Joint Between Elements Patents (Class 74/490.05)
  • Patent number: 11141866
    Abstract: A grasping apparatus brings a hand unit to a standstill after performing a grasping motion for a target object that deforms when being grasped, performs a determination operation of making an arm unit move and displace the whole hand unit so that a part of the target object that is not grasped by the hand unit may cover a specific spot, and determines that the hand unit has successfully grasped the target object when an observation unit can no longer observe the specific spot after starting the determination operation.
    Type: Grant
    Filed: November 5, 2018
    Date of Patent: October 12, 2021
    Inventor: Takuya Ikeda
  • Patent number: 11135716
    Abstract: The present invention relates to a robot device comprising a chain comprising a plurality of fixedly connected links and a mobile actuator movable thereon configured to change a position of a link relative to a position of an adjacent link; wherein said mobile actuator comprises at least a first motor to drive it along said chain of connected links; and wherein said mobile actuator is engageable with a position-determining element in said link.
    Type: Grant
    Filed: March 27, 2017
    Date of Patent: October 5, 2021
    Inventor: David Zarrouk
  • Patent number: 11130226
    Abstract: The arm structure of a robot includes a first motor and a second motor attached to an arm member, a first bearing attached to the arm member, an arm member supported on the arm member by the first bearing, a first gear rotating together with the first bearing, a first motor transmission gear transmitting rotation force of the first motor to the first gear, a second bearing attached to the arm member and having a center axis perpendicular to a center axis of the first bearing, a rotary member supported on the arm member by the second bearing and rotatable relative to the arm member, a second gear attached to the rotary member, and a second motor transmission gear transmitting rotation force of the second motor to the second gear to make the rotary member rotate.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: September 28, 2021
    Inventor: Satoshi Adachi
  • Patent number: 11072081
    Abstract: Robot sealing structure includes a shaft end face of a shaft of a reducer, an attachment surface of an arm member, bolts for fixing the shaft and the arm member to each other, and a seal member arranged between the shaft end face and the attachment surface, a hollow hole including a center axis line of the shaft is provided in the shaft end face, an input gear housing portion for housing an input gear, and a gear housing portion for housing a gear driven by the input gear are provided in a periphery of the hollow hole, the periphery of the hollow hole is provided with a protruding portion formed between the input gear housing portion and the gear housing portion, and a hole for temporarily attaching or fixing the seal member in the protruding portion is provided.
    Type: Grant
    Filed: December 17, 2019
    Date of Patent: July 27, 2021
    Inventor: Kouhei Hanatani
  • Patent number: 11000946
    Abstract: In the link operating device, a distal-end-side link hub is connected to a proximal-end-side link hub so as to be changeable in position relative thereto via at least three link mechanisms. Each link mechanism includes a proximal-side end link member, a distal-side end link member, and a center link member. Position-controlling actuators and speed reduction mechanisms are provided to two or more of the link mechanisms. The proximal-side end link member includes a bent portion and a pair of rotational connection bodies disposed at one end of the bent portion. The speed reduction mechanism is disposed between the pair of rotational connection bodies, and includes an output shaft fixed to one of the rotational connection bodies, and an input shaft rotatably supported by the other one of the rotational connection bodies.
    Type: Grant
    Filed: December 5, 2018
    Date of Patent: May 11, 2021
    Inventors: Kenzou Nose, Hiroshi Isobe, Seigo Sakata
  • Patent number: 10959798
    Abstract: A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation an articulated instrument in response to operator manipulation of an associated input device while generating a force command to the input device that nudges the operator to command the instrument to a preferred pose. When a transition is to occur between first and second preferred poses, one is phased in while the other is phased out. Virtual barriers may be imposed to prevent the articulated instrument from being commanded to an undesirable pose.
    Type: Grant
    Filed: March 6, 2019
    Date of Patent: March 30, 2021
    Inventors: Nicola Diolaiti, Paul E. Lilagan
  • Patent number: 10940588
    Abstract: The invention relates to an improved robotic arm apparatus and associated method which improves a robot configured in a “delta” arrangement. The robotic arm apparatus is arranged with three substantially identical movable arm assemblies connected together with three linear actuators in a triangular configuration such that each end of each linear actuator has at least one translational degree of freedom.
