公开(公告)号：US11779419B2

公开(公告)日：2023-10-10

申请号：US17530912

申请日：2021-11-19

申请人： Titan Medical Inc.

发明人： Joseph Kralicky ,  Peter Cameron

IPC分类号： A61B34/37 ,  A61B34/35 ,  B25J3/04 ,  B25J9/16 ,  A61B34/00 ,  A61B17/29 ,  B25J11/00 ,  A61B34/30

CPC分类号： A61B34/37 ,  A61B17/29 ,  A61B34/35 ,  A61B34/74 ,  B25J3/04 ,  B25J9/1689 ,  B25J11/008 ,  A61B2034/301 ,  A61B2034/306 ,  G05B2219/39024 ,  G05B2219/40195 ,  Y10S901/06 ,  Y10S901/31

摘要： In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (RΔ) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (RΔ) to reduce the alignment difference.

公开(公告)号：US11745331B2

公开(公告)日：2023-09-05

申请号：US17900708

申请日：2022-08-31

申请人： Sarcos, LC

发明人： Fraser M. Smith ,  Marc X. Olivier

IPC分类号： B25J3/04 ,  B25J5/00 ,  B25J9/16 ,  B25J13/02

CPC分类号： B25J3/04 ,  B25J5/005 ,  B25J9/1633 ,  B25J13/025

摘要： A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

公开(公告)号：US11701770B2

公开(公告)日：2023-07-18

申请号：US16614987

申请日：2018-05-17

申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA

发明人： Yasuhiko Hashimoto ,  Nobuyasu Shimomura ,  Masayuki Kamon ,  Jun Fujimori ,  Hiroki Kinoshita ,  Takuya Shitaka ,  Hiroki Takahashi

IPC分类号： B25J3/04 ,  B25J9/16 ,  B25J13/02 ,  B25J13/08 ,  B25J19/02

CPC分类号： B25J3/04 ,  B25J9/163 ,  B25J9/1648 ,  B25J9/1687 ,  B25J13/025 ,  B25J13/085 ,  B25J19/02

摘要： A robot system includes a manipulating force detector configured to detect a manipulating force given to an operation end by an operator, a reaction-force detector configured to detect a reaction force given to a work end or a workpiece held by the work end, a system controller configured to generate an operating command of a master arm and generate an operating command of a slave arm based on the manipulating force and the reaction force, a master-side control part configured to control the master arm, and a slave-side control part configured to control the slave arm. The system controller has an exaggerated expresser configured to exaggeratedly present an operating feel to the operator who operates the operation end in a reaction-force sudden change state that is a state in which the reaction force changes rapidly with time.

公开(公告)号：US20230038804A1

公开(公告)日：2023-02-09

申请号：US17784120

申请日：2020-12-08

申请人： Kawasaki Jukogyo Kabushiki Kaisha

发明人： Masayuki KAMON ,  Hiroki TAKAHASHI ,  Kai SHIMIZU ,  Yuki TAKAYAMA ,  Jun FUJIMORI ,  Hiroki KINOSHITA

IPC分类号： B25J3/04 ,  B25J13/02

摘要： A master-slave system includes: a master unit including an operation end, an operation detector that detects operational information inputted by a force being applied to the operation end, and a force applier that gives a force to the operation end; a slave unit including an action part, and an operation part that moves the action part; and a control device. The control device outputs, according to a regulating condition and the operational information, a command for causing the operation part to operate the action part to carry out operation reflecting the regulating condition. The control device outputs, according to the regulating condition, a command for causing the force applier to give a force to the operation end against the input to the operation end that commands the given movement of the action part.

公开(公告)号：US20230031545A1

公开(公告)日：2023-02-02

申请号：US17816399

申请日：2022-07-30

申请人： MBL LIMITED

发明人： Mark OLEYNIK

IPC分类号： B25J9/16 ,  B25J9/00 ,  B62D57/032 ,  G05B19/42 ,  B25J13/02 ,  B25J11/00 ,  B25J19/02 ,  B25J3/04 ,  A47J36/32 ,  B25J15/00

摘要： Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.

