End effector and haptic control system

Abstract

An end effector and a haptic control system for a teleoperator robot are provided. The end effector is configured for attachment to a robot and includes a visual hub having a plurality of sensors for viewing an environment for telecontrol of the robot and a projector for projection onto an object, surface, or user's body. The user interacts with the projection to guide the robot to perform various tasks. User interactions are detected by sensors in the visual hub to enable feedback control of the robot. The end effector may be used as part of a haptic control system in combination with an auxiliary haptic device to guide the robot to perform various tasks.

Description

Technical Field

[0001] The embodiments disclosed herein relate to non-autonomous, semi-autonomous, autonomous, and remotely operated robots, and particularly to robot end effectors and tactile control systems for such robot applications. Background Technology

[0002] Robotic systems are typically built specifically for a particular application and therefore cannot be easily adapted to perform a wide range of specialized tasks. As such, there are limited "out-of-the-box" remote-controlled robot solutions suitable for a broad range of tasks and applications. Another challenge in robotics, especially remote-controlled robotics, is that users / operators must be specially trained to correctly interact with and control the robot using, for example, input devices or virtual / augmented reality equipment. This is time-consuming and requires specialized equipment.

[0003] The combination of remote-controlled robotics technology with multi-purpose end effectors and haptic feedback and control offers a wealth of potential use cases across a wide range of industries and applications. The versatility of this approach opens up possibilities for remote operation, training, healthcare, exploration, and a variety of other fields where precise control, sensory feedback, and remote interaction are required. For example, by combining sensor fusion, projection displays, rapid tool exchange, and haptic feedback and input, remote-controlled robotics technology can be further extended to allow individuals with sensory (e.g., auditory) constraints to use in noisy and variable operating environments.

[0004] Therefore, there is a need for new robotic systems (especially in the field of remote-controlled robots) that employ projection displays, a large number of sensors, automated tool exchange that is simple and intuitive to use, and tactile feedback and control. Attached Figure Description

[0005] The accompanying drawings are included to illustrate various examples of articles, methods, and apparatus of this specification. In the drawings: Figure 1A and 1B This is a perspective view of an end effector according to one embodiment; Figure 1C yes Figure 1A and 1B The front view of the end effector shown in the image; Figure 1D yes Figure 1A and 1B The rear view of the end effector shown in the image; Figure 1E yes Figure 1A and 1B The side view of the end effector shown in the figure; Figure 1F Is it through Figure 1E Front sectional view of section AA in the middle; Figure 1G yes Figure 1F A perspective view of the latching mechanism shown in the figure.

[0006] Figure 2A This is a perspective view of the visual center according to one embodiment; Figure 2B yes Figure 2A The front view of the visual center shown in the image; Figure 2C It was removed from the outer casing. Figure 2A A perspective view of the visual center shown in the image; Figure 2D yes Figure 2C The side view of the visual center shown in the image; Figure 2E yes Figure 2C The rear perspective view of the visual center shown in the image; Figure 3 This is a schematic diagram of a graphical user interface based on a projection according to one embodiment; Figures 4A-4B These are top and bottom perspective views of a tactile device according to an embodiment; Figure 4C This is shown as an installation for a desktop workstation. Figures 4A-4B A perspective view of the tactile device; and Figure 4D It is shown as being installed on the robot. Figures 4A-4B A side view of the tactile device. Detailed Implementation

[0007] Various devices or processes will be described below to provide examples of each claimed embodiment. The embodiments described below are not intended to limit any claimed embodiment, and any claimed embodiment may cover processes or devices different from those described below. The claimed embodiments are not limited to devices or processes having all the features of any of the devices or processes described below, or are not limited to features common to multiple or all of the devices described below.

[0008] One or more systems described herein can be implemented in a computer program that executes on a programmable computer, each programmable computer including at least one processor, a data storage system (including volatile and non-volatile memory and / or storage elements), at least one input device, and at least one output device. For example, but without limitation, a programmable computer can be a programmable logic unit, a mainframe computer, a server and personal computer, a cloud-based program or system, a laptop computer, a personal data assistant, a cellular phone, a smartphone, or a tablet device.

[0009] Each program is preferably implemented using a high-level procedural or object-oriented programming and / or scripting language to communicate with the computer system. However, if desired, the program may be implemented using assembly or machine language. In any case, the language may be a compiled or interpreted language. Each such computer program is preferably stored on a storage medium or device readable by a general-purpose or special-purpose programmable computer for configuring and operating the computer to perform the processes described herein when the storage medium or device is read by the computer.