    Type: Grant
    Filed: September 13, 2018
    Date of Patent: March 9, 2021
    Inventor: Neil Ludban
  • Patent number: 10933540
    Abstract: To simplify production, a hollow-structure robot link-constituting member is obtained by joining two or more formed members obtained by press-forming steel sheets. Compared to when the robot link-constituting member is formed of castings, the thickness can be easily reduced and high strength can be maintained by forming a hollow structure by joining at least two formed members obtained by press-forming steel sheets. In this manner, significant weight reduction can be achieved compared to iron castings, and occurrence of defects can be reduced compared to aluminum alloy castings.
    Type: Grant
    Filed: April 4, 2019
    Date of Patent: March 2, 2021
    Inventor: Kazutaka Nakayama
  • Patent number: 10926402
    Abstract: A robotic arm system is provided. The system includes a one or more roll and/or angle actuators driven by a unidirectional drive. One or more clutches allow the actuators to engage and disengage with a drive shaft or a reverser assembly or angle drive coupled to the drive shaft, thereby permitting changes in rotational direction for the actuators without a change in the rotational direction of the drive.
    Type: Grant
    Filed: December 21, 2017
    Date of Patent: February 23, 2021
    Assignee: X Development LLC
    Inventors: Alex Shafer, Bruce Schena, Mitchell Barham
  • Patent number: 10766134
    Abstract: The invention relates to a back module (2) for an exoskeleton structure, comprising a spinal column segment (21) designed to extend along a spinal column of a user, the spinal column segment (21) comprising a plurality of vertebral elements (211), stacked on one another, and a flexible connecting element (212) connecting the vertebral elements (211) to one another, the spinal column segment (21) having a stable equilibrium position in which the flexible connecting element (212) holds the vertebral elements (211) supported against one another, and the flexible connecting element (212) being elastic so that, during a movement of the back of the user, the flexible connecting element (212) allows a movement of the vertebral elements (211) with respect to one another, while exerting a return force tending to return the spinal column segment (21) the stable equilibrium position.
    Type: Grant
    Filed: December 23, 2016
    Date of Patent: September 8, 2020
    Inventors: Jordane Grenier, Jonathan Baptista, Roland Thieffry, Alexandre Vaure
  • Patent number: 10744656
    Abstract: Provided is a line-shaped-item securing method including an elastic-body disposing step of disposing an elastic body so as to surround the periphery of one or more line-shaped items; a compressing step of compressing the elastic body, disposed around the periphery of the line-shaped items in the elastic-body disposing step, in a direction perpendicular to the lengthwise direction of the line-shaped items to dimensions smaller than a gap in a robot, through which the line-shaped items are to be passed; a line-shaped-item inserting step of inserting a portion of the line-shaped items, surrounded by the elastic body compressed in the compressing step, into the gap; and an expanding step of releasing the elastic body from compression, with the line-shaped items inserted into the gap in the line-shaped-item inserting step, thereby expanding the elastic body.
    Type: Grant
    Filed: November 6, 2018
    Date of Patent: August 18, 2020
    Inventors: Kazutaka Nakayama, Yasuyoshi Tanaka, Satoshi Adachi
  • Patent number: 10737379
    Abstract: An industrial robot includes first and second kinematic chains configured to transmit the movements of corresponding first and second actuators to respective movements of an end effector. The first kinematic chain includes a first rod which is stiff. The second kinematic chain includes elements between the second actuator and the first rod such that the actuation of the second actuator causes bending forces on the first rod. The first and second kinematic chains thereby have the first rod as a common element, which improves compactness and accessibility of the robot. This improvement assumes that the robot is provided with one or more stiff rods that can bear the bending forces resulting from the actuation of the corresponding actuators.
    Type: Grant
    Filed: May 23, 2013
    Date of Patent: August 11, 2020
    Assignee: ABB Schweiz AG
    Inventor: Torgny Brogardh
  • Patent number: 10676170
    Abstract: Aspects of the disclosure provide a flex connection for high altitude balloon applications. During operation flex connection allows a payload of a high-altitude balloon to remain level when an envelope of the balloon is tilted, in order to change the direction of the balloon. As an example, a system may include a balloon envelope, a payload, a cable between the balloon envelope and the payload, and a flex connection on the cable. The flex connection enables the payload to remain level relative to the ground when the balloon is in flight and the balloon envelope is tilted relative to the payload. The flex connection includes a top portion, a plurality of discs, and a bottom portion.
