing so as to respectively provide rotating power to the first and second output gears.

Abstract: An actuator (100) comprising: a frame (20); a screw (2) mounted on the frame; a nut (4) co-operating with the screw (2); a motor (3) arranged to drive the screw (2) in rotation; a first cable strand (6.1) and a second cable strand (9.1) coupled to the nut (4) and extending on a first side (8.1) of a first plane (P1); a third cable strand (6.4) and a fourth cable strand (9.4) coupled to the nut (4) and extending on a second side (8.2) of the first plane (P1); the first cable strand (6.1) and the second cable strand (9.1) extending in a second plane (P2); the third cable strand (6.4) and the fourth cable strand (9.4) extending in a third plane (P3); and the second plane (P2) and the third plane (P3) being distinct.

Abstract: Systems and methods related to providing configurations of robotic devices are provided. A computing device can receive a configuration request for a robotic device including environmental information and task information for tasks requested to be performed by the robotic device in an environment. The computing device can determine task-associated regions in the environment. A task-associated region for a given task can include a region of the environment that the robotic device is expected to reach while performing the given task. Based at least on the task-associated regions, the computing device can determine respective dimensions of components of the robotic device and an arrangement for assembling the components into the robotic device so that the robotic device is configured to perform at least one task in the environment. The computing device can provide a configuration that includes the respectively determined dimensions and the determined arrangement.

Abstract: A remotely controlled packable robot includes a chassis, a motive subsystem for maneuvering the chassis, and an open channel under the robot defined by the chassis and the motive subsystem. A rearward arm base member mount is located between the chassis and a rotatable arm shoulder and is pivotable with respect to the chassis to store the arm underneath the robot in the open channel.

Abstract: Provided is a braking device for a driving shaft, and the braking device includes: a brake ring coupled to the driving shaft in such a manner as to rotate according to rotation of the driving shaft and having one or more locking pieces with cross-shaped ends; a support frame fixed to an interior of a robot articulation; brake wings rotatable around brake shafts formed on the support frame and having locking protrusions adapted to stop the rotation of the driving shaft through physical interference with the cross-shaped ends of the locking pieces of the brake ring; position regulators adapted to rotate the brake wings to allow positions of the locking protrusions to be moved; and elastic members adapted to apply elastic forces to the brake wings rotating.

Abstract: A robot wiring additional routing method that includes detaching some fasteners to detach a cover member from a housing member, thus forming a gap between the detached cover member and the housing member; disposing additional wiring at such a position as to be routed across an inside and an outside of the housing member via the formed gap; and, in a state in which a spacer that maintains the gap is sandwiched between the cover member and the housing member, attaching the detached cover member to the housing member by the detached fasteners or other fasteners.

Abstract: An articulated robot includes a lumbar portion including a first joint that rotates about a first axis which is a vertical axis and rotating about the first axis, a second joint connected to the lumbar portion and rotating about a second axis parallel to a horizontal plane, a first arm connected to the second joint and rotating about the second axis, a third joint connected to the first arm and rotating about a third axis parallel to the second axis, and a second arm connected to the third joint and rotating about the third axis. When the first arm extends parallel to the first axis, a clearance through which the second arm rotating about the third axis can pass in a planar area between the second axis and the third axis is provided between the second arm and the first arm and between the second arm and the lumbar portion.

Abstract: Set forth is a motorized computing device that selectively navigates to a user according content of a spoken utterance directed at the motorized computing device. The motorized computing device can modify operations of one or more motors of the motorized computing device according to whether the user provided a spoken utterance while the one or more motors are operating. The motorized computing device can render content according to interactions between the user and an automated assistant. For instance, when automated assistant is requested to provide graphical content for the user, the motorized computing device can navigate to the user in order to present the content the user. However, in some implementations, when the user requests audio content, the motorized computing device can bypass navigating to the user when the motorized computing device is within a distance from the user for audibly rendering the audio content.

