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Inventi Impact - Robotics

Patent Watch

  • Robotics programming interface

    A programming interface for a hardware system includes an embedded layer for programmatic access to a physical realization of hardware, a simulation system for simulation of the hardware, and a diagnostics engine that analyzes and compares feedback data from the simulation system and the physical realization. The programming interface may be usefully employed, for example, in the design, purchase, and deployment of robotics for semiconductor manufacturing.

  • Apparatus and method for configuring and editing a control system with live data

    Methods and apparatus for configuring process, environmental, industrial and other control systems generate and/or utilize models representing configurations of control systems and/or the systems controlled by them. Records of changes to the models or the configurations represented by them are maintained, thereby, for example, providing bases for determining current states, prior states and histories of changes. Objects in the model have characteristics, such as an object type characteristic and an area characteristic. Users can have corresponding permissions. A security mechanism apparatus controls access by users to the objects. Composite objects are defined by definition objects and are displayed in encapsulated or expanded formats. Objects can include an edit control type identifier that determines how they are presented for editing. Functionality responds to user commands by transferring characteristics of a first object depicted by the graphical user interface to a second object. Configuration-time formulas contained objects are evaluated to constants prior to downloading to the control system.

  • Computer-based method and apparatus for controlling, monitoring, recording and reporting telephone access

    A method and apparatus for managing institutional telephone activity utilizing a computer-based telephony management unit to connect institutional telephones with outside telephone lines. The unit provides institutional users with fully automated, direct dial and collect calling privileges for local, long distance, and international calls. The unit contains a database for storing the calling privileges and restrictions of institutional users, for recording calling transactions made by the users, and for managing user monetary accounts. The unit can record up to 400 hours of conversation in a digital format. The unit provides various administrative capabilities, including user account management, audit trails, transaction reports, centralized management and report capabilities, and detection of fraudulent calling.

  • Parameter managing method, design parameter managing system, program and computer readable recording medium

    A system for managing design parameters in a plurality of different CAD systems flexible for the plurality of different CAD systems having essentially different design purposes. In a method for managing design parameters being used in a plurality of different CAD systems, respectively, in order to prevent prolongation of the completion time of the entire design of a product, arbitrary design parameters in the design parameters being used in the plurality of different CAD systems, respectively, are brought into a virtually shared state among the plurality of different CAD systems. Design parameters in the virtually shared state and design parameters not in the virtually shared state are managed independently.

  • Method and device for detecting a substantially invariant rotation axis

    A method for detecting a substantially invariant rotation axis of a motion of a mobile body equipped with at least one inertial or magnetic sensor with three sensitive axes that includes acquiring physical measurements with respect to the three sensitive axes of the sensor, the physical measurements including at least three samples at different times, estimating a substantially invariant rotation axis in the physical measurements space, and identifying the estimated axis as the substantially invariant rotation axis of the motion. In one aspect, the method is applicable for estimating the motion of a mobile body rotating about a substantially invariant axis.

  • Facilitating computer-assisted tagging of object instances in digital images

    One embodiment of the present invention provides a system that facilitates computer-assisted tagging of objects in a digital image. During operation, the system receives locations for one or more objects-of-interest in the digital image. Next, the system determines likelihoods of specific tags being assigned to the objects-of-interest. The system then automatically assigns tentative tags to the objects-of-interest based on the determined likelihoods. Next, the system displays the assignments of tentative tags to a user, and receives corrections to the assignments, if any, from the user.

  • Image processing system for use with a patient positioning device

    Three camera rigs are connected by wiring to a computer. The computer is also connected to a treatment apparatus. A mechanical couch is provided as part of the treatment apparatus such that under the control of the computer the relative positions of the mechanical couch and the treatment apparatus may be varied. The camera rigs obtain video images of a patient lying on the mechanical couch. The computer processes these images to generate a three-dimensional model of the surface of the patient relative to the treatment apparatus.

  • Semiconductor input control device

    A force input control device suitable for high-volume applications such as cell phones, portable gaming devices and other handheld electronic devices along with other applications like medical equipment, robotics, security systems and wireless sensor networks is disclosed. The device can be one-axis or two-axis or three-axis sensitive broadening the range of applications. The device comprises a force sensor die formed within semiconductor substrate and containing a force sensor providing electrical output signal in response to applied external force, and electrical connection elements for mounting and/or wire bonding. Signal conditioning and processing integrated circuit can be integrated within some devices. A package enclosing at least a portion of the force sensor die and comprising a force-transferring element cooperated with the sensor die for transferring an external force to the force sensor die.

  • Tape storage emulation for open systems environments

    A Virtual Tape (VT) server residing on a network is connectible on its front end to a plurality of heterogeneous backup hosts, with different operating systems and/or backup applications, and on its back end to one or more disk storage devices in an open systems environment. The VT server responds to tape storage commands sent by the backup host as if it were the intended tape storage device and then emulates the desired tape storage activity on the one or more disk storage devices. In a described implementation, the host and server act as SCSI initiator and target and communicate over a Fibre Channel connection.

  • Device and methods of providing air purification in combination with superficial floor cleaning

    The present invention is a system for and method of providing an autonomously mobile air purifier and surface cleaner in combination with a source of air fragrance in a single device for home or office use. The autonomously mobile air and surface cleaner and fragrancing system includes an air purifier, a fragrancer, a floor cleaner, an input means, a power system, operational and auxiliary sensors, robotics that drive and steer the device, and a central controller operatively connected to each of the aforementioned items to control the operation of the device. The present invention also provides a method for the operation of the device using the air purifier, fragrancer, floor cleaner and robotics to clean a room, and for modifying the operation of the device in response to signals sent from the sensors or from the input means.

  • Dielectric elastomer fiber transducers

    Disclosed are electroactive polymer fibers, processes of preparing electroactive polymer fibers, and devices containing electroactive polymer fibers. Devices can be used as actuators and sensors, generators and transducers. Applications include inter alia artificial muscles, prosthetics and robotics.

  • Deflector assembly

    A technique for deflecting an actuator belt includes applying a variable deflection force to the actuator belt. The technique may be used to construct actuators for active orthotics, robotics or other applications. Versions with passive clutches may also be used to construct variable-ratio motor gearheads, or may be scaled up to build continuously variable transmissions for automobiles, bicycles, or other vehicles.

  • Creation of a range image

    The most difficult problem in the creation of a range image with stereo cameras is the establishing of the correspondence of the points. For this, the scene is illuminated twice; thereof at least once with a random or pseudo random pattern. For both cameras, an image is taken for each of the illuminations and the quotient of brightnesses is calculated pixelwise. The correspondence is established on the basis of a comparison of the quotient of pixels on epipolar lines of different cameras. The illumination pattern is preferably highly modulated along the epipolar line; transversally or diagonally to it, it is not or only slightly modulated. For illumination, a projection unit is used which in a preferred arrangement comprises two superposed grating patterns which have a distance (d) to each other, with at least one varying in a pseudo random manner, and with two closely neighboring light sources which shine through the gratings and thereby generate different pseudo random patterns, especially moire patterns. Applications are found, inter alia, in assembly control, robotics, metrology, archaeology, in the textile industry, in biometry, medicine, reverse engineering.

  • Method and system for modifying image quality

    A method and system with which quality of an image derived from or addressed to a chain of appliances can be modified. Formatted information related to defects of the appliances is employed. The method and system: compile directories of sources of formatted information related to the appliances, search automatically for the formatted information related to the appliances, and modify the image automatically by imageprocessing software and/or image-processing components by taking into account the obtained formatted information. The formatted information can be modified as a function of variable characteristics of the image to be processed and/or the appliances. With the method and system it is possible to process images derived from appliances that have diverse origins and that have been commercialized gradually over time. Such a method and system are applicable to processing of photographic or video images and in optical instrumentation, industrial controls, robotics, metrology, etc.

  • Robot apparatus and method of controlling the same

    A robot apparatus having a plurality of movable sections includes a motion control section that generates a control signal for the periodic motion of at least part of the movable sections according to the output of an oscillator showing self-oscillation and entrainment characteristics, an environment measuring section that measures the motion according to the control signal for the movable sections or the physical environment at the time of the motion of the movable sections, a periodic oscillator control section that inputs a periodic signal to the oscillator as feedback according to the outcome of the measurement by the environment measuring section and generates an entrainment phenomenon and a non-periodic oscillator control section that inputs a non-periodic or temporary feedback signal to the oscillator.

  • Legged robot

    A legged robot is provided whose trunk link is not prone to wobble in the front-back direction during walking. The legged robot is equipped with a trunk link and a pair of legs. Each leg has a pitch joint capable of rotating the connected links in a plane that intersects with a line extending in a lateral direction of the robot. Rotation centers of the pitch joints are located above a center of gravity of the trunk link. The legged robot walks mainly by swinging the legs backward and forward around such rotation centers. Hence, the trunk link wobbles mainly in the front-back direction around the rotation centers as the robot walks. Because the center of gravity of the trunk link is located below the rotation centers, the gravitational force acting on the trunk link acts in a direction to suppress swinging of the trunk link during walking. Due to this, the trunk link of the legged robot is not prone to wobble in the front-back direction during walking.

  • Robotic tire spraying system

    A robotic spray system is provided for accurately spraying mold release onto any size or shaped green tire. The system analyzes individual green tires using an integrated vision system. The system controls the robotic spray position, the fan, fluid, atomizing air, and tire rotation speed for optimal spray coverage on both the inside and outside of green tires. The system includes a conveyor, an overhead mounted camera located over an infeed station, and a second camera located perpendicular to the green tire's tread and several feet away from the center of the tire. Pictures of the green tire in the station are used to estimate the center and radius of the tire and locate the angle of the bar code with respect to the center of the tire. Reference points are provided from the camera images and robot positions are calculated to control the spraying.

  • Robotic vehicle controller

    A control system is provided for automatically moving a machine along a desired path. The machine uses a "learn and follow" system in which the machine is first operated in a manual mode along a desired path. The control system learns the desired path and then operates the machine in a robotic mode to follow the desired path without operator control. If the machine moves away from the desired path when in the robotic mode, the location of the machine is corrected using GPS location signals.