    Type: Grant
    Filed: July 3, 2018
    Date of Patent: June 9, 2020
    Assignee: Loon LLC
    Inventors: Kyle Brookes, John Cromie, Raymond Louis Gradwohl
  • Patent number: 10578197
    Abstract: A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.
    Type: Grant
    Filed: November 15, 2017
    Date of Patent: March 3, 2020
    Assignee: iRobot Corporation
    Inventors: Mark R. Claffee, Timothy R. Ohm, Erik Amaral, Annan M. Mozeika
  • Patent number: 10493630
    Abstract: An industrial robot apparatus comprises an apparatus main body, a handling device, a moving device. The moving device comprises a first groove, a first motor in one inner wall of the first groove, a first lead screw on one end of the first motor. The first motor is turned on to drive the first lead screw to rotate to move the slide block on the first lead screw and a clamp block to the same side. The upper end of the slide block is fixedly connected with a first working block. A second motor in the upper end of the first working block is turned on to drive a revolving shaft to rotate, so a second working block rotates to drive the clamp block to rotate to the designated position so as to intelligently and automatically carry out handling works to multi-directional designated positions in industrial production process.
    Type: Grant
    Filed: December 21, 2018
    Date of Patent: December 3, 2019
    Inventor: Xiong Wang
  • Patent number: 10327849
    Abstract: A robotic surgical systems and methods of operating the same are provided. The system comprises a surgical tool, a manipulator having a plurality of joints and supporting the surgical tool, and a controller. A virtual simulation represents the surgical tool as a virtual rigid body having a virtual mass including an inertia about at least one of the joints. The controller determines an expected joint torque for the joint. The expected joint torque is compared to an actual joint torque of the joint to determine a joint torque difference. The inertia of the virtual mass about the joint is determined. An angular acceleration about the joint is computed using the joint torque difference and the inertia. The angular acceleration is projected to the virtual mass to determine an external force. The controller simulates dynamics of the surgical tool in the virtual simulation in response to the external force.
    Type: Grant
    Filed: November 3, 2016
    Date of Patent: June 25, 2019
    Assignee: MAKO Surgical Corp.
    Inventor: Nicholas Jon Post
  • Patent number: 10315316
    Abstract: A space-saving floating joint including a locking mechanism that locks a swing of a movable base with respect to a fixed base is provided. A floating joint includes: a fixed base; a movable base; a floating mechanism that floatingly supports the movable base swingably with respect to the fixed base; and a locking mechanism that fixes the movable base in a state of not being swingable with respect to the fixed base. The floating mechanism includes a spherical bearing having a spherical surface, and a spherical washer part that supports the spherical surface slidably. The locking mechanism is provided in an inner part of the spherical bearing.
    Type: Grant
    Filed: September 7, 2017
    Date of Patent: June 11, 2019
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Motoki Uchikawa
  • Patent number: 10259125
    Abstract: A mobile robot comprises a trunk and several limbs removably linked to the trunk. Each of the limbs are configured for prepositioning the limb on the trunk, and a single flange is linked to the trunk and configured to removably fix all the limbs to the trunk. Each of the limbs comprises a motorized articulation, via which the limb is positioned and fixed onto the trunk, and can be driven in movement relative to the trunk.
    Type: Grant
    Filed: June 1, 2015
    Date of Patent: April 16, 2019
    Inventors: Ludovic Houchu, Fabien Mugnier, Vincent Clerc
  • Patent number: 10259115
    Abstract: A work device includes a base unit, a movable unit configured to have an end effector mounted thereto, linking mechanisms linking the base unit to the movable unit, actuators fixed to the base unit for driving the plurality of linking mechanisms, respectively, and a controller that moves the end effector by operating the actuators. A certain linking mechanism out of the plurality of linking mechanisms includes a joint. The controller includes a joint angle determination unit that determines whether or not a bending angle of the linking mechanism at the joint is within an operable range.