[0010] As used herein, the term “controller” refers to a computer processor (e.g., a central processing unit, a graphics processing unit), an integrated circuit, a system-on-a-chip, including associated hardware and software, configured to execute instructions, perform calculations, and / or process signals / data as appropriate.

[0011] The description of embodiments having several communicating components does not imply that all such components are necessary. Rather, various optional components are described to illustrate a wide range of possible embodiments of the invention.

[0012] Furthermore, while process steps, method steps, algorithms, or the like may be described sequentially (in this disclosure and / or in the claims), such processes, methods, and algorithms may be configured to operate in an alternating order. In other words, any order or sequence of the steps that can be described does not necessarily indicate a requirement to perform the steps in that order. The steps of the process described herein may be performed in any practicable order. Furthermore, some steps may be performed simultaneously.

[0013] When a single device or article of manufacture is described herein, it will be readily apparent that more than one device / article of manufacture (whether or not they cooperate) can be used in place of a single device / article of manufacture. Similarly, when more than one device or article of manufacture (whether or not they cooperate) is described herein, it will be readily apparent that a single device / article of manufacture can be used in place of more than one device or article of manufacture.

[0014] refer to Figure 1A-1E The illustration shows an end effector 100 according to one embodiment. The end effector 100 is configured to attach to a robotic arm or robotic device (e.g., the autonomous robotic device disclosed in U.S. Patent Publication No. 2022 / 0362944) for remote-controlled robotic applications. Typically, the end effector 100 is electronically and physically connected at the robot end 130 to the robotic arm (not shown) and at the tool end 140 to the tool (not shown) to enable remote robotic control of the tool using multiple sensors and projectors contained within the end effector 100.

[0015] The end effector 100 includes a servo connection point 108 on the robot end effector 130 for physically connecting the end effector 100 to the robot, allowing the end effector 100 (and the tool attached thereto) to be moved and oriented by the robot. The robot end effector 130 further includes a high-speed data connection port 111 (e.g., USB, CANbus) for electrically connecting the robot and the end effector 100 for transmitting data and power therebetween. Additionally, the robot end effector 130 includes a small container for guiding a fluid conduit extending within the robot, accommodating fluid flow through the end effector 100 and exiting from the tool end effector 140 (see [link to documentation]). Figure 1F-1G ).

[0016] Multiple LED channels 114 are located near the robot end effector 130. The LED channels 114 are semi-transparent, allowing light from indicator LEDs disposed inside the end effector 110 to be seen from the outside. The indicator LEDs can be individually controlled and can achieve a wide color gamut and vary their intensity. The indicator LEDs can be used to indicate the operational status, connection status, etc., of the end effector 100 and / or the robot. For example, a flashing red light can indicate a malfunction in connecting the tool to the end effector 100.

[0017] The end effector 100 includes a mounting interface 106 on the tool end 140 for physical and electronic connection to a plurality of detachably attached tools for various applications. For example, the end effector 100 may be detachably attached at the mounting interface 106 to a gripper or grasping tool for picking up or manipulating objects.

[0018] The mounting interface 106 includes a spring pin array 110 disposed thereon, which forms an electrical connection with a corresponding spring pin on a tool attached to the end effector 100. The spring pin array 110 transmits data, control signals, and power between the robot and the tool via the end effector 100. Data transmission can take the form of any necessary communication protocol, including but not limited to USB, I2C, CAN, and SPI. This versatility of the electronic interface considers not only communication with tools specifically designed for integration with the robot / end effector 100, but also communication with off-the-shelf instruments. As an example, in the field of ultrasound examination, existing probes from OEMs such as GE®, Phillips®, Clarius®, Siemens®, Butterfly™, etc., can be integrated into the tool and communicate with the robot without requiring any modification to the robot or end effector 100.

[0019] The end effector 100 is capable of receiving fluids or slurries (not limited to compressed gas, water, disinfectant liquid, or ultrasonic gel) being transported along the length of the robot and transmitting them from the robot end effector 130 to the mounting interface 106. The mounting interface 106 includes fluid connection points 113a and 113b, which are aligned with similar features on the mating tool to form an end-face seal. Two working fluids (in any combination of gas, fluid, and slurry) can be exchanged between the robot and the tool via two different fluid conduits 112a and 112b and fluid connection points 113a and 113b. One fluid conduit 112a and end-face seal 112a can be configured for gas, and a second fluid conduit 112b and end-face seal 112b can be configured for liquid.