  • Robot-controlled optical measurement array, and method and auxiliary mechanism for calibrating said measurement array

    Disclosed is a robot-controlled optical measurement array (1) comprising an optical sensor (2) that is fastened to a spacer (3). Reference marks (22) are provided on the spacer (3) and/or on a sensor (2) housing (2'). Said optical measurement array (1) is calibrated by means of an auxiliary device (13) that is placed on the optical measurement array (1) and is provided with a sensor target (16) which is disposed on the auxiliary device so as to lie within one measurement space (17) of the optical sensor (2) when the optical measurement array (1) and the auxiliary device (13) are in the assembled state. In order to calibrate the optical measurement array (1), measured values of the sensor target (16) are generated with the aid of the sensors (2), said measured values being used for calculating the three-dimensional position of the sensor coordinate system (10) in relation to the sensor target (16). Furthermore, measurements of the three-dimensional positions of the reference marks (22) and the auxiliary device are taken using an additional (stationary) measuring apparatus (21). The three-dimensional position of the sensor coordinate system (10) relative to the reference marks (22) can be determined with great accuracy from a combination of all of said measurements.

  • Actuator and robot

    An actuator and a robot are capable of properly adjusting the compliance of the motions of links in response to external forces according to an environment or application. The actuator sets a drive command angular velocity on the basis of a desired motor angular velocity, which is the resultant angular velocity of a desired link angular velocity and a desired driven angular velocity. The component of the desired link angular velocity included in a resultant desired velocity imparts stiffness to the motion of a link, while the component of the desired driven angular velocity included in the resultant desired velocity imparts flexibility to the motion of the link. Thus, the balance between the stiffness and the flexibility of the motion of the link is adjusted by adjusting the resultant ratio between the desired link angular velocity and the desired driven angular velocity.

  • Collision detection apparatus, collision detecting method and robot and vacuum cleaner using the same

    A collision detection apparatus is provided, which includes a main body, at least an air bag disposed at the periphery of the main body and at least a baro sensor. The air bags communicate with each other. The air bag is connected to the baro sensor to detect the pressure at different time points and the pressure variations. The apparatus judges whether a collision has occurred and the collision force is detected by the baro sensors. The time point of collision occurrence and the collision position according to the pressures of the air bags at different time points are determined.

  • Vacuum robot, vacuum motor for vacuum robot, and production method of said vacuum motor

    A vacuum robot includes an arm portion on which a work is to be disposed under a reduced pressure environment and a motor portion for rotatably driving the arm portion, the vacuum robot being configured to transfer the work by causing a rotational movement of the arm portion by the motor portion. The motor portion comprises a rotor portion connected to the arm portion, a stator portion disposed at an external periphery of the rotor portion, a housing disposed under an atmospheric pressure environment, and a thin cylindrical can disposed in an electromagnetic gap formed between the rotor portion and the stator portion and secured to the housing so that the stator portion is air-tightly encapsulated in a space formed by the housing and the can. The space is maintained in a depressurized state by a seal.

  • Hardware abstraction layer (HAL) for a robot

    Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

  • Robotic system for forming features in orthodontic aligners

    A robotic system for forming features in orthodontic aligners includes a control system, a platen for three-dimensional positioning of the aligner, a heating station for selectively heating a small region of the aligner, and a thermoforming station for manipulating the heated region to form a desired feature in the aligner. Optionally, a laser cutting and trimming station can also be included to trim excess material from the aligner or to cut features into the aligner. The control system can include a processor with CAD software to enable a user to design features for aligners.

  • PRECISION-FOLDED, HIGH STRENGTH, FATIGUE-RESISTANT STRUCTURES AND SHEET THEREFOR

    Precision-folded, high strength, fatigue-resistant structures and a sheet therefore are disclosed. To form the structures, methods for precision bending of a sheet of material along a bend line and a sheet of material formed with bending strap-defining structures, such as slits or grooves, are disclosed. Methods include steps of designing and then separately forming longitudinally extending slits or grooves through the sheet of material in axially spaced relation to produce precise bending of the sheet when bent along the bend line. The bending straps have a configuration and orientation which increases their strength and fatigue resistance, and most preferably slits or arcs are used which causes edges to be engaged and supported on faces of the sheet material on opposite sides of the slits or arcs. The edge-to-face contact produces bending along a virtual fulcrum position in superimposed relation to the bend line. Several slit embodiments suitable for producing edge-to-face engagement support and precise bending are disclosed. With these teachings, forming numerous three-dimensional load-bearing structures from a two dimensional sheet are enabled. Examples of straight and curved beams, chassis, and exoskeletons are disclosed.

  • Automated determination of jet orientation parameters in three-dimensional fluid jet cutting

    Methods, systems, and techniques for automatically determining jet orientation parameters to correct for potential deviations in three dimensional part cutting are provided. Example embodiments provide an Adaptive Vector Control System (AVCS), which automatically determines speeds and orientation parameters of a cutting jet to attempt to insure that a part will be cut within prescribed tolerances where possible. In one embodiment, the AVCS determines the tilt and swivel of a cutting head by mathematical predictive models that examine the cutting front for each of "m" hypothetical layers in a desired part, to better predict whether the part will be within tolerances, and to determine what corrective angles are needed to correct for deviations due to drag, radial deflection, and/or taper.

  • Dynamic Lower Limb Rehabilitation Robotic Apparatus and Method of Rehabilitating Human Gait

    A robotic rehabilitation apparatus and method provide subjects with lower limb gait impairment, gait therapy before subjects are able to walk independently, or are able to control their legs or stand unaided. The apparatus is constructed and arranged to take advantage of natural gravitational force and musculo-skeletal dynamics of therapy subjects, and to replicate gait in subjects without manual or mechanical intervention to lift subjects' legs and feet. The apparatus and method provide the appropriate dynamic and sensory inputs to muscle groups occurring during normal gait that are critical to gait rehabilitation.

  • CONTROLLABLE ELECTROMECHANICAL CLUTCH (VARIANTS)

    Controllable electromechanical clutch primarily for automated devices of various applications like blocking or interlocking mechanisms, electronic locks, robotics, automotive devices, comprising concentrically arranged outer and inner bodies, interacting through the coupling joint with coupling elements associated with one of the bodies which can block rotation of another clutch body, an electrical actuator and a control element associated with this actuator which has two stable positions wherein low energy electrical impulse applied to an actuator can be used to change the position of the mentioned control element, so that the coupling elements change its trajectory and result in engagement or disengagement of the clutch.

  • VIRTUAL ANKLE AND BALANCE TRAINER SYSTEM

    A rehabilitation system that combines robotics and interactive gaming to facilitate performance of task-specific, repetitive exercise to enable individuals undergoing rehabilitation to improve the performance of coordinated movements of the ankle, and to practice balance activities, is disclosed. More specifically, the rehabilitation system includes at least one two degree-of-freedom robotic, haptic interface for a mammalian foot and interactive gaming hardware that is coupled to a controller, to provide a virtual reality-like environment.

  • DEVELOPMENT PLATFORM FOR ROBOTIC SYSTEMS

    A unified system for development of robotics and other cyber-physical systems is discussed. The unified system includes a platform that integrates the processing of actuators and sensors and other modules. The platform is inter-operable into many existing systems. Various modules are developed to do discrete tasks that are commonly found in robotics such as moving motors or reading and controlling sensors. The modules communicate with each other and with other devices such as computers and user built modules through the use of a commonly supported abstract communication protocol.

  • METHOD AND SYSTEM FOR MODIFYING IMAGE QUALITY

    A method and a system with which the quality of an image derived from or addressed to a chain of appliances can be modified. Formatted information related to defects of the appliances is employed. The method and system: compile directories of sources of formatted information related to the said appliances, search automatically for the formatted information related to the appliances, and modify the image automatically by image-processing software and/or image-processing components by taking into account the obtained formatted information. The formatted information can be modified as a function of variable characteristics of the image to be processed and/or the appliances. With the method and system it is possible to process images derived from appliances that have diverse origins and that have been commercialized gradually over time. Such a method and system are applicable to processing of photographic or video images and in optical instrumentation, industrial controls, robotics, metrology, etc.

  • SYSTEMS AND METHODS FOR ESTABLISHING AN ENVIRONMENTAL REPRESENTATION

    This invention relates generally to robotics, and more specifically, to systems and methods for establishing an environmental representation. In one embodiment, the invention includes a method of operations including determining quantitative data relating to one or more landmarks; determining qualitative data relating to the one or more landmarks; and establishing at least a portion of an environmental representation using the quantitative data and/or the qualitative data.

  • Illuminating optical lens for light emitting diode (LED)

    An illuminating optical lens article of manufacture for use with a light emitting diode (LED) mounted on a circuit board is provided. The lens has (a) a base portion defining a rim on a plane having a bottom surface around a longitudinal axis for mounting over the LED; (b) an integral refractory outer surface of the lens extending towards the longitudinal axis from the base; (c) an integral refractory inner surface of the lens extending from the base forming a cavity shaped and sized to receive an LED; and optionally (d) a plurality of grooved sections for receiving an adhesive formed on the bottom surface of the base portion. The base is adapted to be mounted on the circuit board onto which the LED is mounted. The integral refractory outer and inner surfaces each define a predetermined geometry adapted to direct and focus light emitting from the LED to a predetermined path. The lens is fabricated with a tolerance range of within 0.15 mm or better. The lens can be incorporated into a luminaire system and mounted on to a circuit board using adhesive polymers. The assembly of the lens into the luminaire system can be automated using robotics.

  • SIMULATION-BASED INTERFACE TESTING AUTOMATION SYSTEM AND METHOD FOR ROBOT SOFTWARE COMPONENTS

    A testing tool for verifying a reliability of robot software components is provided, and more particularly, a simulation-based interface testing automation system and method that may automatically perform a test for functions and performance of an interface with respect to robot software components are provided. Thus, it is possible to efficiently perform a test for an interface of robot software components. In particular, it is possible to automatically generate test cases required for testing, to perform a test in various languages, and to perform a test suitable for a robot.

  • DISPLAY WITH ROBOTIC PIXELS

    Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.

  • PROTECTIVE SKIN FOR ROBOTS

    Detector device arranged to cover at least one portion of a mobile appliance; the device has an electromechanical transducer including a substrate, a first series of electrodes, a second series of electrodes, and a deformable layer associated with the electrodes of the two series, the substrate, the electrodes, and the deformable layer forming a single unit mounted on the portion of the mobile appliance and arranged so that a current flowing between one of the electrodes of the first series and an adjacent electrode of the second series is proportional to a thickness of the deformable layer in register with the electrodes. The substrate including a base layer to which are attached the electrodes of the first series and the electrodes of the second series, which have facing portions, and a variable conduction layer that covers the base layer and the electrodes.