    Type: Grant
    Filed: December 6, 2016
    Date of Patent: April 16, 2019
    Inventors: Ken Takano, Satoru Kimura
  • Patent number: 10166674
    Abstract: Methods and apparatus that adapt programming and/or control of a robot. The robot has at least one attachment area that can removably couple with any one of a plurality of end effectors. The programming and/or control is adapted based on received parameters of an end effector attached (or to be attached) to the attachment area of the robot. Some implementations are directed to adapting graphical user interface output of a robot programming application based on one or more parameters of an end effector for a robot being programmed via the robot programming application. Some implementations are directed to adapting control of a robot based on one or more parameters of an end effector attached (or to be attached) to the robot.
    Type: Grant
    Filed: May 18, 2017
    Date of Patent: January 1, 2019
    Inventors: Anthony Sean Jules, Johan Ulrich Lewin Jessen, Benjamin M. Davis
  • Patent number: 9795445
    Abstract: A system and method for controlling a manipulator are provided. A manipulator controller measures an actual torque and calculates an expected torque for at least one joint motor of the manipulator. The manipulator controller computes a backdrive force for the at least one joint motor based on the actual torque and expected torque. A surgical tool of the manipulator is modeled as a virtual rigid body. The manipulator controller computes a total force or torque to apply to the virtual rigid body based on the backdrive force. The manipulator controller determines a target position of the surgical instrument based on the total force or torque and commands positioning of the joint motors to advance the surgical instrument to the target position.
    Type: Grant
    Filed: December 1, 2015
    Date of Patent: October 24, 2017
    Inventor: David Gene Bowling
  • Patent number: 9579218
    Abstract: Prosthetic devices and, more particularly, modular myoelectric prosthesis components and related methods, are described. In one embodiment, a hand for a prosthetic limb may comprise a rotor-motor; a transmission, comprising a differential roller screw; a linkage coupled to the transmission; and at least one finger coupled to the linkage. In one embodiment, a component part of a wrist of a prosthetic limb may comprise an exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission. In one embodiment, an elbow for a prosthetic limb may comprise an exterior-rotor motor, and a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw.
    Type: Grant
    Filed: February 4, 2015
    Date of Patent: February 28, 2017
    Assignee: Rehabilitation Institute of Chicago
    Inventors: James Lipsey, Jon Sensinger
  • Patent number: 9533420
    Abstract: A distal end side link hub is connected to a proximal end side link hub via three or more link mechanisms such that alteration in posture of the distal end side link hub is allowed. Each of the link mechanisms includes a proximal side end link member, a distal side end link member, and an intermediate link member. A line member is disposed between the link hubs, two ends of the line member being held at line member holding points which are on link hub central axes, respectively. In a state where the link hubs are parallel to each other, when the distance from a midpoint to each spherical link center is defined as (D) and the distance from each spherical link center to its corresponding line member holding point is defined as (H), the relationship H=0.5×D is established.
    Type: Grant
    Filed: November 10, 2015
    Date of Patent: January 3, 2017
    Inventors: Keisuke Sone, Hiroshi Isobe, Yukihiro Nishio
  • Patent number: 9505126
    Abstract: An industrial robot includes a parallel kinematics mechanism that provides three degrees of freedom to a ring structure while maintaining the ring structure substantially in a fixed orientation relative to a reference plane established by a stationary base plate. A pivot sleeve is suspended within the stationary base plate and may pivot on two perpendicular axes of an intermediate gimbal. An elongate boom is mounted within the pivot sleeve and extends from an upper end through the pivot sleeve to a lower end. An end effector is mounted at the lower end of the elongate boom and is arranged for carrying a work element. Gimbal rings are located at the upper and lower ends of the elongate boom and are interconnected by a control linkage to maintain the end effector substantially parallel to the ring structure during movement of the end effector through a three-dimensional work envelope.
    Type: Grant
    Filed: October 27, 2014
    Date of Patent: November 29, 2016
    Inventor: Michele D'Egidio
  • Patent number: 9475191
    Abstract: Disclosed are robotic systems, methods, bipedal robot devices, and computer-readable mediums. For example, a robotic system may include a robotic body, a robotic hip connected to the robotic body, and a ball screw connected to the robotic hip. Further, the robotic system may include a robotic leg connected to the robotic hip parallel to the ball screw. Yet further, the robotic hip includes a motor that is linearly movable to one or more positions along the ball screw between one end of the robotic leg and an opposite end of the robotic leg.
