Abstract: A motorized joint positioner includes a first robotic arm coupled to a first holder and a second robotic arm coupled to a second holder. At least one of the first and second robotic arms includes an actuator controllable to position the corresponding first or second holder.

Abstract: An apparatus for inoculating and streaking a solid growth culture medium in a plate, the streaking using a streaking applicator having a line of resiliently and flexibly supported spaced apart contact surfaces, the apparatus including: (a) an inoculating and streaking station including: a plate work position having a notional action line fixed in two dimensions (x,y) in a predetermined position; and a plate rotation device for rotating a positioned plate to cause streaking; (b) a sensor capable of locating the surface of the medium in a positioned plate to thereby determine for that plate, prior to inoculation and streaking of that plate, the third dimension (z) of the action line; (c) an inoculating device capable of dispensing inoculum, along the action line, on the surface of the medium in the positioned plate; and (d) a streaking device capable of moving the streaking applicator such that its line of spaced apart contact surfaces contacts, along the action line, the surface of the medium in the positi

Abstract: A robot and a behavior control system for the same are capable of ensuring continued stability while carrying out a specified task by a motion of a body of the robot. Time-series changing patterns of first state variables indicating a motional state of an arm are generated according to a stochastic transition model such that at least one of the first state variables follows a first specified motion trajectory for causing the robot to carry out a specified task. Similarly, time-series changing patterns of second state variables indicating a motional state of the body are generated according to the stochastic transition model such that the second state variables satisfy a continuously stable dynamic condition.

Abstract: The treatment device for hemiplegia comprises a robot which is putted on the hemiplegic side of the body of a subject; a motion measurement unit for measuring the motion of the healthy side of the body of the subject; and a control which is connected with the robot and the motion measurement unit, wherein the control unit is configured to receive the healthy side's motion measured by the motion measurement unit and to control the robot, whereby the hemiplegic side having the robot put thereon moves in accordance with the motion of the healthy side of the body.

Abstract: A method for applying a substance to the teats of a dairy livestock comprises extending a robotic arm between the legs of a dairy livestock positioned in a stall. The method continues by rotating a linear member of a spray tool about an axis that is perpendicular to the robotic arm, wherein the linear member has a perimeter that lies within an outer perimeter of the robotic arm when the robotic arm extends between the hind legs of the dairy livestock. The method continues by discharging a substance as the linear member rotates.

Abstract: A robotic attacher retrieves cups from the left side of an equipment area located behind a dairy livestock and attaches the cups to the teats of the dairy livestock in sequence. The sequence comprises attaching a first cup to the left front teat, a second cup to the right front teat, a third cup to the left rear teat, and a fourth cup to the right rear teat.

Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

Abstract: A system includes a milking box and a robotic attacher. The milking box has a stall to accommodate a dairy livestock. The robotic attacher extends under the dairy livestock and comprises a nozzle. The robotic attacher is operable to rotate such that, during a first operation, the nozzle is positioned generally on the bottom of the robotic attacher, and during a second operation, the nozzle is positioned generally on the top of the robotic attacher.

Abstract: A system for manipulating objects includes a scanner arranged to optically scan an object in a first position to obtain position data indicative of the first position, a manipulation module arranged to receive the position data and to generate orientation instructions therefrom for reorienting a manipulation arm from a first orientation corresponding to engagement of the object by the arm when the object is in the first position to a second orientation corresponding to engagement of the object by the arm when the object is in a second position, and an arm controller arranged to receive the orientation instructions and to control the manipulation arm to manipulate the object from the first position to the second position based on the orientation instructions.

Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for defining and executing automated movements using robotic arms (such as robotic arms configured for use in performing surgical procedures), so that a remotely-located surgeon is relieved from causing the robotic arm to perform the automated movement through movement of an input device such as a hand controller.