  • SURGICAL ROBOT SYSTEM USING AUGMENTED REALITY, AND METHOD FOR CONTROLLING SAME

    Disclosed are a surgical robot system using augmented reality or history information and a control method thereof. A master interface for a surgical robot is provided, where the master interface is configured to be mounted on a master robot, which is configured to control a slave robot having a robot arm. The interface includes: a screen display unit configured to display an endoscope picture corresponding to a picture signal provided from a surgical endoscope; one or more arm manipulation unit for respectively controlling the robot arm; and an augmented reality implementer unit configured to generate virtual surgical tool information according to a user manipulation on the arm manipulation unit for displaying a virtual surgical tool through the screen display unit. This makes it possible to display an actual surgical tool and a virtual surgical tool together using augmented reality and thus enables surgery in a facilitated manner.

  • PROPULSION-UNIT AND ROBOT PROVIDED WITH SUCH A PROPULSION-UNIT

    A propulsion-unit provided with a body and comprising at least one element having an external adhesive layer for providing frictional contact with an object's surface along which the unit in use moves, wherein the element is a supporting layer that supports said adhesive layer, and wherein drive means are provided for moving the supporting layer and the body with respect to each other.

  • GRIPPER FOR ROBOT

    A gripper includes a connecting member and two clamping assemblies fixed on the connecting member. Each clamping assembly includes a main body and two positioning shafts. The main body defines two pivot holes, in which the positioning shafts are slidably received. Each of the positioning shafts includes a shaft sleeve, a positioning pin, a driving pin, and a plurality of balls. The positioning pin and the driving pin are received in the shaft sleeve, and the driving pin resists the positioning pin. The shaft sleeve defines a plurality of receiving holes for receiving the balls. An inner wall in the pivot hole defines a restricting groove. The driving pin is capable of driving the balls partially into the restricting groove, and driving the positioning pin partially out of the shaft sleeve.

  • INDUSTRIAL ROBOT

    An industrial robot includes a first link, a second link, and a joint connecting the first and second links. The joint includes a main body coupled to the first and second links, a first actuator mounted on the main body to rotate the first link, a second actuator to rotate the main body relative to the second link, a number of cables connected to the second actuators, a protective cover secured to the main body to receive the first and second actuators and the cables, and a number of fasteners fixing the protective cover to the main body.

  • Robot Including Electrically Activated Joints

    Robots comprising two links joined by a pivot joint are provided. In some cases, the pivot joint allows the robot to lean to either side. One link of the robot includes an electrically activated actuator such as an electric motor configured to rotate a pulley. A belt is engaged with the actuator, and the ends of the belt are coupled to the other link on either side of the pivot joint. Tensioners, such as springs, provide tension on either side of the belt. Actuating the actuator changes the position of the belt to respond to sloping surfaces and turns, for example.

  • Mobile reconfigurable robot

    A mobile robot along with a method and system for a mobile robot where the robot is reconfigurable between at least two form factors.

  • Mobile robot with hydraulic mechanism

    A mobile robot along with a method and system for a mobile robot including a hydraulic powered mechanism operably connected to the mobile robot for movement of the hydraulic powered mechanism with respect to the mobile robot.

  • Robotic system and method of use

    A robotic system that can have a body and four flippers is described. Any or all of the flippers can be rotated. The flippers can have self-cleaning tracks. The tracks can be driven or passive. The robotic system can be controlled by, and send audio and/or video to and/or from, a remote operator control module. The methods of using and making the robotic system are also described.

  • Ball robot

    Ball robot comprising a shell, a diametric main axle, at least one pendulum, and a drive mechanism comprising at least two drive motors, wherein the drive motors are arranged on the pendulum(s) in the vicinity of the inner surface of the shell. There is also provided a ball robot with a ball shaped shell, a diametric axle attached to the shell concentric with the main axis of rotation of the shell, and a drive mechanism located inside the shell and supported by the diametric axle, wherein the diametric axle is arranged to accommodate for dimensional changes of the shell along the main axis of rotation.

  • Robot development platform

    A modular robot development kit includes an extensible mobile robot platform and a programmable development module that connects to the mobile robot platform. The mobile robot platform includes a controller that executes robot behaviors concurrently and performs robot actions in accordance with robot control signals received from the development module, as modified by the concurrently running robot behaviors, as a safeguard against performing potentially damaging robot actions. Also, the user can develop software that is executed on the development module and which transmits the robot control signals to the mobile robot platform over the data communication link using a robot interface protocol. The robot interface protocol encapsulates potentially harmful user-developed software routines from the controller instructions executed by the controller of the mobile robot platform, while nonetheless enabling the user to effectively control the mobile robot platform using the robot control signals of the robot interface protocol.

  • Method and apparatus for single image 3D vision guided robotics

    A method of three-dimensional object location and guidance to allow robotic manipulation of an object with variable position and orientation using a sensor array which is a collection of one or more sensors capable of forming a single image.

  • Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information

    In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. The tool tracking sub-system receives raw kinematics information and video image information of the robotic instrument to generate corrected kinematics information for the robotic instrument by adaptively fusing the raw kinematics information and the video image information together.

  • SYSTEMS AND METHODS TO ROBOTIZE PAYLOAD EQUIPMENT

    A robotic vehicle capable of collapsing into a small form factor for ease of transportation and providing for a quick transition to a deployed configuration. The vehicle can be configured to carry a payload when deployed. The vehicle can have an elongate body with two folding spoke-wheels at either end of the body that conform to the shape of the body when collapsed and extend perpendicular to the body when deployed. The vehicle can have an elongate body with two folding arms that each includes a drive motor and a gear assembly. The gear assembly is configured to receive removable wheels at either end of the body. The arms can be parallel to the length of the body when collapsed and extend perpendicular to the body when deployed. The vehicle can include a removable bracket configured to receive an explosive payload.

  • WORKSPACE SAFE OPERATION OF A FORCE- OR IMPEDANCE-CONTROLLED ROBOT

    A method of controlling a robotic manipulator of a force- or impedance-controlled robot within an unstructured workspace includes imposing a saturation limit on a static force applied by the manipulator to its surrounding environment, and may include determining a contact force between the manipulator and an object in the unstructured workspace, and executing a dynamic reflex when the contact force exceeds a threshold to thereby alleviate an inertial impulse not addressed by the saturation limited static force. The method may include calculating a required reflex torque to be imparted by a joint actuator to a robotic joint. A robotic system includes arobotic manipulator having an unstructured workspace and a controller that is electrically connected to the manipulator, and which controls the manipulator using force- or impedance-based commands. The controller, which is also disclosed herein, automatically imposes the saturation limit and may execute the dynamic reflex noted above.

  • METHOD AND SYSTEM FOR MOVING A PLURALITY OF ARTICULATED INSTRUMENTS IN TANDEM BACK TOWARDS AN ENTRY GUIDE

    A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

  • APPLICATION OF FORCE FEEDBACK ON AN INPUT DEVICE TO URGE ITS OPERATOR TO COMMAND AN ARTICULATED INSTRUMENT TO A PREFERRED POSE

    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.

  • INDICATOR FOR TOOL STATE AND COMMUNICATION IN MULTIARM TELESURGERY

    Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

  • Method for Laparoscopic Nerve Detection and Mapping

    A surgical method aids identification of nerves in a body to help prevent damage to the nerves during surgery to the body proximate the nerves. An electrode introduced to within a body cavity through a catheter is placed proximate a nerve within the body cavity by a laparoscopic or robotic device. An exploratory probe placed in the body cavity is selectively placed along a presumed pathway of the nerve to provide an electrical signal through the nerve to the electrode. An analyzer interfaced with the electrode analyzes the electrical signal received at the electrode to determine the proximity of the exploratory probe to the nerve, allowing mapping of the nerve pathway through the body cavity.

  • Electric VTOL Aircraft

    An electric and hybrid Vertical-Take Off and Landing ("VTOL") aircraft is disclosed comprising a plurality of small Electric Ducted Fans ("EDFs") of various sizes and orientations. The thrust of each fixed EDF is individually controlled by modulation of motor power by one or more onboard microcomputers connected to a plurality of onboard laser distance measuring sensors, at least three onboard three-axis accelerometers and at least one GPS thereby allowing extremely precise and safe VTOL operation. The aircraft may be employed to allow robotic and passenger vehicles to transition extremely quickly between normal linear flight and VTOL and tb operate in extreme and gusty conditions.

  • AQUA-ROBOTIC POLLUTANT REMOVING SYSTEMS AND DEVICES, AND METHODS OF REMOVING POLLUTANTS FROM BODIES OF WATER

    An aqua-robotic pollutant removing device includes a buoyant body, an electromechanical housing coupled to the buoyant body, and a pollutant absorbing belt coupled to the electromechanical housing and extending outward from the buoyant body. The electromechanical housing is constructed and arranged to rotate the pollutant absorbing belt.

  • Brick Laying System

    A brick laying system where an operator such as a mason works proximate a moveable platform having a robotic arm assembly, a mortar applicator with a mortar transfer device, and a brick transfer device to build structures. The robotically assisted brick laying system may also contain a stabilizer having a disturbance sensing and a disturbance correcting component that provides compensation for disturbances caused by load shifting, movement of the platform, wind, operator movement, and the like. In addition, the robotically assisted brick laying system has a sensing and positioning component for controlling placement of the moveable platform androbotic arm assembly. The interoperability of the system with a mason or skilled operator removes much of the manual labor component of brick laying, allowing the mason more time to focus on craftsmanship and quality, thus improving the end product and the overall working conditions of the mason.

  • MOBILE ROBOTIC SURGICAL SYSTEM

    A mobile robotic surgical system which includes a mobile surgical robot for use in a mobile or confined environment and a control station in communication with the mobile surgical robot over a network. The mobile surgical robot includes a controller for controlling operation of the mobile surgical robot, a communications subsystem for communicating with the control station over the network, robotic surgical instruments controllable by the control station over the network, a detector subsystem for determining spatial information relating to a surgical environment of the surgical robot, and a motion stabilizer subsystem for facilitating operation of the roboticsurgical instruments while the mobile environment is in motion. The controller is configured to operate a local control loop between at least one of the subsystems and the robotic surgical instruments.