    Type: Grant
    Filed: February 9, 2015
    Date of Patent: October 25, 2016
    Assignee: Google Inc.
    Inventors: Junichi Urata, Yoshito Ito
  • Patent number: 9296114
    Abstract: The articulated multiple-axis robot structure has a frame, an arm and a forearm, a shaft for attaching a tool, an actuator commanding the pivoting of a slide-socket, an actuator commanding the pivoting, a rotatable nut-socket, and a coupling device for securing the sockets in rotation. The coupling device having a coupling washer between the sockets and connected in rotation with one of the slide-socket and the nut-socket. The coupling washer is movable between a coupling configuration, in which the translation of the shaft relative to the forearm is locked, and an operating configuration, in which the translation and rotation of the shaft relative to the forearm are freed by a first electromagnet.
    Type: Grant
    Filed: March 1, 2013
    Date of Patent: March 29, 2016
    Inventors: Vincent Gerat, Joel Conrad, Eric Sallet
  • Patent number: 9243696
    Abstract: A distal side link hub is connected with a proximal end side link hub through three sets of link mechanisms for alteration in posture. At least two sets of the link mechanisms include an actuator for arbitrarily changing the posture of the distal end side link hub relative to the proximal end side link hub by rotating a proximal side end link member and a reduction gear unit for reducing the speed of and transmitting the operation amount of the actuator to the proximal side end link member. The reduction gear unit includes a geared speed reducing section having a small gear rotated by the actuator and a large gear provided in the proximal side end link member. The radius of pitch circle of the large gear is chosen to be equal to or greater than the arm length of the proximal side end link member.
    Type: Grant
    Filed: September 11, 2012
    Date of Patent: January 26, 2016
    Inventors: Hiroshi Isobe, Hiroyuki Yamada, Yukihiro Nishio
  • Patent number: 9211157
    Abstract: Image-guided therapy of a tissue can utilize magnetic resonance imaging (MRI) or another medical imaging device to guide an instrument within the tissue. A workstation can actuate movement of the instrument via a probe driver, and can actuate energy emission and/or cooling of the instrument to effect treatment to the tissue. The workstation and/or an operator of the workstation can be located outside a vicinity of an MRI device or other medical imaging device, and drive means for positioning the instrument can be located within the vicinity of the MRI device or the other medical imaging device. The instrument can be an MRI compatible laser probe that provides thermal therapy to, e.g., a tissue in a brain of a patient. The probe driver allows for precise positioning, stabilization and manipulation of a probe.
    Type: Grant
    Filed: December 1, 2014
    Date of Patent: December 15, 2015
    Inventors: Richard Tyc, Salman Qureshi, Mark Andrew Grant, Luis Filipe Silva Fernandes, Daniel Prazeres Carreira, John Schellhorn
  • Patent number: 9214314
    Abstract: An ion beam manipulator including a suppression electrode, a ground electrode connected to the suppression electrode in a parallel, spaced-apart relationship therewith by three electrically insulating connectors, the connectors being spaced 120 degrees apart from one another around a circumference of the suppression electrode and the ground electrode, a plurality of linkages extending from the electrically insulating connectors, at least one of the linkages including a pair of parallel support arms connected at a first end to a corresponding one of the electrically insulating connecters by a first pair of universal joints and connected at a second end to a bracket by a second pair of universal joints, and a drive shaft extending from the bracket, the drive shaft coupled to an actuator configured to extend and retract the drive shaft along a longitudinal axis of the drive shaft.
    Type: Grant
    Filed: March 10, 2015
    Date of Patent: December 15, 2015
    Assignee: Varian Semiconductor Equipment Associates, Inc.