Abstract: A robot including, a motor attached to one end surface of a casing of an arm, a reducer output shaft attached to the other end surface of the casing by bolts, a hole provided in the casing, and through which the output shaft of the motor is inserted, a first sealing member sealing a space between the hole and the output shaft, a second sealing member sealing a space between the other end surface and the end surface of the reducer output shaft, a recessed portion provided on a side of the other end surface of the casing and recessed in a direction along the central axial line of the reducer output shaft; and a lubricant agent supply hole provided in the casing and extending in a substantially radial direction or in a radial direction of the reducer output shaft, the lubricant agent supply hole communicating to the recessed portion.

Abstract: A robot control device having a drive shaft driven by a servo motor including a non-excited operation type electromagnetic brake. The electromagnetic brake is configured to perform a braking operation by pressing an armature against a friction plate by an urging force of a spring when an excitation coil is not energized, and to cancel a brake operation by attracting the armature to the excitation coil side against the urging force of the spring to separate the armature from the friction plate when the excitation coil is energized. A coil current flowing through the excitation coil is obtained and the robot is controlled based on the characteristic of time change of the obtained coil current. A robot control device capable of shortening a cycle time, estimating the life of the electromagnetic brake, performing abnormality diagnosis and the like with a relatively simple configuration can be provided.

Abstract: A control device for controlling a robot including an arm driven via a reduction gear by a motor generating a drive force, the control device comprising a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to perform speed control on the arm by using an input detection value from an input position detection sensor which detects an input side operation position of the reduction gear, and an output detection value from an output position detection sensor which detects an output side operation position of the reduction gear.

Abstract: A robot wiring additional routing method that includes detaching some fasteners to detach a cover member from a housing member, thus forming a gap between the detached cover member and the housing member; disposing additional wiring at such a position as to be routed across an inside and an outside of the housing member via the formed gap; and, in a state in which a spacer that maintains the gap is sandwiched between the cover member and the housing member, attaching the detached cover member to the housing member by the detached fasteners or other fasteners.

Abstract: An operation method for a link actuating device provided with a target value input unit having a height direction target value input portion that allows input of a movement amount in a height direction or a coordinate position in the height direction, which causes the distal end posture of the link actuating device to be changed only in the height direction along a central axis of a proximal end side link hub. An input converter is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device. The input converter further calculates a command operation amount of each actuator from the result of the calculation, and inputs the command operation amount to the control device.

Abstract: A method for compensating for accuracy errors of a hexapod is disclosed, said hexapod comprising a base, an actuation assembly having six linear translation actuators, a control unit, and a movable carriage comprising a platform connected to the base by means of the actuation assembly. The method includes a measurement step for determining geometry and positioning errors on the hexapod, the measurement step including sub-steps for determining positioning errors of the pivot centers on the carriage and on the base, for determining length errors of the actuators and for measuring positioning errors of the actuators along the path thereof, the compensation method also including a step for calculating, from measurements taken, error compensation values and a step for applying said error compensation values to the control unit of the hexapod, during subsequent use of said hexapod.

Abstract: A control system is provided for controlling movements of an end effector connected to a clutch output of at least one magnetorheological (MR) fluid clutch apparatus. A clutch driver is configured to drive the at least one MR fluid clutch apparatus between a controlled slippage mode, in which slippage between a clutch input and the clutch output of the MR fluid clutch apparatus varies, and a lock mode, in which said slippage between the clutch input and the clutch output is maintained below a given threshold, the clutch output transmitting movement to the end effector. A motor driver is configured to control a motor output of at least one motor, the motor output coupled to the clutch input. A mode selector module is configured to receive signals representative of at least one movement parameter of the end effector, the mode selector module selecting a mode between the controlled slippage mode and the lock mode of the clutch driver based on the signals, and switching the selected mode based on the signals.

Abstract: The present invention relates to a robotic system having at least one robot arm which consists of a plurality of members/limbs, which are connected with each other by joints, in which the housing is configured to transmit the torques and forces, which are introduced into the member, onto a member being adjacent thereto, and in which the housing is composed of at least two housing parts being complementary in shape, which housing parts are connected to each other in a manner allowing the transmission of torques and forces.