  • SYSTEM AND METHOD FOR SERIAL PROCESSING OF MULTIPLE NUCLEIC ACID ASSAYS

    The present invention relates generally to systems and methods for the rapid serial processing of multiple nucleic acid assays. More particularly, the present invention provides for the real time processing of nucleic acid during polymerase chain reaction (PCR) and thermal melt applications. According to an aspect of the invention, a system for the rapid serial processing of multiple nucleic acid assays is provided. In one embodiment, the system includes, but is not limited to: a microfluidic cartridge having microfluidic (flow-through) channels, a fluorescence imaging system, a temperature measurement and control system; a pressure measurement and control system for applying variable pneumatic pressures to the microfluidic cartridge; a storage device for holding multiple reagents (e.g., a well-plate); a liquid handling system comprising at least one robotic pipettor for aspirating, mixing, and dispensing reagent mixtures to the microfluidic cartridge; systems for data storage, processing, and output; and a system controller to coordinate the various devices and functions.

  • System and method for virtual camera control using motion control systems for augmented three dimensional reality

    There is provided a system and method for integrating a virtual rendering system and a motion control system to provide an augmented three-dimensional reality. There is provided a method for integrating a virtual rendering system and a motion control system for outputting a composite three-dimensional render to a three-dimensional display, the method comprising obtaining, from the motion control system, a robotic three-dimensional camera configuration of a robotic three-dimensional camera in a real environment, programming the virtual rendering system using the robotic three-dimensional camera configuration to correspondingly control a virtual three-dimensional camera in a virtual environment, obtaining a virtually rendered three-dimensional feed using the virtual three-dimensional camera, capturing a video capture three-dimensional feed using the robotic three-dimensional camera, rendering the composite three-dimensional render by processing the feeds, and outputting the composite three-dimensional render to the three-dimensional display.

  • AUTONOMOUS ROBOT AUTO-DOCKING AND ENERGY MANAGEMENT SYSTEMS AND METHODS

    A method for energy management in a robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station.

  • Automated System for Applying Disinfectant to the Teats of Dairy Livestock

    In certain embodiments, a system for applying disinfectant to the teats of a dairy livestock includes a carriage mounted on a track, the carriage operable to translate laterally along the track. The system further includes arobotic arm including a first member pivotally attached to the carriage such that the first member may rotate about a point of attachment to the carriage, a second member pivotally attached to the first member such that the second member may rotate about a point of attachment to the first member, and a spray tool member pivotally attached to the second member such that the spray tool member may rotate about a point of attachment to the second member. The robotic arm further includes a spray tool attached to the spray tool member. The system further includes a controller operable to cause at least a portion of the robotic arm to extend between the hind legs of a dairy livestock such that the spray tool is located at a spray position from which the spray tool may discharge an amount of disinfectant to the teats of the dairy livestock.

  • Systems and Methods for Obstacle Avoidance

    Embodiments of the invention provide systems and methods for obstacle avoidance. In some embodiments, a robotically controlled vehicle capable of operating in one or more modes may be provided. Examples of such modes include teleoperation, waypoint navigation, follow, and manual mode. The vehicle may include an obstacle detection and avoidance system capable of being implemented with one or more of the vehicle modes. A control system may be provided to operate and control the vehicle in the one or more modes. The control system may include a robotic control unit and a vehicle control unit.

  • MODULAR ROBOTICS DESIGN AND DEVELOPMENT SYSTEM WITH VARYING LEVELS OF COMPLEXITY

    A modular educational robotics design and experimentation system is disclosed herein. The disclosed system includes a chassis onto which a plurality of components can be mounted. Components can be logical components, sensors, output components such as motors, or other kinds of components. In various embodiments, components can be electrically connected to one another by wires that may have varying diameters and connection technologies depending on the contemplated age of the users of the system. The wires may also include a feature to indicate when they are connected in an allowable fashion. In addition, components may be mechanically connected to one another using proprietary connector technology in which uprights having stems with a particular shape can be tightened to the chassis using thumbscrews. The disclosed system advantageously enables students of varying ages to experiment with robotics concepts using modules optimized for certain tasks and ages of users.

  • HUMANOID ROBOTICS SYSTEM AND METHODS

    Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base, which is preferably configured for holonomic or semi-holonomic motion through human scale travel pathways that are ADA compliant. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.

  • APPENDAGE CLAMP DEPLOYMENT ASSIST DEVICE

    The instant disclosure is directed to devices and methods for deploying a biased occlusion clamp. In addition, the present disclosure includes devices and methods for deploying a biased occlusion clamp using robotics. Moreover, the present disclosure includes devices and methods for reducing the force necessary to open an occlusion clamp without permanently compromising the clamping force of the clamp itself.

  • MULTIPLE DEGREE OF FREEDOM REHABILITATION SYSTEM HAVING A SMART FLUID-BASED, MULTI-MODE ACTUATOR

    A rehabilitation system that combines robotics and interactive gaming to facilitate performance of task-specific, repetitive, upper extremity/hand motor tasks, to enable individuals undergoing rehabilitation to improve the performance of coordinated movements of the forearm and hand is disclosed. More specifically, the rehabilitation system includes a two degree-of-freedom (DOF) robotic, upper limb rehabilitation system and interactive gaming hardware that is coupled to a computer, to provide a virtual reality-like environment.

  • MODULAR ROBOTICS DESIGN AND DEVELOPMENT SYSTEM WITH VARYING LEVELS OF COMPLEXITY

    A modular educational robotics design and experimentation system is disclosed herein. The disclosed system includes a chassis onto which a plurality of components can be mounted. Components can be logical components, sensors, output components such as motors, or other kinds of components. In various embodiments, components can be electrically connected to one another by wires that may have varying diameters and connection technologies depending on the contemplated age of the users of the system. The wires may also include a feature to indicate when they are connected in an allowable fashion. In addition, components may be mechanically connected to one another using proprietary connector technology in which uprights having stems with a particular shape can be tightened to the chassis using thumbscrews. The disclosed system advantageously enables students of varying ages to experiment with robotics concepts using modules optimized for certain tasks and ages of users.

  • PROCESS AND DEVICE FOR BRAIN COMPUTER INTERFACE

    A brain computer interface as an alternative communication channel to be used in various applications, such as robotics. In one embodiment of the invention, there is provided a process for the analysis and conversion of EEG signals obtained from the brain into movement commands through electric and/or mechanical devices. The process of the present invention provides substantial advantages over the similar systems/techniques known in the art, such as a 91% average hit rate, obtained in attempts to control a mobile robot. In other embodiment of the invention, there is provided an apparatus comprising: means for obtaining brain signals; an electroencephalograph (EEG); and means for transducing said signals into functional commands useful in several applications. Said means for transducing mental signals is the core of the invention and provides a number of technical advantages over the similar systems/techniques known in the art of identifying mental activities.

  • METHOD AND DEVICE FOR STORAGE WITH ASSOCIATION OF VISUAL INDICATOR AND OBJECT SENSOR

    The current invention is related with the search, storage and collection of objects, more precisely of laboratory samples, more precisely blood tubes identified with barcodes. The current invention is useful for increasing the speed for finding a specific subject, without robotics or mechanical moving parts, thus allowing greater flexibility and simplicity of the system. The invention describes a storage with the combination of an array of sensors with an array of visual indicators, especially with light, coupled with a reader's identification of objects. The array of sensors detects when a sample is deposited or removed, and the array of indicators is used to indicate the location of the sample wanted. Thus, the present invention has application in the areas of laboratory sample storage, logistics and general health care.

  • ANALYTIC INTEGRATION OF TOLERANCES IN DESIGNING PRECISION INTERFACES FOR MODULAR ROBOTICS

    A robotic system providing precision interfaces between a rotary actuator and a robotic structure. The robotic structure responsive to control by a rotary actuator via a connection means whereby interface design parameters are relayed to the rotary actuator. The rotary actuator for controlling the robotic structure includes an actuator shell, an eccentric cage and a primer mover portion, rigidly attached to the eccentric cage and capable of exerting a torque on a first prime mover. A cross-roller is also included having a first bearing portion rigidly fixed to the actuator shell and a second bearing portion, an output attachment plate attached to a second bearing portion, a shell gear rigidly attached to the actuator shell, an output gear attached to the output attachment plate and an eccentric gear attached to the eccentric cage.

  • METHOD OF FABRICATING A ROBOTICS SKIN SYSTEM HAVING INTEGRAL ACTUATION POINTS

    A method for fabricating an artificial skin system for use with a robotics assembly. The method includes providing a mold core with an exterior surface defining an inner surface of a skin system, with this surface including a plurality of mounting elements. The method includes attaching, to each of the mounting elements, an elastomeric actuation piece or point (EAP). The mold core is positioned within an exterior skin mold, and a cavity is formed between the exterior surface of the mold core and inner surfaces of the exterior skin mold that defines topography and dimensions of the skin system. The method includes filling the cavity with skin-forming material. Then, after the skin-forming material hardens to form the skin system, the method includes removing the skin system from the mold core including detaching the EAPs from the mounting elements, and the EAPs are integrally bonded within the skin system.

  • Real-Time Camera Tracking Using Depth Maps

    Real-time camera tracking using depth maps is described. In an embodiment depth map frames are captured by a mobile depth camera at over 20 frames per second and used to dynamically update in real-time a set of registration parameters which specify how the mobile depth camera has moved. In examples the real-time camera tracking output is used for computer game applications and robotics. In an example, an iterative closest point process is used with projective data association and a point-to-plane error metric in order to compute the updated registration parameters. In an example, a graphics processing unit (GPU) implementation is used to optimize the error metric in real-time. In some embodiments, a dense 3D model of the mobile camera environment is used.

  • Mobile Camera Localization Using Depth Maps

    Mobile camera localization using depth maps is described for robotics, immersive gaming, augmented reality and other applications. In an embodiment a mobile depth camera is tracked in an environment at the same time as a 3D model of the environment is formed using the sensed depth data. In an embodiment, when camera tracking fails, this is detected and the camera is relocalized either by using previously gathered keyframes or in other ways. In an embodiment, loop closures are detected in which the mobile camera revisits a location, by comparing features of a current depth map with the 3D model in real time. In embodiments the detected loop closures are used to improve the consistency and accuracy of the 3D model of the environment.