    Inventors: Jordan B. Tye, Jeffrey D. Susser, Sergio Alonso Gonzalez-Palavicini
  • Patent number: 9206024
    Abstract: Automated systems and methods control the velocity of the extension arm of a reach carriage. In particular, the extension arm is allowed to operate at full velocity when it is not approaching its extension or retraction limits. At the limits, the extension arm is gradually slowed to a stop. A sensing apparatus includes a sensor and a marker that moves with the movement of the extension arm. The marker moves into and out of the sensor's range, causing the sensor to generate a position signal. If the extension arm is nearing its limit, the marker is outside the sensor range. A control unit detects changes in the position signal and slows the extension arm accordingly. The control unit may apply a deceleration profile to cushion the extension arm at its limits.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: December 8, 2015
    Assignee: The Raymond Corporation
    Inventors: Joseph Thomas Yahner, Lans Erik Centerwall
  • Patent number: 9194725
    Abstract: A sensor mounting for a distance sensor includes a fixing part for attaching to a vehicle, and a receiving part attached to the fixing part in an adjustable manner in order to receive the distance sensor. The receiving part is adjustable into at least two different angular positions on the fixing part.
    Type: Grant
    Filed: July 21, 2011
    Date of Patent: November 24, 2015
    Assignee: WABCO GmbH
    Inventors: Michael Kaufmann, Rainer Risse, Udo Ronnenberg, Axel Stender, Arne Stephan
  • Patent number: 9133864
    Abstract: A small, flexible fluidic actuator is presented which may be of millimeter scale in size and made of suitable flexible materials such as silicone. A manufacturing method and two analytical models for the device along with experimental test results are also disclosed. The flexible fluidic actuator devices disclosed include multidirectional fluidic actuator joints providing independently controllable multi-directional actuation movement. The dynamic behavior of the joints for various pressure loads was also characterized and described herein.
    Type: Grant
    Filed: October 7, 2010
    Date of Patent: September 15, 2015
    Inventors: Carlo Menon, John Berring
  • Patent number: 9044865
    Abstract: A two joint module includes a module housing, a first joint and a second joint. The module housing has a structural support portion. The first joint has a first motor and a first motor axis and a first joint axis. The second joint has a second motor and a second motor axis and a second joint axis. The second joint axis is not parallel to the first joint axis. The first joint is attached to the structural support portion and the second joint is attached to the structural support portion.
    Type: Grant
    Filed: March 7, 2013
    Date of Patent: June 2, 2015
    Inventors: Andrew A. Goldenberg, Brent Bailey, Matthew Gryniewski, Xiaojia He, Yi Yang
  • Patent number: 9032831
    Abstract: A modified delta linkage robot uses a reverse orientation arm linkage that includes an inwardly direct lower arm. This reverse arm orientation provides a number of advantages with respect to access over an extending surface such as may occur in a home, office or other environments shared with people. The delta linkage may also have application in certain factory environments, particularly when combined with an omni wheeled base. The linkage and the preferred linkage and omni wheeled base provide a stable movable platform. In addition this combination can advantageously include a number of sensors to take active steps to discourage and/or reduce the effect of sudden forces applied thereto.
    Type: Grant
    Filed: March 15, 2012
    Date of Patent: May 19, 2015
    Assignee: CrossWing Inc.
    Inventor: Stephen Sutherland
  • Publication number: 20150128750
    Abstract: A linkage mechanism includes a first joint, a second joint, a first linkage and a second linkage. The two ends of the first linkage are respectively connected to the first joint and the second joint and the two ends of the second linkage are respectively connected to the first joint and the second joint, wherein when the linkage mechanism is subjected to an external force, the vibration phase of the first linkage is different from the vibration phase of the second linkage by ?. In addition, a robot working platform and a design method for robot working platform are disclosed as well.
    Type: Application
    Filed: December 17, 2013
    Publication date: May 14, 2015
    Applicant: Industrial Technology Research Institute
    Inventors: Po-Yi Li, Tsung-Liang Wu, Cheng-Chen Yang, Jwu-Sheng Hu
  • Publication number: 20150122071
    Abstract: Disclosed is a manipulator including a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section.
    Type: Application
    Filed: November 4, 2014
    Publication date: May 7, 2015
    Inventors: Youn Baek LEE, Yong Jae KIM, Jeong Hun KIM, Kyung Shik ROH, Se Gon ROH, Jong Won LEE, Byung June CHOI
  • Publication number: 20150122559
    Abstract: Provided is a lower limb structure for a legged robot with which a load on an actuator for driving a knee joint can be reduced. The lower limb structure for the legged robot comprises: a hip joint main body; a thigh portion; a hip joint coupling for connecting the thigh portion to the hip joint main body; and a knee joint main body joined to the thigh portion. The lower limb structure for the legged robot provides a thigh portion auxiliary link having one end portion joined to the hip joint main body or the hip joint coupling to be rotatable about a pitch axis and the other end portion joined to the knee joint main body to be rotatable about the pitch axis. A knee joint actuator increases and decreases a length from the one end portion to the other end portion of the thigh portion auxiliary link.