Abstract: A screw locking device includes a feeding mechanism, a conveying mechanism, and a pneumatic screw driver. The conveying mechanism includes a base, a pneumatic driver slidably mounted on the base, a pair of blocking members slidably mounted on the base, a conveying bridge, a flexible tube, and a controller. Each blocking member includes a blocking end positioned below the pneumatic driver. The conveying bridge communicates with the feeding mechanism, and extends to the blocking ends. The flexible tube aligned with a gap between the blocking ends, and communicates with the pneumatic screw driver.

Abstract: A control device for a robot including: a hybrid dynamics calculator calculating joint forces that act on immovable joints and the joint accelerations that are generated at movable joints by performing a hybrid dynamics calculation that includes inverse dynamics and forward dynamics using an auxiliary model in which the actuated joints of the robot having the actuated joints and the unactuated joints are immovable; a forward dynamics calculator calculating the acceleration that is generated by known force that acts on the robot using a main model; a joint force determination unit determining the joint force; and a joint force controller controlling the joint force of each joint of the robot.

Abstract: A surgical instrument includes an extension portion having a surgical tool at an end thereof, and a head portion connected to the extension portion and actuating the surgical tool. In the surgical instrument, the extension portion includes a first extension portion connected to the head portion, a second extension portion having an elbow joint portion that is bending-actuated by a rigid rod that is reciprocated in a lengthwise direction by the head portion, and a connection portion connecting the first and second extension portions at an angle.

Abstract: A robot system includes a robot arm, a controller, an imager, a display device, and an input receiver. To the robot arm, a tool is to be mounted so as to process a workpiece. The controller is configured to control the robot arm. The imager is configured to pick up an image of the workpiece. The display device is configured to display the image of the workpiece picked up by the imager. The input receiver is configured to receive an input of a processing position where the workpiece is to be processed based on the image of the workpiece displayed on the display device. The controller is configured to control the robot arm based on the processing position received by the input receiver.

Abstract: A positioning device for positioning a load is provided. The positioning device includes a motor, a measuring device, and an evaluation device. The measuring device is associated with the motor, and is operable to ascertain measurement data that characterizes the motor current consumption by the motor in the positioning of the load. The evaluation device evaluates the measurement data that have been ascertained by the measuring device, so that in that way the loading of the positioning device by the load can be ascertained.

Abstract: In a method for the offline programming of an NC-controlled manipulator which follows at least one real trajectory, possibly in a sensor-supported manner, with tool center point thereof in the real working mode, a kinematic manipulator model and, possibly, an environmental model are stored in an offline programming environment with user interface, at least one virtual trajectory of the manipulator and a virtual tolerance zone assigned to said trajectory are defined using the offline programming environment in a definition routine, and the offline programming environment is used to check, in a check routine, the previously defined tolerance zone at least in part in terms of kinematic singularities of the manipulator, the occurrence of which prompts a singularity routine to be executed.

Abstract: Provided are a multi-joint robot arm, a manipulation force acquiring unit that acquires a manipulation force from a person, the manipulation force acquiring unit disposed on the multi-joint robot arm, an external force acquiring unit that acquires an external force to be applied to a gripped object, the external force acquiring unit disposed on the multi-joint robot arm, an impedance controller that performs impedance control on the multi-joint robot arm based on the manipulation force acquired by the manipulation force acquiring unit and a set impedance parameter, and an assist force correcting unit that corrects a force component vertical to the resistance force of an assist force generated by the impedance controller according to the resistance force generated by friction caused by contact between the gripped object and an external environment.

Abstract: A polymer laminate is fabricated by laying down layers of an ultra-high molecular weight polymer material on top of each other, and fusing the layers to each other by cross-linking molecular chains of adjoining layers.

Abstract: Interface (101) for converting human control input gestures to telematic control signals. The interface includes a plurality of articulating arms (107a, 107b, 108a, 108b, and 109a, 109b) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing.