  • CENTRALIZED PLANNING FOR REAL-TIME SELF TUNING OF PLANNED ACTIONS IN A DISTRIBUTED ENVIRONMENT

    Automatic programming, scheduling, and control of planned activities at "worker nodes" in a distributed environment are provided by a "real-time self tuner" (RTST). The RTST provides self-tuning of controlled interoperation among an interconnected set of distributed components (i.e., worker nodes) including, for example, home appliances, security systems, lighting, sensor networks, medical electronic devices, wearable computers, robotics, industrial controls, wireless communication systems, audio nets, distributed computers, toys, games, etc. The RTST acts as a centralized "planner" that is either one of the nodes or a dedicated computing device. A set of protocols allow applications to communicate with the nodes, and allow one or more nodes to communicate with each other. Self-tuning of the interoperation and scheduling of tasks to be performed at each node uses an on-line sampling driven statistical model and predefined node "behavior patterns" to predict and manage resource requirements needed by each node for completing assigned tasks.

  • METHOD OF FABRICATING A ROBOTICS SKIN SYSTEM HAVING INTEGRAL ACTUATION POINTS

    A method for fabricating an artificial skin system for use with a robotics assembly. The method includes providing a mold core with an exterior surface defining an inner surface of a skin system, with this surface including a plurality of mounting elements. The method includes attaching, to each of the mounting elements, an elastomeric actuation piece or point (EAP). The mold core is positioned within an exterior skin mold, and a cavity is formed between the exterior surface of the mold core and inner surfaces of the exterior skin mold that defines topography and dimensions of the skin system. The method includes filling the cavity with skin-forming material. Then, after the skin-forming material hardens to form the skin system, the method includes removing the skin system from the mold core including detaching the EAPs from the mounting elements, and the EAPs are integrally bonded within the skin system.

  • METHOD & APPARATUS FOR DOCKING A ROBOTIC DEVICE WITH A CHARGING STATION

    A docking system includes a mobile robotic device and a charging station to which the robotic device is to dock. The robotic device is comprised of sensors to capture a homing signal emitted by the charging station, docking logic that processes the homing signal so that it can be used to control the movements of the robotic device towards and dock with the charging station, and it is comprised of a mechanism for receiving a cylindrical charging post. The charging station is comprised of a circular platform in the center of which is located the charging post that is generally cylindrical in shape. The charging post includes a charging contact, ground contacts and an IR emitter. The geometry of the receiver mechanism elements and the shape of the charging post and geometry of the charging station generally permits the robotic device to approach the charging station and to dock with the charging station from any angle.

  • Flexible Robotic Mower

    The flexible robotic lawn mower utilizes the ultrasonic sensor nodes installing on the border, inside the lawn yard, and outside the lawn yard, to define the lawn yard region, to detect the position of the robotic lawn mower base, and to program the mowing route and grass cutting depth. The system allows the users to freely vary the mowing regions and locations, and therefore provide the maximum flexibility.

  • Method to Model and Program a Robotic Workcell

    An improved method to model and program a robotic workcell. Two-dimensional (2D) images of a physical workcell are captured to facilitate, in part, initial integration of any preexisting three-dimensional (3D) component models into a 3D model workcell. 3D models of other essential workcell components are synthesized and integrated into the 3D workcell model. The robot is then configured and programmed. The resultant 3D workcell model more faithfully reflects the "as-built" workcell than a traditional model that represents the "as-designed" workcell

  • Hybrid Tape for Robotic Transmission

    The hybrid tape includes an outer member that is formed with a material having desirable tensile qualities, such that the outer member is tailored to exhibit superior fatigue performance in tension induced from bending. The hybrid tape further includes an inner member that is formed with a material having desirable compression qualities, such that the inner member is tailored to exhibit superior fatigue performance in compression induced from bending. The hybrid tape is configured such that the bend neutral axis is located between the inner material and the outer material, thereby insuring the outer material only experiences tension in bending while the inner material only experiences compression in bending.

  • BOOM MOUNTABLE ROBOTIC ARM

    A boom mountable robotic arm for temporarily supporting an elongate conductor includes a rigid member such as a beam or beam assembly adapted for mounting onto the upper end of a boom for example using a boom adaptor, at least one electrically insulated support post mounted to the rigid member, where each post temporarily supports an elongate electrical conductor, and at least two rotation devices for selectively controllable rotation of the rigid member and the electrically insulated support posts about at least two corresponding axes of rotation.

  • DIRECTIONAL CONTROL METHOD AND APPARATUS FOR DUAL BRUSH ROBOTIC POOL CLEANERS

    A method and apparatus for controlling the directional movement of a self-propelled robotic pool cleaner having at least one pair of rotational support members for propelling and cleaning a surface of a pool. The method includes accelerating the at least one pair of rotational support members of the pool cleaner from a stopped position to a first predetermined rotational rate in a first predetermined time period; rotating the at least one pair of rotational support members at said first predetermined rotational rate for a second predetermined time period; and increasing the first rate of rotation to a second greater predetermined rotational rate, wherein said pool cleaner is propelled at a normalized rate for cleaning said pool.

  • Robotic work object cell calibration system

    The robotic work object cell calibration system includes a work object. The work object emits a pair of beam-projecting lasers acting as a crosshair, intersecting at a tool contact point (TCP). The work object emits four plane-projecting lasers are used to adjust the yaw, pitch, and roll of the robot tool relative to the tool contact point (TCP). The robotic work object cell calibration system provides a calibration system which is simpler, which involves a lower investment cost, which entails lower operating costs than the prior art, and can be used for different robot tools on a shop floor without having to perform a recalibration for each robot tool.

  • System for auto-diagnostics of robotic manipulator

    The present invention discloses a system and method for monitoring and diagnosing a robot mechanism. This requires adding intelligence to the diagnostics by parameters of physical robot arm linkages respecting component relative rotation or load transfer; storing rotation or translation relationship parameters characteristic of resonant frequencies between at least one mechanical link; receiving servo motor signals; digitizing and storing servo known normal data time histories; performing a time domain to frequency domain transformation on signal to identify components which are out-of band limit pre-sets.

  • Mobile Medical Robotic System

    A medical robotic system comprises a drive track unit being operable for moving the medical robotic system along a floor. An upper torso unit is joined to the drive track unit. The upper torso unit comprises at least one actuator assembly. At least one bimanual dexterous manipulator is joined to the actuator assembly in which the actuator assembly imparts torque and movement to the bimanual dexterous manipulator for lifting an object. The bimanual dexterous manipulator comprises a pair of dexterous manipulators. Each of the dexterous manipulators comprises a length being configured to support lifting an adult patient, and an end comprising a planar structure being configured for placing between the adult patient and a patient platform. The drive track unit is operable for moving the medical robotic system to the patient platform and the bimanual dexterous manipulator is operable for lifting the adult patient from the patient platform.

  • VISUAL COMMUNICATION USING A ROBOTIC DEVICE

    Technology is described for visually communicating using a robotic device. An example of a method can include a video feed sent from the video camera of the robotic device to the remote user. A projection surface identified in the video feed can then be sent to the remote user using an application. Another operation can be obtaining an image from the remote user using the application. The image created by the remote user can then be projected on the projection surface.

  • VISUAL COMMUNICATION USING A ROBOTIC DEVICE

    Technology is described for visually communicating using a robotic device. An example of a method can include a video feed sent from the video camera of the robotic device to the remote user. A projection surface identified in the video feed can then be sent to the remote user using an application. Another operation can be obtaining an image from the remote user using the application. The image created by the remote user can then be projected on the projection surface.

  • RECONFIGURABLE END-EFFECTOR ATTACHABLE TO A ROBOTIC ARM

    A reconfigurable end-effector attachable to a robotic arm, includes a master boom, a first branch assembly and a second branch assembly, a dual articulation mechanism. The dual articulation mechanism includes a first clutch attached to the first branch assembly and is configured to articulate the first branch assembly relative to the second branch assembly. The dual articulation mechanism further includes a second clutch attached to the master boom, the second branch assembly and the first clutch and is configured to simultaneously articulate the first and second branch assemblies relative to the master boom. The first and second branch assemblies each have limbs connected to branches supporting a plurality of tool modules. Each tool module includes an end element configurable to interact with a workpiece.

  • RECONFIGURABLE TOOL MODULE FOR AN END-EFFECTOR EMPLOYED WITH A ROBOTIC ARM

    A reconfigurable tool module for an end-effector includes an adjustable-height housing attached to a swing arm. The adjustable-height housing includes a valve spool and a flow path terminating at a workpiece interface tool. The valve spool is configured to interrupt the flow path when the adjustable-height housing is in a first position. The valve spool is configured to open the flow path when the adjustable-height housing moves away from the first position.

  • FLEXIBLE DRESS PACKAGE FOR AN END-EFFECTOR EMPLOYED WITH A ROBOTIC ARM

    A conduit system for conducting activation power to a tool module of a reconfigurable end-effector attachable to a robotic arm includes a fixed conduit portion conforming to a first portion of the reconfigurable end-effector including a master boom and a first portion of a rotatable guide rail. The conduit system includes a translatable conduit portion translatably connected to a second portion of the reconfigurable end-effector including a second lateral portion of the rotatable guide rail and a branch. The conduit system includes a rotatable portion connected between an end of the translatable conduit portion and a workpiece interface tool of the tool module.

  • Multi-Degree of Freedom Torso Support For a Robotic Agile Lift System

    A controllable robotic arm system comprises a base unit and a moveable torso coupled to the base unit. The moveable torso is capable of moving in at least one degree of freedom independently of movement of the base unit. At least one robotic slave arm is moveably coupled to the torso. A master control system is operable to control the robotic slave arm and the moveable torso. The master control system includes an input interface by which a user can cause control signals to be communicated to the robotic slave arm and the moveable torso.

  • Autonomous and Semi-Autonomous Modes for Robotic Capture of Images and Videos

    The subject disclosure is directed towards a set of autonomous and semi-autonomous modes for a robot by which the robot captures content (e.g., still images and video) from a location such as a house. The robot may produce a summarized presentation of the content (a "botcast") that is appropriate for a specific scenario, such as an event, according to a specified style. Modes include an event mode where the robot may interact with and simulate event participants to provide desired content for capture. A patrol mode operates the robot to move among locations (e.g., different rooms) to capture a panorama (e.g., 360 degrees) of images that can be remotely viewed.