Abstract: A transfer device can have a high durability and no limit in an operation of an arm member. An electrostatic pick 44 of a first transfer device 17 is advanced into a process module 12, and a wafer W is electrostatically attracted to and held on the electrostatic pick 44. While the wafer W is being transferred into a load lock module 14 by driving the first transfer device 17, the electrostatic pick 44 is turned into an electrically floating state, so that a state in which the wafer W is electrostatically attracted to and held on the electrostatic pick 44 is maintained. After the transferring of the wafer W to the load lock module 14 is completed, charges of the electrostatic pick 44 are neutralized, so that the wafer W is not electrostatically attracted to and held on the electrostatic pick 44.

Abstract: A work apparatus includes a parallel link mechanism, a position control actuator, a linear motion mechanism, and a rotating mechanism. The parallel link mechanism includes three or more link mechanisms that couple a distal end side link hub to a proximal end side link hub such that a position of the distal end side link hub can be changed relative to the proximal end side link hub. The position control actuator operates the parallel link mechanism. The linear motion mechanism moves a working body in an axial direction orthogonal to a central axis of the proximal end side link hub. The rotating mechanism is mounted on the distal end side link hub and rotates a work object about a rotation center axis parallel to a movement direction of the linear motion mechanism when the central axis and a central axis are on the same line.

Abstract: An example robot includes: a motor disposed within a housing at a joint configured to control motion of a member of a robot; a controller including one or more printed circuit boards (PCBs) disposed within the housing and including a plurality of field-effect transistors (FETs) disposed on a surface of a PCB of the one or more PCBs facing the motor; a rotary position sensor mounted on the controller; a shaft coupled to a rotor of the motor and extending therefrom to the controller; and a magnet mounted within the shaft at an end of the shaft facing the controller.

Abstract: The composite work apparatus includes: two link actuation devices that support two working bodies such that postures of the working bodies can be individually changed; and three or more linear motion actuators that move the two link actuation devices and two or more work objects relative to each other. In each link actuation device, a distal end side link hub is connected to a proximal end side link hub via three or more link mechanisms such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub, and a posture control actuator that arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub is provided to each of two or more link mechanisms of the three or more link mechanisms.

Abstract: An operation device for a link actuating device (51) is provided with a target value input unit (57) having a height direction target value input portion (57z) that allows input of a movement amount in a height direction or a coordinate position in the height direction, which causes the distal end posture of the link actuating device (51) to be changed only in the height direction along a central axis of a proximal end side link hub (12). Input converter (58) is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device (51). The Input converter (58) further calculates a command operation amount of each actuator (53) from the result of the calculation, and inputs the command operation amount to the control device (54).

Abstract: A horizontal articulated robot including a base, a first arm provided above the base so as to be capable of rotating about a first axis, a first driving part configured to cause the first arm to rotate with respect to the base, a second arm attached so as to be capable of rotating about a second axis, and a second driving part configured to cause the second arm to rotate with respect to the first arm. The first driving part includes a first motor and a first reduction gear that are arranged in series along the first axis. The second driving part includes a second motor and a second reduction gear which are arranged in series along the second axis. A lower surface of the second reduction gear is disposed at a position lower than an upper surface of the first reduction gear.

Abstract: A robot system includes a plurality of drive parts, a control unit that controls power for driving the drive parts by switching, and a cable that connects the drive parts and the control unit, wherein the cable has a plurality of power lines, a plurality of frame ground lines, and a shield, a first interposition object is provided between the plurality of power lines and the shield, and, in a section of the cable, respective centers of the plurality of frame ground lines are closer to the shield than respective centers of the plurality of power lines.

Abstract: A joint device for a robot includes a first frame, a motor fixed to the first frame, a flange rotated by the motor, and a second frame fixed to the flange. The first frame has an opening extending from a part of a lateral portion to a predetermined part of a bottom portion. An outer rim portion of the flange faces to the opening in the predetermined part. The outer rim portion has through-holes. An end portion of the second frame adjacent to the first frame includes a facing portion that faces to the outer rim portion, and screw holes provided on the facing portion. The flange is fixed to the second frame such that screws inserted into the respective through-holes are fastened to the respective screw holes of the second frame.