Abstract: A system and method for machining a work-piece in restrictive access operating position is disclosed. The system includes a robot arm adapted to access the bottom face of the work-piece; a computation means adapted to compute a central line on the bottom face while ascertaining an area of overlap that is accessible from all sides of the work-piece; and a robot controller adapted to sequentially maneuver the robot arm from one side of the work-piece to other side of the work-piece on the bottom face. Other embodiments are also disclosed.

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

Abstract: A method for manufacturing an aircraft component according to one embodiment of this disclosure includes providing a machining system including a controller, at least one sensor, and a tool for machining. The method further includes providing an aircraft component, and machining the aircraft component with the tool based on feedback from the at least one sensor.

Abstract: A method, system, and computer program product for remote golf club swinging is provided. The method can include receiving in a robotic golf club swing fixture from a remote operator over a computer communications network a set of swing parameters defining different aspects of a golf club swing. The method also can include directing a plurality of robotic arms of the fixture to swing a coupled golf club according to the received swing parameters. The method yet further can include sensing a result of the swinging of the coupled golf club. Finally, the method can include transmitting data derived from the sensed result to the remote operator over the computer communications network.

Abstract: An open top microfluidic device comprising a microfluidic slide carrier and one or more multiplexing stations is provided which allows sequential staining and imaging without the need for using or removing a coverslip on a mounted biological sample.

Abstract: Provided herein are robotic systems, for example, MRI guided robots, for image-guided robot-assisted surgical procedures and methods for using the same to perform such surgical procedures on a patient. The robotic systems comprise a robotic manipulator device or global positioner, means for actuating the robotic manipulator or global positioner that is mechanically linked thereto and a computer having a memory, a processor and at least one network connection in electronic communication with the robotic system. The actuating means comprises at least one transmission line having a flexible component comprising a displaceable medium, a rigid component comprising rigid pistons or a combination through which actuation is transmitted to the robotic manipulator or global positioner. The computer tangibly stores in memory software modules comprising processor-executable instructions to provide interfaces between the robotic system, an imaging system and an operator and to control operation thereof.

Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations.

Abstract: An arc welding system according to the present invention includes a welding power supply for supplying welding power to a welding wire, a welding robot including a welding torch mounted to an arm fore end thereof, and a controller for controlling the welding power supply and the welding robot. The welding power supply and the controller perform communication using digital signals, and the welding power supply outputs, to the controller, a welding power-supply feedback signal obtained at the time of inputting of a welding power-supply sync signal. With that configuration, accurate arc tracking can be realized by using the digital signals.

Abstract: A superheated steam generator for generating superheated steam is disclosed that can be converted into electric energy by adsorbing water into zeolite and desorbing water from zeolite by use of solar heat source energy and seawater source energy. The superheated steam generator using zeolite is provided with a water supply device for causing the zeolite to adsorb mist-state moisture and heat the zeolite, a zeolite boiler system including a desorption heater for desorbing water molecules adsorbed onto the zeolite and heating the zeolite to produce the superheated steam, a low-temperature purified water tank for storing purified water that can be subjected to heat exchange with at least one of seawater and surface water, and for supplying purified water energy subsequent to the heat exchange to the water supply device, and an atomization device for generating the purified water supplied to the water supply device as the mist-state moisture.

Abstract: A method and apparatus providing precision external control of interventional medical procedures is presented. The apparatus includes a fixed frame, the fixed frame attachable to a patient and to a secure structure. The apparatus also includes a precision actuator in mechanical communication with the fixed frame, the actuator directing motion of a wire within a catheter or a catheter within the patient. Additionally the apparatus includes a control device in electrical communication with the actuator, wherein the control device controls the actuator.

Abstract: An interface (101) for converting human control input gestures to telematic control signals includes a plurality of articulating arms (107, 108, 109) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing. A button (118) is provided to switch between at least two modes, wherein when in a first mode control signals are used to control a vehicle base (502), and when in the second mode control signals are used to control a robotic arm (504) coupled to the vehicle base (502).