  • Vision System for Robotic Attacher

    In certain embodiments, a system includes a controller operable to access a first image generated by a first camera. The controller determines a reference point from at least one main feature of a dairy livestock included in the first image. The controller is further operable to access a second image generated by the second camera. The second image includes at least a portion of an udder of the dairy livestock. The controller determines a location of a teat of the dairy livestock based on the second image.

  • SYNERGETIC ROBOTIC SYSTEM

    A robotic system is disclosed that includes a mobile device, a docking station, and a software application hosted in the mobile device. The the mobile device is physically lodgeable in the docking station. The software application is hosted in the mobile device. The mobile device and the docking station enter a coordinated action mode via the software application when the mobile device is physically lodged in the docking station. And the software application is configurable with different profiles.

  • Robotic Garden Tool Following Wires at a Distance Using Multiple Signals

    The present invention relates to a method (300) and a system (100) for guiding a robotic garden tool to a predetermined position. The robotic garden tool includes a control unit (104) and a sensor unit (102) to detect signals. The sensor unit (102) detects a first signal (110) from a first signal source (106) and the robotic garden tool follows the first signal (110) at a varying distance from the first signal source (106) that is less than or equal to a maximum distance to the first signal source, towards the predetermined position. Wherein, the varying distance is a function of the strength of the detected first signal (110). While detecting the first signal (110), the sensor unit may also detect a second signal (112) from a second signal source (108). The robotic garden tool follows the first signal (110) at a varying distance that is less than or equal to the maximum distance to the first signal source, wherein the maximum distance, at least in part, is now set based on the strength of the detected second signal (112), to reach a predetermined position.

  • OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY

    Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

  • Robotic Rehabilitation Apparatus and Method

    This patent describes an 8+2 degrees of freedom (DOF) intelligent rehabilitation robot capable of controlling the shoulder, elbow, wrist and fingers individually and allowing functional arm movements with accompanying trunk and scapular motions. The rehabilitation robot uses the following integrated rehabilitation approach: 1) it has unique diagnostic capabilities to determine patient-specific multiple joint and/or multiple DOF biomechanical and neuromuscular changes; 2) it stretches the stiff joints/DOFs under intelligent control to loosen up the specific stiff joints and to reduce excessive cross-coupling torques/movements between the specific joints/DOFs, which can be done based on the above diagnosis for subject-specific treatment; 3) the patients practice voluntary reaching and some functional tasks to regain/improve their motor control capability, which can be done after the stretching loosened up the stiff joints; and 4) the outcome will be evaluated quantitatively at the levels of individual joints, multiple joints/DOFs, and the whole arm.

  • ROBOTIC PLATFORM FOR TRAVELING ON VERTICAL PIPING NETWORK

    This invention relates generally to robotic systems and is specifically designed for a robotic system that can navigate vertical pipes within a waste tank or similar environment. The robotic system allows a process for sampling, cleaning, inspecting and removing waste around vertical pipes by supplying a robotic platform that uses the vertical pipes to support and navigate the platform above waste material contained in the tank.

  • ROBOTIC MOWER LAUNCH POINT SYSTEM

    A robotic mower launch point system includes a user interface for an operator to enter a plurality of launch point locations, durations and frequencies, and a vehicle control unit that stores the locations, durations and frequencies, determines a sequence of launches based on the launch point frequencies, and commands the robotic mower to exit a charging station and follow a boundary wire to each launch point in the sequence where the robotic mower mows for that launch point's duration before returning to the charging station. The vehicle control determines the sequence based on the frequency of each launch point relative to a total of the launch point frequencies.

  • ROBOTIC ARM FOR PATIENT POSITIONING ASSEMBLY

    A robotic patient positioning assembly including a patient treatment couch, and a robotic arm coupled to the patient treatment couch. The robotic arm is configured to move the patient treatment couch along five rotational degrees of freedom and one substantially vertical, linear degree of freedom.

  • INTEGRATED ROBOTIC SAMPLE TRANSFER DEVICE

    Embodiments include integrated robotic sample transfer devices and components thereof which are used for reliably and accurately transferring small samples of material from one registered position to another registered position. Such transfers of material may be carried out by a single pin tool or an array of pin tools of a pin tool head assembly of robotic sample transfer devices. Some embodiments also include automated cleaning of the pin tools used to transfer the sample material. Some embodiments are fully integrated units having internal fluid supply and waste tanks, vacuum source, fluid pumps, controllers and user interface devices.

  • ROBOTIC FABRICATOR

    A fabrication system includes a tool-head for manufacturing, a first manipulator and a second manipulator. The first manipulator supports and manipulates an item, and is configured to provide six-axes of movement for positioning of the item relative the tool-head. The second manipulator carries a component and orients the component at a select orientation relative to the item supported on the first manipulator. The tool-head is configured to add material to at least one of the item and the component. The first and second manipulators provide at least six axes of fabrication for the tool-head.

  • Robotic Agile Lift System With Extremity Control

    A mobile robotic lift assistance system that can accommodate and provide for operator manipulation and control of a robotic arm and associated end effector locally from and via the robotic arm itself, and within a zone of operation. The mobile robotic lift assistance system can include one or more robotic arms having an associated extremity control system operable therefrom, wherein the operator enters the zone of operation and engages a control interface device to manipulate and control the robotic arm, any end effector associated therewith, and optionally the mobile platform unit. The control interface system facilitates extremity control by the operator of the mobile robotic lift assistance system.

  • AUTOMATED END EFFECTOR COMPONENT RELOADING SYSTEM FOR USE WITH A ROBOTIC SYSTEM

    A surgical instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system A second sensor has an output that represents a position of the anvil. An third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors.

  • FORCE ESTIMATION FOR A MINIMALLY INVASIVE ROBOTIC SURGERY SYSTEM

    A method of force estimation for a minimally invasive medical system including a robot manipulator having an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and being configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, where the method includes determining a position of the instrument relative to the fulcrum, measuring by means of the 6 degrees of freedom force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument, and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

  • ROBOTIC FABRICATOR

    A fabrication system includes a tool-head for manufacturing, a first manipulator and a second manipulator. The first manipulator supports and manipulates an item, and is configured to provide six-axes of movement for positioning of the item relative the tool-head. The second manipulator carries a component and orients the component at a select orientation relative to the item supported on the first manipulator. The tool-head is configured to add material to at least one of the item and the component. The first and second manipulators provide at least six axes of fabrication for the tool-head.

  • Robotic Agile Lift System With Extremity Control

    A mobile robotic lift assistance system that can accommodate and provide for operator manipulation and control of a robotic arm and associated end effector locally from and via the robotic arm itself, and within a zone of operation. The mobile robotic lift assistance system can include one or more robotic arms having an associated extremity control system operable therefrom, wherein the operator enters the zone of operation and engages a control interface device to manipulate and control the robotic arm, any end effector associated therewith, and optionally the mobile platform unit. The control interface system facilitates extremity control by the operator of the mobile robotic lift assistance system.

  • AUTOMATED END EFFECTOR COMPONENT RELOADING SYSTEM FOR USE WITH A ROBOTIC SYSTEM

    A surgical instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system A second sensor has an output that represents a position of the anvil. An third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors.

  • FORCE ESTIMATION FOR A MINIMALLY INVASIVE ROBOTIC SURGERY SYSTEM

    A method of force estimation for a minimally invasive medical system including a robot manipulator having an effector unit equipped with a 6-degrees-of-freedom force/torque sensor and being configured to hold a minimally invasive instrument having a first end mounted to the effector unit and a second end located beyond an external fulcrum that limits the instrument in motion, where the method includes determining a position of the instrument relative to the fulcrum, measuring by means of the 6 degrees of freedom force/torque sensor a force and a torque exerted onto the effector unit by the first end of the instrument, and calculating by means of the principle of superposition an estimate of a force exerted onto the second end of the instrument based on the determined position, the measured force and the measured torque.

  • Robotic module for natural orifice transluminal endoscopic surgery (NOTES)

    A miniature in-vivo robotic module to be used for conducting dexterous manipulations on organs and other target entities in a patient's abdominal or peritoneal cavity as part of Natural Orifice Transluminal Endoscopic Surgery (NOTES) is disclosed in this invention. The robotic module is a serial manipulator consisting of seven cylindrical links and six actively controllable rotational degrees of freedom, thereby enabling an end effector equipped with a laparoscopic type instrument to assume a commanded position and orientation within the robot's workspace. After overtube navigation starting from a natural orifice or preexisting wound, the module must be anchored and guided to a designated location along the inner abdominal cavity wall. This is accomplished via magnetic coupling forces between internal embedded magnets and magnets fixed to the end of a different robotic manipulator located external to the patient.

  • System and Method For Controlling A Teleoperated Robotic Agile Lift System

    A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.

  • Synchronized Robotic Baggage Portal for Secure Access

    Systems and methods describe automated/robotic baggage portals as well as their use when synchronized with automated/robotic human security portals. When companion human and baggage portals are synchronized, baggage items belonging to a subject are not passed through to a secure area unless the subject is cleared by a companion human portal for passage. Likewise, unless the subject is cleared for passage by the human portal, baggage items belonging to the subject are not passed through to a secure area unless the subject is cleared by the companion human portal. Variations on synchronization, tracking, and coordination mechanisms and methods are described as well as variations on baggage portal mechanisms including conveyer arrangements and baggage chamber configurations.

  • METHOD AND SYSTEM FOR NAVIGATING A ROBOTIC GARDEN TOOL

    The present invention relates to a method (300) and a system (100) for navigating a robotic garden tool (202) based on one or more operating parameters for subareas (210-218) within the working area (204) and a current location of the robotic garden tool (202). The working area (204) is provided with a signal source (104) corresponding to which a sensor unit (106) is provided in the robotic garden tool (202) for detecting the one or more signals (102) from the signal source (104). The robotic garden tool (202) may include a low-accuracy positioning device (110) for providing co-ordinates of various subareas (210-218) and at any given instant, an approximate location of the robotic garden tool (202). The robotic garden tool (202) further includes a processor means (114) for comparing the coordinates of the subareas (210-218) and the approximate position of the robotic garden tool (202) to determine a current location of the robotic garden tool (202) in the working area (204).

  • USER INTERFACE METHODS FOR ALTERNATE TOOL MODES FOR ROBOTIC SURGICAL TOOLS

    In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.