    Type: Application
    Filed: April 11, 2013
    Publication date: May 7, 2015
    Applicant: THK CO., LTD.
    Inventor: Masaki Nagatsuka
  • Publication number: 20150122072
    Abstract: A twin rotation driving apparatus is provided, including a base body, an axle unit pivotally connected to the base body for carrying a workpiece, a first driving unit disposed on the base body and having a first gear set connected to the axle unit and a first motor coaxially connected to the first gear set, and a second driving unit disposed on the base body and having a second gear set connected to the axle unit and a second motor coaxially connected to the second gear set. The twin rotation driving apparatus includes two motors and two gear sets. Therefore, smaller motors can be included in the twin rotation driving apparatus, and the twin rotation driving apparatus is compact and can still generate great enough torques.
    Type: Application
    Filed: February 24, 2014
    Publication date: May 7, 2015
    Applicant: Industrial Technology Research Institute
    Inventors: Chin-Fa WU, Chin-Mou HSU, Hsi-Hung HSIAO, Chiu-Hung LI
  • Publication number: 20150122073
    Abstract: A spinal column for a humanoid robot comprises a lower base to be fixed to a pelvis of the robot and an upper base to be fixed to a neck of the robot, the spinal column allowing two rotations of the upper base with respect to the lower base, a first being about a sagittal axis and a second being about a transverse axis. The column comprises a flexible rod and linear actuators, the rod being inset at a first of its ends at a point in a first of the bases and at least guided at a point in a second of the bases, the actuators both being anchored between the two bases at anchor points. For each of the bases, the anchor points of the two actuators and the point of insetting or guidance of the rod are distant.
    Type: Application
    Filed: May 13, 2013
    Publication date: May 7, 2015
    Inventor: Bruno Maisonnier
  • Patent number: 9021916
    Abstract: A robotic arm includes a driving unit, a first arm assembly connected to the driving unit, and a second arm assembly. The first arm includes two balls. The second arm assembly includes two arms and two intermediate members. Each intermediate member is secured to an end of one of the two arms. Each intermediate member defines a receiving recess. Each receiving recess has a spherical inner circumferential surface. Each ball is partially received in one of the two receiving recesses and abuts against the spherical inner circumferential surface. The two arms and the two intermediate members are capable of rotating about the balls. The driving unit drives the balls to move. The balls force the arms to move in a direction as a moving orientation of the balls, at the same time the arms rotating about the balls.
    Type: Grant
    Filed: November 11, 2013
    Date of Patent: May 5, 2015
    Assignees: Shenzhen Futaihong Precision Industry Co., Ltd., FIH (Hong Kong) Limited
    Inventors: Jie Gao, Jian-Ping Jin, Bing Yu
  • Patent number: 9021915
    Abstract: A gear transmission mechanism includes a housing, a first transmission assembly, a second transmission assembly, and a gear clearance adjustment assembly. The first transmission assembly includes an input shaft, and the second transmission assembly includes an output shaft. The gear clearance adjustment assembly includes an adjustment base mounted on the housing, fasteners, bearings, a washer, a fixing member, and a pair of freely rotatable adjusting gears for the transmission of rotative force. The adjusting gears mesh with the first and second transmission gears.
    Type: Grant
    Filed: March 21, 2013
    Date of Patent: May 5, 2015
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Bo Long
  • Publication number: 20150114163
    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.
    Type: Application
    Filed: November 8, 2012
    Publication date: April 30, 2015
    Inventor: Mark E. Rosheim
  • Publication number: 20150114165
    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.