Abstract: A manufacturing system includes a gantry module, having an end effector, for moving workpieces from a conveyor system to a working area, such as a swap module. The swap module removes a matrix of processed workpieces from a load lock and place a matrix of unprocessed workpieces in its place. The processed workpieces are then moved by the gantry module back to the conveyor. Due to the speed of operation, the end effector may build up excessive electrostatic charge. To remove this built up charge, grounded electrically-conductive brushes are strategically positioned so that, as the end effector moves during normal operation, it comes in contact with these brushes. This removes this built up charge on the end effector, without affecting throughput. In another embodiment, the end effector moves over the brushes while the swap module is moving matrix to and from the load lock.

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Abstract: This invention provides a device for checking the performance of an image-guided radiation therapy (IGRT) apparatus. The device (referred to here as a phantom) has a central body with detectable markers, rotatably suspended on a ball joint so that the pitch, roll, and yaw may be adjusted. The body is secured against a base plate, which in turn may be positioned laterally, longitudinally, and vertically within the patient treatment area. Thus, the phantom can be adjusted through six degrees of freedom so as to simulate patient positioning. To perform quality control, the phantom is secured at a predetermined offset, and the position is detected by the IGRT apparatus. The robotic couch is then allowed to compensate, a second measurement is made. The measured values are compared with the predetermined offset to assess both the accuracy in detecting the position of the phantom, and the accuracy of the mechanical correction.

Abstract: Disclosed is a remote contrivance refurbishment apparatus and related methods.

Abstract: In this robot system, a control portion includes a workpiece supporting operation command portion, a workpiece positioning operation command portion causing a second robot arm to move a workpiece toward a workpiece fitted portion while causing an end effector of the second robot arm to support the workpiece, and a fitting operation command portion causing a first robot arm to fit the workpiece into the workpiece fitted portion.

Abstract: A linkage mechanism is coupled to a limb of a human including a second body articulated to a first body and a third body articulated to the second body and has a plurality of link arms and a plurality of connection units for connecting the link arms to be adaptively movable according to a motion of the human, and an upper fixing portion and a lower fixing portion for fixing the linkage mechanism to the second body and the third body, wherein all or a part of the link arms are connected to each other to form a closed loop including the upper fixing portion and the lower fixing portion together with the second body and the third body, wherein actuators are provided to the connection units, and wherein the actuators are selectively operated to apply a force selectively to the upper fixing portion and the lower fixing portion.

Abstract: A robot cleaner and a method for controlling a robot cleaner are provided. The method may include sensing a stored value of a pulse width modulation (PWM) duty ratio based on a voltage of a battery; comparing a measured value of the PWM duty ratio with the stored value to calculate a difference between the measured value and the stored value; upon determining that the difference between the measured value and the stored value is equal to or greater than a first set value, calculating a distributed value of acceleration on a substantially vertically extending axis of the robot cleaner; and, upon determining that the distributed value of acceleration deviates from a range of a second set values, increasing a force to suction foreign matter.

Abstract: A robot controller (11) which moves either a tool (4) or a workpiece (W) relative to another one with a hand unit, controls the force acting between the tool and the workpiece, comprising a force detector unit (3) for detecting a force in one axial direction and moments about the axes in two axial directions that are at right angles with the one axis and are, further, at right angles with each other; a force-presuming point setting unit (12) for setting a force-presuming point at where a force acting between the tool and the workpiece is presumed; and a force-presuming unit (13) for presuming forces in the two axial directions and a moment about the one axis based upon the force in the one axial direction and the moments about the axes in the two axial directions, and upon the position of the force-presuming point.