  • Surgical Robotic Systems with Manual and Haptic and/or Active Control Modes

    A surgical robotic system is disclosed that provides a combination of a programmed control, such as active control or passive control, when a high degree of accuracy is required and manual control when a high degree of accuracy is not required, such as during the removal of osteophytes, irregular bone growth and/or soft tissue. Manual resection may be completed by switching from the programmed control mode to the manual control mode and allowing the surgeon free control of the cutting tool. The manual resection may be carried out using some navigational features of the robotic system such as allowing the surgeon to visualize the position of the cutting tool thereby allowing accurate resection of osteophytes, irregular bone and tissue while having the unrestricted freedom to move the cutting tool. The programmed control mode may be reserved for procedures that require a high degree of accuracy, for example, the reaming of a bone and placement of an implant onto the bone.

  • PORTABLE ROBOTIC DEVICE

    A portable robotic device (PRD) as well as related devices and methods are described herein. The PRD includes a 3-D imaging sensor configured to acquire corresponding intensity data frames and range data frames of the environment. An imaging processing module configured to identify a matched feature in the intensity data frames, obtain sets of 3-D coordinates representing the matched feature in the range data frames, and determine a pose change of the PRD based on the 3-D coordinates; and perform 3-D data segmentation of the range data frames to extract planar surfaces.

  • Umbilical technique for robotic mineral mole

    Exemplary methods, systems and components disclosed herein provide propagation of light signals from an external source to a borehole mining mole which includes an optical/electric transducer configured to provide propulsive power for the borehole mining mole and its associated mineral prospecting tools. Some embodiments include one or more umbilicals connected from a remote source location to an onboard reel incorporated with the borehole mining mole. The umbilicals are spooled outwardly or inwardly from the onboard reel during traverse of the borehole mining mole along a path in an earthen environment.

  • MODULAR MANIPULATOR SUPPORT FOR ROBOTIC SURGERY

    A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

  • PORTABLE ROBOTIC DEVICE

    A portable robotic device (PRD) as well as related devices and methods are described herein. The PRD includes a 3-D imaging sensor configured to acquire corresponding intensity data frames and range data frames of the environment. An imaging processing module configured to identify a matched feature in the intensity data frames, obtain sets of 3-D coordinates representing the matched feature in the range data frames, and determine a pose change of the PRD based on the 3-D coordinates; and perform 3-D data segmentation of the range data frames to extract planar surfaces.

  • ROBOTIC INFUSION MIXER AND TRANSPORTABLE CARTRIDGE

    The invention relates to a transportable therapeutic cartridge, a therapeutic agent robotic mixer and a method for providing therapeutic infusion services. The transportable therapeutic cartridge is configured to be used to manually mix therapeutic agents or to be coupled to a therapeutic agent robotic mixer, such that the robotic mixer can access therapeutic agents disposed in the cartridge. The cartridge, mixer, and method provide therapeutic infusions in a just-in-time fashion, so as to minimize risk to patients and facility staff while maximizing the use and safety of the therapeutics.

  • Apparatus and Method for Delivery of Transcranial Magnetic Stimulation Using Biological Feedback to a Robotic Arm

    Disclosed are apparatus and methods for computer-aided, robotic delivery of transcranial magnetic stimulation (TMS) using biologically derived feedback to establish coil position relative to brain functional regions. The apparatus includes a TMS coil mounted to a robotic member. The position of the stimulating coil can be automatically optimized using the TMS-induced bio-responses of various types.

  • Apparatus and Method for Delivery of Transcranial Magnetic Stimulation Using Biological Feedback to a Robotic Arm

    Disclosed are apparatus and methods for computer-aided, robotic delivery of transcranial magnetic stimulation (TMS) using biologically derived feedback to establish coil position relative to brain functional regions. The apparatus includes a TMS coil mounted to a robotic member. The position of the stimulating coil can be automatically optimized using the TMS-induced bio-responses of various types.

  • NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE

    A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting system.

  • ROBOTIC PROCESS LOGGER

    A method for controlling a robot includes the step of controlling operation of the robot with a robot controller executing a control program having a plurality of process instructions. Associated process data for each of predetermined ones of the process instructions executed by the robot controller is then collected. The collected process data is subsequently stored in a form uniquely identified by at least one unique identifier. The at least one unique identifier may include both the program identifier and the process instruction identifier. The collected process data may be stored on the robot controller.

  • CONTROL SYSTEM CONFIGURED TO COMPENSATE FOR NON-IDEAL ACTUATOR-TO-JOINT LINKAGE CHARACTERISTICS IN A MEDICAL ROBOTIC SYSTEM

    A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.

  • ROBOTIC DEVICE FOR USE IN IMAGE-GUIDED ROBOT ASSISTED SURGICAL TRAINING

    A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism.

  • METHOD & APPARATUS FOR REMOTELY OPERATING A ROBOTIC DEVICE LINKED TO A COMMUNICATIONS NETWORK

    A remote control device able to connect to a communications network generates robot control messages are used for the remote control of a robot also able to be connected to the communications network. The remote control device creates a robot control file and an indirect reference to the robot control file which a user can select for inclusion in a robot control message. Once selected, the indirect reference to a robot control file causes the indirectly referenced robot control file to be included in a message generated by the remote control device. The remote control device establishes a communications link with the communications network, and sends the message, with the robot control file, to the robot also connected to the communications network. The robot receives the robot control message and performs at least one action according to the instruction included in the robot control message.

  • HUMAN-MACHINE COLLABORATIVE ROBOTIC SYSTEMS

    A semi-automatic, interactive robotic system for performing and/or simulating a multi-step task includes a user interface system, a recognition system adapted to communicate with the user interface system, a control system adapted to communicate with the recognition system, and a sensor-actuator system adapted to communicate with the control system. The recognition system is configured to recognize actions taken by a user while the user operates the user interface system and to selectively instruct the control system to cause the sensor-actuator system to perform, and/or simulate, one of an automatic step, a semi-automatic step or direct step of the multi-step task based on the recognized actions and a task model of the multi-step task.

  • ROBOTIC ARMS

    A device for treating fractures of a bone comprises a plurality of arms, each extending from a proximal end to a distal end and movable in a three-dimensional space, the proximal end of each arm coupled to a frame and a plurality of couplings, each of the couplings coupled to a distal end of each of the plurality of arms, the coupling lockingly receiving a bone fixation element secured to a corresponding bone fragment such that each of the arms is coupled to a corresponding fragment of the bone in combination with a mechanical unit moving each of the arms relative to the frame and a controller receiving data corresponding to a desired final position of the fragments relative to one another and controlling the mechanical unit to move the arms relative to one another to achieve the desired final position of the bone fragments relative to one another.

  • Interchangeable Modular Robotic Unit

    A modular, mobile, robotic unit having an octagon frame with a removable top and a bottom. The frame is of a substantial diameter to hold various attachments. Centered on the faces of the sides of the frame are utility augment ports capable of equipping utility augments. A magnetic fastener strip is located between a plurality of utility augment port shields and a magnet. The frame has an inner compartment housing a plurality of electronics and a plurality of components. The frame has a main compartment crib enclosure, a power supply crib enclosure located below the main compartment crib enclosure, and a waterproof crib enclosure coupled to a platform on the top of the frame. Ultrasonic collision detection sensors are attached to the sides of the frame. Mobility augmentation ports are coupled onto the top and bottom of the frame to hold mobility augments for attaching various transportation methods.

  • MEDICAL ROBOTIC SYSTEM HAVING ENTRY GUIDE CONTROLLER WITH INSTRUMENT TIP VELOCITY LIMITING

    A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.

  • Automated Testing and Verification of a Robotic System

    Methods automatically and comprehensively self-test the operation, hardware, and programs of a robotic system to reveal problems in a robotic system. The system preferably evaluates repeatability of measurement by each distance sensor, an accuracy of measurement by each distance sensor, an accuracy of movement of any positioning joints used to position the robot arm, and an accuracy of at least one routine of the system control programs. The positioning joints may include one or more rotational joints or one or more translational joints. In some embodiments, the robotic system is a robotic pulse/echo layer thickness (PELT) system. When a robotic system has passed all of the tests, then the system performance has been verified. The inclusion of these self-tests allows a robotic PELT system owner to determine whether or not the robotic portion of a system is performing correctly.

  • ELECTRIC FIELD AUXILIARY ROBOTIC NOZZLE PRINTER AND METHOD FOR MANUFACTURING ORGANIC WIRE PATTERN ALIGNED USING SAME

    Provided according to an aspect of the present disclosure is an electric field aided robotic nozzle printer including a solution storage apparatus for supplying a discharging solution; a nozzle for discharging the discharging solution supplied by the solution storage apparatus; a voltage applying apparatus for applying high voltage onto the nozzle; a flat and movable collector, in which organic wires formed after discharge from the nozzle are aligned; a robot stage, which is installed below the collector and enables to move the collector in an x-y direction (horizontal direction) within a horizontal plane; a micro distance controller for regulating the distance between the nozzle and the collector in a Z direction (vertical direction); and a base plate, which is installed below the robot stage, for maintaining flatness of the collector and preventing vibration generated during the operation of the robot stage.

  • ROBOTIC PLATFORM AND METHOD FOR PERFORMING MULTIPLE FUNCTIONS IN AGRICULTURAL SYSTEMS

    An autonomous vehicle platform system and method configured to perform various in-season management tasks, including selectively applying fertilizer, mapping growth zones and seeding cover crop within an agricultural field, while self-navigating between rows of planted crops and beneath the canopy of the planted crops on the uneven terrain of an agricultural field, allowing for an ideal in-season application of fertilizer to occur once the planted crop is well established and growing rapidly, in an effort to limit the loss of fertilizer.

  • ROBOTIC ARM MODULE

    A robotic arm module includes a chassis having at least one arm pod. At least one arm connected to the chassis is movable between a stowed position within the at least one arm pod and a deployed position extending from the at least one arm pod. Each arm has a gripping mechanism for gripping articles of work. An attachment structure is configured to allow a host robot to grip and manipulate the robotic arm module. An electrical interface is configured to receive electronic signals in response to a user moving remote manipulators. The electronic signals cause the at least one arm to mimic the movement of the user moving the remote manipulators.