    Type: Application
    Filed: October 25, 2013
    Publication date: April 30, 2015
    Applicants: Universite Laval, GM Global Technology Operations LLC
    Inventors: Nicolas Lauzier, Clement Gosselin, Dalong Gao, Martin Grenier, Robin Stevenson
  • Publication number: 20150107397
    Abstract: A bidirectional pivoting joint comprises pivoting elements which are rotatable relative to one another, specifically in a coaxial arrangement, a cylindrical outer body and a cylindrical inner body and a locking device optionally locking and releasing the rotational movement. The locking device has an annular space between the outer body and the inner body. Provided between annular space surfaces, specifically an inner surface of the outer body and an outer surface of the inner body are radially narrowing and, on the other hand, radially wider, peripheral regions in alternating arrangement. Arranged in the annular space are at least two clamping members which are each adjustable in cross-section in the peripheral direction (u) of the annular space. In a holding state, each clamping member has a first said cross-section and lies in the narrowing peripheral regions against the outer body and the inner body.
    Type: Application
    Filed: June 15, 2012
    Publication date: April 23, 2015
    Inventors: Peter-Michael Klews, Kerstin Ahrens, Marko Behr
  • Patent number: 9010214
    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.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: April 21, 2015
    Assignee: Board of Regents of the University of Nebraska
    Inventors: Eric Markvicka, Tom Frederick, Jack Mondry, Joe Bartels, Shane Farritor
  • Patent number: 8997599
    Abstract: A motorized joint having two degrees of freedom in rotation connecting two elements is provided. The joint includes two pivot connections such that a first one of the pivot connections establishes a first pivot axis, and a second one of the pivot connections establishes a second pivot axis. The first pivot axis is not parallel to the second pivot axis. A first motor is disposed in fixed relation to a first one of the two elements and has a drive shaft aligned with a first drive axis so as to cause by means of a first speed reducer with parallel axes the two elements to rotate about the first pivot axis.
    Type: Grant
    Filed: April 6, 2009
    Date of Patent: April 7, 2015
    Assignee: Aldebaran Robotics
    Inventors: Bruno Maisonnier, Pascal Lafourcade, Romain Fischesser
  • Publication number: 20150082935
    Abstract: A mechanism includes at least one module (M1) having a tubular structure with at least three faces, each of said faces comprising: two parallel longitudinal fibers (1, 4), rigid and inextensible, whose ends are connected through respective ball or elastic joints (0-1; 4-0) to the ends of the fibers of contiguous modules, or to a base (0); a transverse link (2) connecting said two longitudinal fibers, having a first end rigidly connected to said first fiber and a second end slidably connected to said second fiber, said transverse link being inextensible and having two rotational degrees of freedom; a longitudinal link (32) connecting said transverse link to a homologous transverse link of an adjacent module or to a base via a ball or elastic joint (32-0) and an universal joint (3-32); and an actuator (A) for changing the length of said longitudinal link.
    Type: Application
    Filed: September 26, 2013
    Publication date: March 26, 2015
    Inventor: Christian CIBERT
  • Patent number: 8984982
    Abstract: A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled.
    Type: Grant
    Filed: October 31, 2006
    Date of Patent: March 24, 2015
    Assignees: Force Dimension S.A.R.L., Baur S.S.
    Inventors: Patrick Helmer, Charles Baur, Jr., Marc Weibel
  • Publication number: 20150081092
    Abstract: A serpentine robotic crawler having multiple dexterous manipulators supported about multiple frame units. The frame units are connected via an articulating linkage at proximal ends wherein the articulating linkage is capable of positioning the frames into various configurations. Dexterous manipulators are coupled to distal ends of the frame units and are positionable via the articulating linkage and articulating joints therein into various positions about the frame ends. The configurations and positioning of the dexterous manipulators allows the robotic crawler to perform coordinated dexterous operations.
    Type: Application
    Filed: September 13, 2013
    Publication date: March 19, 2015
    Inventors: Stephen C. Jacobsen, Fraser M. Smith, Marc Olivier, John McCullough
  • Patent number: 8978509
    Abstract: A robot arm assembly includes a main base, a joint and at least one arm. The main base includes a main body, and the main body includes a mounting portion and a limiting post on a side of the mounting portion. The joint is rotatably mounted on the mounting portion and includes a limit piece corresponding to the limiting post. The at least one arm is fixed to the joint, when the arm rotates relative to the main base to a predetermined extent of rotation, the limit piece abuts against the limiting post to stop the rotation of the arm.
    Type: Grant
    Filed: July 18, 2012
    Date of Patent: March 17, 2015
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventors: Xiao-Peng Pan, Chao-Qiang Liu