Abstract: According to an embodiment, a manipulator includes the following elements. The first joint has a rotation axis in a first direction crossing a gravity direction. The second joint has a rotation axis in a second direction crossing the first direction. The first arm and the second arm are coupled with the second joint along a third direction crossing the second direction. The variable center-of-gravity unit coupled with the first arm. The controller controls the variable center-of-gravity unit to perform an operation for moving the first weight of the variable center-of-gravity unit in a direction crossing the rotation axis of the first joint and/or an operation for moving the second weight of the variable center-of-gravity unit in a direction crossing the rotation axis of the second joint.

Abstract: An object of the present invention is to prevent unnecessary driving stop of a stepping motor. A robot arm section includes a robot arm, a stepping motor 31a, a motor driver 31b, an encoder 31c and a step-out detection section 31e. The robot arm has a joint J1. The stepping motor generates power for operating the joint. The motor driver drives the stepping motor according to a target angle. The encoder outputs an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle. The step-out detection section detects a step-out of the stepping motor based on the target angle and a current angle of the stepping motor that is identified based on the encoder pulse. When the stepping motor does not recover from the step-out before a predetermined grace time elapses from a time at which the step-out is detected, the motor driver stops driving the stepping motor at the time point at which the grace time elapses.

Abstract: A robot includes a base, a first arm rotatably provided on the base via a first connecting section, a second arm rotatably provided on the first arm via a second connecting section, and a movable shaft section provided in the second arm and movable with respect to the second arm. When a movable range of the movable shaft section is represented as S and the height between a distal end of the movable shaft section on the opposite side of the first arm at the time when the movable shaft section moves to the first arm side most with respect to the second arm and a first connection surface, which is a connection surface of the base and the first connecting section, is represented as H1, a relation H1?3S is satisfied.

Abstract: A robot includes a body, a first arm, and a second arm. The first arm includes one joint, an adjacent joint that is adjacent to the one joint, and another adjacent joint that is adjacent to the adjacent joint. When the first arm is extended in a vertical orientation relative to the body, the one joint of the first arm has a rotation axis that is offset by a first distance in a first horizontal direction from a rotation axis of the adjacent joint of the first arm, and the another adjacent joint of the first arm has a rotation axis that is offset by a second distance in a second horizontal direction from the rotation axis of the adjacent joint of the first arm. The first horizontal direction is opposite to the second horizontal direction.

Abstract: A substrate-transporting robot apparatus is disclosed. The robot apparatus may include an upper arm, a forearm independently rotatable relative to the upper arm, a wrist member independently rotatable relative to the forearm, and an end effector adapted to carry a substrate. In some aspects, the independent rotation is provided by a robot drive assembly having a second driving pulley mounted for rotation on a first driving pulley. In another aspect, robot drive assemblies including base-mounted and web-mounted pulleys are disclosed. Robot drive assemblies and operational methods are provided, as are numerous other aspects.

Abstract: A rotation drive device includes a crankshaft which has two ends dynamically connected to a drive source and a driven device, respectively. The drive source drives the crankshaft to rotate the driven device. The crankshaft structurally changes to make the two ends of the shaft portion connected to the rotation drive portion and the driven portion, respectively, at different central angles, which divides the space into two subspaces which are located two sides of the shaft portion, so that the wire can be arranged in the subspaces at both sides of the shaft portion, thus enhancing the flexibility of wire distribution while improving rotation range of motion.

Abstract: A method for performing operations on a structure. A moveable platform may be positioned in an area relative to the structure to define a working envelope. The moveable platform may be connected to a tool that may be moved around a plurality of axes within the working envelope using the moveable platform. The tool may be moved to a plurality of locations within the working envelope using the moveable platform. An operation may be performed with the tool through the working envelope at each of the plurality of locations using the moveable platform.

Abstract: A bearing is interposed in the revolute pair between a proximal end side link hub and each proximal side end link member. A control device controls an actuator, to perform work-time control for causing a determined work operation to be executed and to perform, while the work-time control is stopped, grease circulation control for circulating grease sealed in the bearing. The maximum value ?max of a bending angle in the work-time control does not exceed the maximum allowable bending angle ??max being the maximum value of the bending angle allowable in the mechanism, and the maximum value of the bending angle in the grease circulation control is greater than the maximum value ?max of the bending angle in the work-time control and smaller than the maximum allowable bending angle ??max.