  • METHODS OF USING A ROBOTIC SPINE SYSTEM

    A tissue retractor assembly may be moved through an opening formed in vertebrae in a patient's spinal column. The robotic mechanism may be utilized to form the opening in the vertebrae and to move the contracted tissue retractor assembly into the vertebra. The tissue retractor assembly may include a cannula or scope which is utilized to position the balloon or bladder relative to the vertebra and to conduct the fluid (gas or liquid) into the balloon or bladder to effect expansion of the balloon or bladder. The balloon or bladder may be formed of a biodegradable material. The robotic mechanism may be utilized to position the cannula through which the flow of synthetic bone material or cement is conducted into the space created in the vertebra by expansion of the balloon or bladder.

  • Robotic surgical system and method for automated therapy delivery

    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.

  • MULTI-PORT SURGICAL ROBOTIC SYSTEM ARCHITECTURE

    A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

  • REDUNDANT AXIS AND DEGREE OF FREEDOM FOR HARDWARE-CONSTRAINED REMOTE CENTER ROBOTIC MANIPULATOR

    A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.

  • INTEGRATION OF A ROBOTIC SYSTEM WITH ONE OR MORE MOBILE COMPUTING DEVICES

    A robotic system is integrated with one or more mobile computing devices. Physical configurations of individual components of the system in physical space, or agents, under control of a user or users, are duplicated in a representation in virtual space. Some degree of real-time parity is maintained between the physical and virtual spaces, so as to implement a virtual environment that mirrors the physical one. Events occurring within one environment can directly influence and bear consequence on the course of events occurring within the other environment. Elements of virtual space thereby become truly interdependent and unified on a peer footing with elements in physical space. In at least one embodiment, the system of the present invention is implemented as an application in entertainment, such as the manifestation of a video game in physical space.

  • LOW FRICTION INSTRUMENT DRIVER INTERFACE FOR ROBOTIC SYSTEMS

    A medical robotic system includes a base having a first opening, and a first protrusion next to the first opening, a first rotary member configured for detachably coupling to a component of the medical robotic system in a manner such that the first rotary member is rotatable relative to the base and at least a part of the first rotary member is located in the first opening of the base when the first rotary member is coupled to the system component, and a cover coupled to the base, wherein the first rotary member comprises a first end, a second end, a body extending between the first and second ends, and a flange disposed circumferentially around a part of the body, the flange having a first circumferential slot for receiving the first protrusion.

  • ROBOTIC PLATFORM AND METHOD FOR PERFORMING MULTIPLE FUNCTIONS IN AGRICULTURAL SYSTEMS

    An autonomous vehicle platform system and method configured to perform various in-season management tasks, including selectively applying fertilizer, mapping growth zones and seeding cover crop within an agricultural field, while self-navigating between rows of planted crops and beneath the canopy of the planted crops on the uneven terrain of an agricultural field, allowing for an ideal in-season application of fertilizer to occur once the planted crop is well established and growing rapidly, in an effort to limit the loss of fertilizer.

  • ROBOTIC PLATFORM AND METHOD FOR PERFORMING MULTIPLE FUNCTIONS IN AGRICULTURAL SYSTEMS

    An autonomous vehicle platform system and method configured to perform various in-season management tasks, including selectively applying fertilizer, mapping growth zones and seeding cover crop within an agricultural field, while self-navigating between rows of planted crops and beneath the canopy of the planted crops on the uneven terrain of an agricultural field, allowing for an ideal in-season application of fertilizer to occur once the planted crop is well established and growing rapidly, in an effort to limit the loss of fertilizer.

  • ROBOTIC ARM MODULE

    A robotic arm module includes a chassis having at least one arm pod. At least one arm connected to the chassis is movable between a stowed position within the at least one arm pod and a deployed position extending from the at least one arm pod. Each arm has a gripping mechanism for gripping articles of work. An attachment structure is configured to allow a host robot to grip and manipulate the robotic arm module. An electrical interface is configured to receive electronic signals in response to a user moving remote manipulators. The electronic signals cause the at least one arm to mimic the movement of the user moving the remote manipulators.

  • METHODS OF USING A ROBOTIC SPINE SYSTEM

    A tissue retractor assembly may be moved through an opening formed in vertebrae in a patient's spinal column. The robotic mechanism may be utilized to form the opening in the vertebrae and to move the contracted tissue retractor assembly into the vertebra. The tissue retractor assembly may include a cannula or scope which is utilized to position the balloon or bladder relative to the vertebra and to conduct the fluid (gas or liquid) into the balloon or bladder to effect expansion of the balloon or bladder. The balloon or bladder may be formed of a biodegradable material. The robotic mechanism may be utilized to position the cannula through which the flow of synthetic bone material or cement is conducted into the space created in the vertebra by expansion of the balloon or bladder.

  • Robotic surgical system and method for automated therapy delivery

    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.

  • MULTI-PORT SURGICAL ROBOTIC SYSTEM ARCHITECTURE

    A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

  • REDUNDANT AXIS AND DEGREE OF FREEDOM FOR HARDWARE-CONSTRAINED REMOTE CENTER ROBOTIC MANIPULATOR

    A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.

  • INTEGRATION OF A ROBOTIC SYSTEM WITH ONE OR MORE MOBILE COMPUTING DEVICES

    A robotic system is integrated with one or more mobile computing devices. Physical configurations of individual components of the system in physical space, or agents, under control of a user or users, are duplicated in a representation in virtual space. Some degree of real-time parity is maintained between the physical and virtual spaces, so as to implement a virtual environment that mirrors the physical one. Events occurring within one environment can directly influence and bear consequence on the course of events occurring within the other environment. Elements of virtual space thereby become truly interdependent and unified on a peer footing with elements in physical space. In at least one embodiment, the system of the present invention is implemented as an application in entertainment, such as the manifestation of a video game in physical space.

  • LOW FRICTION INSTRUMENT DRIVER INTERFACE FOR ROBOTIC SYSTEMS

    A medical robotic system includes a base having a first opening, and a first protrusion next to the first opening, a first rotary member configured for detachably coupling to a component of the medical robotic system in a manner such that the first rotary member is rotatable relative to the base and at least a part of the first rotary member is located in the first opening of the base when the first rotary member is coupled to the system component, and a cover coupled to the base, wherein the first rotary member comprises a first end, a second end, a body extending between the first and second ends, and a flange disposed circumferentially around a part of the body, the flange having a first circumferential slot for receiving the first protrusion.

  • ROBOTIC CONTROL APPARATUS

    According to one embodiment, a robotic control apparatus includes a physical parameter switching unit, an observer unit, and a state feedback unit. The physical parameter switching unit switches a physical parameter set in accordance with a value of a mass of an end effector load of a robotic arm. The observer unit estimates an angular velocity of a link based on a simulation model of a motor angular velocity control system which undergoes gain proportional-integral control equivalent to a proportional-integral control of the angular velocity control system. The state feedback unit calculates an axial torsional angular velocity based on a difference between the angular velocity of the motor, and the angular velocity of the link, and feed the calculated axial torsional angular velocity back to the angular velocity control system.

  • INTELLIGENT MODULAR ROBOTIC APPARATUS AND METHODS

    Apparatus and methods for an extensible robotic device with artificial intelligence and receptive to training controls. In one implementation, a modular robotic system that allows a user to fully select the architecture and capability set of their robotic device is disclosed. The user may add/remove modules as their respective functions are required/obviated. In addition, the artificial intelligence is based on a neuronal network (e.g., spiking neural network), and a behavioral control structure that allows a user to train a robotic device in manner conceptually similar to the mode in which one goes about training a domesticated animal such as a dog or cat (e.g., a positive/negative feedback training paradigm) is used. The trainable behavior control structure is based on the artificial neural network, which simulates the neural/synaptic activity of the brain of a living organism.

  • REMOTE ROBOTIC PRESENCE

    A mobile robot system for video teleconferencing system is described herein. A robot can be operable by a remote user. Via the robot, a remote user can interact within a local user's environment to provide telepresence capabilities. For example, the robot can be deployed on a horizontal surface, such as a table or desktop. The robot can include a microcontroller, a drive unit, and interface to a consumer device, such as a mobile device. The drive unit can include two or more motors for providing motion capabilities. The microcontroller can be wired or communicatively coupled to the consumer device. In general, the consumer device may be a mobile phone or a tablet computer where processing power and wireless or other capabilities of these devices can be utilized by the system. The system can be based on a networking protocol providing multi-party data exchanges.

  • Robotic Vehicle Having Traction and Mobility-Enhanced Wheel Structures

    A robotic vehicle is provided with improved traction and mobility via a specially designed wheel apparatus including a relatively rigid wheel structure formed from two circular, coaxial sprocketed wheel plates separated by a central hub. The sprockets on the wheel plates are circumferentially aligned with one another, with axially facing sprocket pairs being received in areas defined between circumferentially adjacent pairs of tread links in a series of tread links, equal in number to the number of sprocket pairs, arranged in a circular array around the periphery of the wheel structure. The sprocket pairs are sized and configured in a manner such that substantial relative axial and circumferential movement between the wheel structure and the tread link array are blocked, with the axially facing sprockets in each sprocket pair being axially and resiliently deflected toward one another by surface portions of their associated tread link area.

  • REAL-TIME GENERATION OF THREE- DIMENSIONAL ULTRASOUND IMAGE USING A TWO-DIMENSIONAL ULTRASOUND TRANSDUCER IN A ROBOTICSYSTEM

    Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

  • MOVABLE SURGICAL MOUNTING PLATFORM CONTROLLED BY MANUAL MOTION OF ROBOTIC ARMS

    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.

  • METHOD FOR GRAPHICALLY PROVIDING CONTINUOUS CHANGE OF STATE DIRECTIONS TO A USER OF A MEDICAL ROBOTIC SYSTEM

    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.

  • ROBOTIC CATHETER SYSTEM INCLUDING IMAGING SYSTEM CONTROL

    A robotic catheter procedure system includes a bedside system and a workstation. The bedside system includes an actuating mechanism configured to engage and to impart movement to a percutaneous device. The workstation includes a user interface and a control system configured to be operatively coupled to the user interface, the bedside system, and a medical imaging system. The control system is responsive to a first input and to a second input, and the user interface receives the second input from a user. The control system is configured to generate a first control signal to the medical imaging system based on the first input, and the medical imaging system captures at least one image in response to the first control signal. The control system is configured to generate a second control signal to the actuating mechanism based on the second input, and the actuating mechanism causes movement of the percutaneous device in response to the second control signal. The first input is indicative of upcoming percutaneous device movement.