[0020] Mounting interface 106 includes a latching mechanism 120 for detachably securing the tool to end effector 100. When the end effector 100 is attached to the robot at robot end 130 and locked to the tool at tool end 140, both move together, accommodating robot movement of the tool. Latching mechanism 120 includes a pair of locking lugs 122, a latch 124, and a latch release member 126.

[0021] refer to Figure 1F-1G A locking lug 122 (coarse thread) engages a similar feature on the tool to prevent relative axial movement between the end effector 100 and the tool (similar to a screw) without relative rotation. A latch 124 prevents relative rotation by swinging into a small container on the tool. Together, the locking lug 122 and latch 124 prevent both relative axial and rotational movement, thereby locking the end effector 100 to the tool. This system is "fail-safe," meaning that in the event of a power loss, the tool will remain fixed to the end effector 100 (i.e., fixed to the robot) and will not fall off at the risk of injuring the user or damaging the tool.

[0022] A constant force spring and a shape memory alloy (SMA) cable 123 are used to actuate the latch 124. The latch 124 is biased in a locked, fail-safe position so that it remains locked in the event of a power failure. The constant force spring continuously holds the latch 124 in the locked position (e.g., ...). Figure 1F-1G(As shown in the diagram). When current flows through the SMA cable 123, its length shortens. The SMA cable 123 is arranged such that when it shortens, it resists a constant force spring to move the latch 124 in the direction of arrow 125, thereby opening / unlocking the latch mechanism 120. When the current to the SMA cable 123 is cut off, the constant force spring returns to the stronger of the two forces and pulls the latch 124 into the locked position, while stretching the SMA cable 123 back to its "extended" state. Current is supplied to the SMA cable 123 via electrical connector 128, thus enabling electronic control of the latch mechanism 120 by a robot.

[0023] Additionally, a latch release button 126 is connected to the latch 124, which is designed for manual unlocking of the tool from the end effector 100 by the user in case of an emergency or power loss. When this button is pressed in the direction of arrow 127, it causes the latch 124 to move to the unlocked position (in the direction of arrow 125), as if the SMA cable were shortened.

[0024] A multi-axis force sensor is located within the end effector 100. The force sensor is configured to measure loads in six degrees of freedom: three linear forces and three torques. These forces can be used individually or through sensor fusion to determine whether the end effector 100 is under load. In remotely controlled robot applications, the values ​​measured by the force sensor can be transmitted via tactile devices (…). Figures 4A-4D It is used to provide tactile feedback to the user, indicating not only that the end effector 100 or the tool attached to it is in contact with an object, but also how much force and torque is applied and at what angle.

[0025] The end effector 100 includes a vision center 102 housing a vision module having multiple sensors for sensing the environment surrounding the robot. The vision center 102 further includes a projector for projecting video and / or images (e.g., a graphical user interface) onto surrounding objects, surfaces, or the user's body. See below for reference. Figures 2A-2D The visual center 102 will be described in detail below. As required by a specific application, a projector within the visual center 102 may replace alternative sensors or devices.

[0026] The visual center 102 includes a protective shield 104 for protecting the sensor and projector from dust and environmental hazards. The protective shield 104 is substantially transparent to at least visible light and infrared radiation. The visual center 102 may include a solid-state fan (e.g., AirJet®) configured to blow air across the protective shield 104 for cleaning the protective shield 104.

[0027] refer to Figures 2A-2EThe illustration shows a visual center 200 according to one embodiment. The visual center 200 may be... Figure 1A-1F The visual center 102 is shown in the image.

[0028] The visual center 200 includes two RGB cameras 202a and 202b, a time-of-flight (TOF) sensor 204 disposed between the RGB cameras 202a and 202b, and LED diodes 206a and 206b for the TOF sensor 204. The visual center 200 further includes a thermopile (infrared thermal) sensor or infrared camera 208. Collectively, the RGB cameras 202a and 202b, the TOF sensor 204, the LED diodes 206, and the thermopile / infrared camera 208 are referred to herein as "sensors".