Abstract: A wrist includes a wrist housing including a wrist driving structural portion to which rotation is transmitted from a wrist driving pulley, a cylindrical portion arranged coaxially with a rotational axis of the wrist driving structural portion and penetrated by a first hand driving shaft to which rotation is transmitted from a hand driving pulley, a cable introducing portion forming an annular gap with the cylindrical portion, and a hand-driving-shaft penetrating portion penetrated by a second hand driving shaft rotating a hand interface by rotation of the first hand driving shaft being transmitted thereto, and a cable, which comes out of a second arm from a wrist supporting portion, is drawn into the wrist housing from the annular gap and is routed to a hand interface supporting portion in a slackened state.

Abstract: A braking apparatus for a three-phase brushless motor is provided in a motor-driven appliance, and includes a switching circuit having six switching elements and a brake control device. The brake control device executes two-phase short-circuit control in braking control in which a braking force is generated in the motor. In the two-phase short-circuit control, an on/off state of each of the switching elements is set in such a manner that two out of three conduction paths constituting one of a positive electrode side conduction path that connects three terminals of the motor and a positive electrode side of a direct current power source and a negative electrode side conduction path that connects the three terminals and a negative electrode side of the power source are in a conducting state and other of the three conduction paths is in a non-conducting state.

Abstract: A drive section for a substrate transport arm including a frame, at least one stator mounted within the frame, the stator including a first motor section and at least one stator bearing section and a coaxial spindle magnetically supported substantially without contact by the at least one stator bearing section, where each drive shaft of the coaxial spindle includes a rotor, the rotor including a second motor section and at least one rotor bearing section configured to interface with the at least one stator bearing section, wherein the first motor section is configured to interface with the second motor section to effect rotation of the spindle about a predetermined axis and the at least one stator bearing section is configured to effect at least leveling of a substrate transport arm end effector connected to the coaxial spindle through an interaction with the at least one rotor bearing section.

Abstract: A controlled relative motion system includes a base support and a manipulable support. A plurality of lower link members are pivotally coupled to the base support, and each includes a spherical section capture opening. A plurality of upper link members are rotatably coupled to the lower link members via spherical joints at the spherical section capture openings. The manipulable support is pivotally coupled to the plurality of upper link members.

Abstract: A first driving signal is supplied to a first electrode of a vibrating body. A second driving signal is supplied to a second electrode of the vibrating body. A common driving signal is supplied to a common electrode of the vibrating body. A phase of the first driving signal is set changeable with respect to a phase of the common driving signal. A phase of the second driving signal is set changeable with respect to the phase of the common driving signal. Then, it is possible to switch a driving direction of a piezoelectric motor according to which phase of the first driving signal or the second driving signal is varied from the phase of the common driving signal. If the phase is simply changed, a switch is unnecessary. It is possible to reduce a driving circuit in size.

Abstract: A head structure of a robot according to the invention includes a first motor and a second motor so supported side by side within a head of the robot that output shafts are positioned coaxially with each other; a left elastic frame that is so driven by the first motor and one end of which is so fitted as to be rotatable around the output shaft and the other end of which extending in a perpendicular direction from the output shaft is supported by a trunk of the robot; and a right elastic frame that is so driven by the second motor and one end of which is so fitted as to be rotatable around the output shaft and the other end of which extending side by side with the left elastic frame from the output shaft is supported by the trunk.

Abstract: Systems and methods relating to a clutch system for use in controllably transmitting torque from an input shaft to an output shaft. The clutch system has a torque transmission fluid that has a viscosity that changes based on the strength of an electromagnetic field passing through the fluid. A number of sensors are placed at different radial locations on the torque transmission disks to detect the strength of the electromagnetic field. Based on the strength of the electromagnetic field, the amount of torque being transmitted from the input shaft to the output shaft can be adjusted. Also disclosed is a distributed actuation architecture that uses this clutch system. The distributed actuation architecture allows for the use of a single drive motor in conjunction with multiple instances of the clutch system to actuate a mechanical linkage, such as a robotic arm.

Abstract: The various robotic medical devices include robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Additional embodiments relate to devices having arms coupled to a device body wherein the device has a minimal profile such that the device can be easily inserted through smaller incisions in comparison to other devices without such a small profile. Further embodiments relate to methods of operating the above devices.