Abstract: Systems and methods for transmitting measurement data wirelessly are described herein. A coordinate measurement device comprises an articulated arm comprising a plurality of articulated arm members, a coordinate acquisition member at a distal end, and a base at a proximal end. The device further comprises an add-on device assembly coupled to the coordinate acquisition member. The device further comprises a feature pack coupled to the base of the articulated arm. The feature pack may receive the coordinate data and the add-on device data packet, inserts bits of the coordinate data into a packet that can be transmitted over a network, and wirelessly transmits the packetized coordinate data and the add-on device data packet to a base station.

Abstract: A device for constructing an assembly of building components includes an articulating arm unit and a gripper/nailer mounted on an end of the articulating arm unit. The gripper/nailer includes a gripping unit for grasping building components and positioning them in a predetermined arrangement and a nailing unit for inserting a fastener to secure the building components together.

Abstract: A method of navigating a medical device through a body of a patient includes providing a topography of at least a portion of the body, accepting user input defining a navigation path, robotically navigating the medical device to a starting point on the path, and robotically navigating the medical device along the navigation path to an endpoint. Waypoints defining the navigation path may be input on a graphical representation of the topography using a user interface such as a pointing device or touchscreen. The navigation path may also be defined by tracing a substantially continuous path on the graphical representation. A therapy may be administered while robotically navigating the medical device along the navigation path, either forward or in reverse, or while navigating the medical device along a return path defined by a plurality of virtual breadcrumbs generated as the medical device traverses the navigation path.

Abstract: A manipulator for an industrial robot includes a plurality of actuators associated with a plurality of motion axes. An axis sensor is associated with each of the plurality of motion axes. Each axis sensor is configured to determine a single axis value for the corresponding axis of the plurality of motion axes. A redundant sensor arrangement is configured to ascertain an overall manipulator value. A control is configured to balance the overall manipulator value and the single axis values acquired by the axis sensors. A method of controlling the manipulator is also provided. Axis values are acquired by the axis sensors associated with each of the plurality of motion axes. A redundant manipulator value is acquired by the redundant sensor arrangement. The redundant manipulator value and the axis values acquired by the axis sensors are balanced, and a signal corresponding to the result of the balancing is output.

Abstract: An apparatus in an example comprises a manipulator, a force sensor, a signal modulator, and a visual indicator. The manipulator is employed by a user. The force sensor determines a force signal from a force applied by the manipulator on a part of an environment of the user. The signal modulator is adjustable by the user to select a switch point for the visual indicator based on relative fragility of the part of the environment. The signal modulator employs the force signal and the switch point to control the visual indicator for the user.

Abstract: A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.

Abstract: A method for stopping a manipulator includes the steps of advance simulation of stopping distances for different states and/or braking force profiles of the manipulator, estimating of an upper limit as the stopping distance on the basis of the stopping distances simulated in advance, monitoring a zone, and decelerating the manipulator when a zone is violated, wherein the monitored zone is defined variably during operation on the basis of the stopping distance of the manipulator.

Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.

Abstract: A robotic vehicle configured for autonomous or semi-autonomous operation in a rail environment is provided. The vehicle can process image data to move about the rail environment and perform one or more actions in the rail environment. The actions can include one or more actions related to decoupling and/or attaching rail vehicles, and can be implemented by performing three-dimensional image processing. The vehicle can be configured to move with any movement of a rail vehicle on which one or more actions are being performed. In an alternative embodiment, the various components configured to perform the action are implemented at a stationary location with respect to a rail line.

Abstract: A submersible robot for operating a tool relative to a surface of an underwater structure has a tool holder movably mounted on a support assembly provided with a driving arrangement for movably holding the tool in operative position relative to the surface. Position and orientation of the support assembly relative to the surface is locked and adjusted by locking and leveling arrangements. A programmable control unit operates the driving, locking and leveling arrangements and the tool and receives measurements from a sensor unit. The control unit has an operation mode wherein a positioning of the robot is determined and controlled as function of an initial position for defining a first work area, and shifted positions of the robot for defining additional work areas, the work areas having overlapping portions with one another for tracking displacements of the robot relative to the surface of the structure using the sensor unit.