[0029] The visual center 200 is contained between the housing 201 and the protective shield (i.e., the protective shield 104). For illustration purposes, the protective shield is not shown. Sensors 202, 204, 206, and 208 are arranged to sense the environment through the protective shield.

[0030] RGB cameras 202a and 202b are stereo RGB cameras with a global shutter specifically designed to create parallax effects for enhanced depth perception. Furthermore, the RGB cameras 202a and 202b are spaced apart at a distance corresponding to the distance between human eyes, thereby recreating a human parallax effect.

[0031] The visual center 200 further includes a projector 210 for projecting images, videos, and / or graphical user interfaces onto nearby objects, surfaces, or the user. The visual center 200 further includes a dynamic focusing system. Figure 2C and 2D The dynamic focusing system is used to maintain a clear and focused projection regardless of its distance from the surface / object onto which the projector 210 is projecting. This is important because the distance from the projector 210 to the projection surface / object will vary between and within applications. It should not be assumed that the distance will always be the same.

[0032] Projector 210 is focused using an SMA cable 212. The SMA cable 212 is fixed to PCB 214 at both ends and to the projector focus knob 216 approximately halfway along its length. By controlling the current flowing through the SMA cable 212, its length can be finely controlled, thus providing fine control over the focus knob 216 to which it is fixed. Typically, when the SMA cable 212 shortens, the focus knob 216 rotates in one direction (e.g., clockwise), and when the SMA cable 212 lengthens, the focus knob 216 rotates in the opposite direction (e.g., counterclockwise).

[0033] According to some embodiments, the position of the SMA cable 212 and the focus knob 216 can be controlled by a position sensing sensor (optical, magnetic, capacitive, or inductive) in a feedback control loop of a dynamic control system.

[0034] According to other embodiments, the positions of the SMA cable 212 and the focus knob 216 can be controlled by monitoring the resistance of the SMA cable 212 in a feedback control loop. The resistance of the SMA cable is directly linked to its length; therefore, by knowing the resistance, the state of the SMA cable 212 and the focus knob 216 can be accurately determined, and the focus of the projector 210 can be controlled. This focus control method can be used alone or in combination with the position sensing sensor mentioned above.

[0035] Typically, the dynamic control system automatically controls the focus of the projector 210 using data on the distance from the projection surface to the visual center 200 measured by sensors 202, 204, 206, and 208. The dynamic control system includes a controller configured to receive input from position sensing sensors (including sensors 202, 204, 206, and 208 in the vision module) to determine the distance to the object or surface on which the projector 210 is projecting, and to adjust the current through the SMA cable 212 according to the distance if the distance to the object / surface changes to maintain the projected video / image in focus. Direct control of the projector 210's focus can be manually performed by the user if needed.

[0036] The visual center 200 includes a frame 230 on which the PCB 214, sensors 202, 204, 206, 208, and projector 210 are mounted. Preferably, the frame is made of sheet copper for structural rigidity and also functions as a heat sink. Similarly, the pulleys 232 on which the SMA cable 212 is wound are preferably made of sheet copper for heat dissipation purposes.

[0037] As described below, the use of sensors 202, 204, 206, 208 of the vision center 200, which cooperate with the capabilities of the projector 210 and the end effector 100, enables multi-functional technology applications when integrated with a robot (e.g., the robot disclosed in U.S. Patent Publication No. 2022 / 0362944). According to various embodiments, the PCB 214 may further include one or more controllers configured for the various operations and applications described below.

[0038] According to one embodiment, the end effector 100 is configured to overlay images onto a workspace surface or a specific object to guide robot movement or provide visual instructions to a user. This can be used when guiding a user to follow various prompts. Visual instructions can be particularly useful for users with auditory constraints, as they can rely on the projected images to understand and follow the robot's prompts and instructions.

[0039] The visual center 200 is configured to implement computer vision algorithms to analyze the environment, allowing the robot to recognize objects and interpret visual cues. Image processing techniques improve the clarity and quality of projected instructions. Augmented reality (AR) can be combined to blend virtual content with the real-world environment, providing an immersive experience. The integration of sensors such as cameras and depth sensors enables real-time data collection for adaptive guidance. Machine learning and AI algorithms enable the robot to learn and interpret visual cues, thereby generating appropriate instructions. Together, these technologies enable the robot to project clear and accurate visual cues, helping users follow instructions and improving task performance.