公开(公告)号：US20220410367A1

公开(公告)日：2022-12-29

申请号：US17900727

申请日：2022-08-31

申请人： Sarcos Corp.

发明人： Fraser M. Smith ,  Marc X. Olivier

IPC分类号： B25J3/04 ,  B25J5/00 ,  B25J13/02

摘要： A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

公开(公告)号：US11471230B2

公开(公告)日：2022-10-18

申请号：US16701311

申请日：2019-12-03

申请人： OLYMPUS CORPORATION

发明人： Kohei Nakashima

IPC分类号： A61B34/00 ,  A61B34/37 ,  B25J3/04 ,  B25J9/16 ,  B25J13/06 ,  B25J15/00 ,  A61B34/30 ,  A61B17/29 ,  A61B17/32 ,  A61B17/00

摘要： A medical system includes: a slave having at least one moving part; an operation device having at least one operation part; and a processor that controls operations of the slave based on a conversion table that associates operations of the moving part of the slave with inputs of the operation part of the operation device. The processor is programmed to execute: acquiring user identification information of a user of the slave, slave identification information of the slave, and operation device identification information of the operation device, and generating and proposing the conversion table based on the user identification information, the slave identification information, and the operation device identification information.

公开(公告)号：US20220314428A1

公开(公告)日：2022-10-06

申请号：US17605725

申请日：2020-03-18

申请人： HONDA MOTOR CO., LTD.

发明人： Toru Takenaka

IPC分类号： B25J3/04 ,  B25J13/02 ,  B25J13/04

摘要： A manipulation device 51 (master device) includes: an upper-body support part 65 which is mounted on an upper body of an operator P to be able to move together with the operator P as the operator P moves; and a movement command determination unit 94 which determines a movement control command value of a mobile body 1 (slave device) according to an observation value of a motion state including a movement speed of the upper-body support part 65 in a movement environment of the operator P. A reaction force received from the operator P by the upper-body support part 65 can be controlled by action control of a movement mechanism 52 of the manipulation device 51 and a lifting mechanism 60.

公开(公告)号：US11458636B2

公开(公告)日：2022-10-04

申请号：US16877747

申请日：2020-05-19

申请人： Dong Ouyang

发明人： Dong Ouyang ,  Thomas Ouyang ,  Eric Ouyang

IPC分类号： B25J5/02 ,  B25J13/00 ,  B25J19/00 ,  B25J9/12 ,  B25J5/00 ,  B25J9/10 ,  B25J11/00 ,  B25J9/16 ,  B25J13/08 ,  B25J3/04

摘要： A wirelessly powered and controlled robotic apparatus enabling performance of tasks within a three-dimensional space includes a rail, a robotic unit, and a tool. The rail comprises negative and second paths to carry an electrical current. The robotic unit comprises a microcontroller having a drive motor and a transceiver engaged thereto and is engaged to and electrically coupled to the rail. A transfer unit is engaged to both the drive motor and the rail and thus can translate rotation of the drive motor to a force to motivate the robotic unit along the rail. The microcontroller selectively actuates the transfer unit to move the robotic unit along the rail to a location. The transceiver receives commands wirelessly from a control unit and transmits data thereto. The tool is engaged to the robotic unit and can perform a task at, or proximate to, the location.

公开(公告)号：US11383383B2

公开(公告)日：2022-07-12

申请号：US16801877

申请日：2020-02-26

申请人： HONDA MOTOR CO., LTD.

发明人： Naoto Shikano ,  Tomoki Murozono ,  Shuhei Kondo

IPC分类号： B25J9/16 ,  B25J3/04 ,  B25J5/00

摘要： A vehicle transport apparatus is formed by a first robot and a second robot that enter underneath a vehicle, lift up wheels of the vehicle, and travel. The first robot and the second robot each include omnidirectional wheels and each further include a right lifting arm and a left lifting arm that are freely rotatably movable between storage positions (right storage position and left storage position) where tips thereof are pointed toward a center of a body in a width direction and expanded positions (right expanded position and left expanded position) where the tips thereof are pointed toward the outside of the body in the width direction.