[0040] According to one embodiment, the computer vision algorithm includes hand recognition artificial intelligence for gesture recognition and touch estimation, using both a ToF sensor 204 and RGB cameras 202a and 202b overlaid on a projector 210 to draw a path or select a target on the user's or patient's body. The target is projected onto the user's body by the projector 210, and a robot will capture the projected image and replicate it or the path in real life.

[0041] According to one embodiment, the end effector projects anatomical information onto the patient's body, thereby providing the operator with a visual reference during the surgical procedure. This enhances the operator's understanding of the patient's anatomy and facilitates accurate manipulation of tools and instruments. This can be achieved using a ToF sensor 204 within the visual center 200, along with artificial intelligence such as semantic segmentation or pose estimation.

[0042] According to one embodiment, by using advanced computer vision algorithms in conjunction with the end effector 100, the robot can identify and highlight specific objects or components. This facilitates pick-and-place operations and reduces the chance of errors and mistransmission. Also here, the robot may use the end effector 100, for example, to communicate with a user by simply illuminating an object and / or projecting text or symbols onto it. The fidelity of pick-and-place operations can be increased by using RGB cameras 202a, 202b and projector 210, through depth mapping that projects a dot pattern or grid pattern onto the object as the robot moves to pick it up.

[0043] This capability is valuable for tasks such as picking up and placing objects, as the robot can accurately identify target objects and provide visual cues or highlighting, thereby reducing the chance of errors and improving overall efficiency. Object recognition in the robotic system leverages a suite of advanced technologies to enhance its capabilities. The system incorporates computer vision algorithms that analyze visual input from sensors 202, 204, 206, and 208 to identify specific objects or components in the environment. Machine learning and deep learning algorithms enable the robot to learn and recognize objects based on patterns, shapes, and characteristics. This ensures accurate and reliable object identification while reducing errors in picking and placing operations.

[0044] Furthermore, the system can utilize the ToF sensor 204 to obtain precise distance information and create a 3D model of the object for improved recognition. The integration of advanced image processing technologies further enhances the clarity and accuracy of object recognition. By combining these methods, the robot can efficiently identify and highlight objects, enabling more efficient and reliable operation across a variety of tasks and industries.

[0045] According to one embodiment, a projector 210, combined with a ToF sensor 204, is configured to project warning signals or indicators onto workspace objects / surfaces to warn the user or prevent collisions with nearby objects. The robot utilizes computer vision algorithms and image processing techniques to analyze sensor data and identify potential collision risks. When the ToF sensor 204 detects an object within a predefined proximity range, it triggers the projector 210 to display warning signals or indicators on the workspace objects / surfaces.

[0046] These visual cues alert users to the presence of obstacles or potential collision hazards, enabling them to take appropriate actions and avoid accidents. By utilizing these technologies, robots enhance situational awareness and promote safe working practices by providing real-time visual feedback and proactive warnings about object proximity. By visually highlighting these obstacles, robots enhance safety and prevent accidental collisions, especially in dynamic or crowded environments.

[0047] According to one embodiment, the projector 210 is configured to project images and guidance directly onto the patient's body or other surface. This projection can be applied to several areas to improve the accuracy and precise guidance of the tool attached to the end effector 100. A TOF sensor 204 and / or an RGB camera 202 can be used to accurately detect the patient's body contours and spatial position. This information is then used to dynamically adjust the projected image to perfectly align with the patient's anatomy, even on uneven or non-uniform surfaces, thus ensuring optimal visualization and guidance. Furthermore, the visual center 200 can incorporate a calibration mechanism to account for variations in patient size and position, thus considering personalized and adaptive projection. If an image is present near the body, text will become distorted; the ToF sensor 204 compensates for this distortion through soft body deformation.

[0048] By incorporating projection features into a variety of non-healthcare fields, the end effector 100 becomes a versatile tool for providing visual guidance, enhancing training and education, improving productivity in assembly and maintenance tasks, creating interactive experiences in the retail and hospitality industries, and facilitating design visualization in architecture and product development. The ability to project images and guidance onto surfaces adds an extra layer of interactivity, precision, and efficiency to a wide range of tasks across different industries.

[0049] According to one embodiment, the visual center 200 is configured with a pair of RGB cameras 202, which are spaced apart at approximately the same distance as the human eye to recreate a parallax effect. A user can observe the robot's environment through the visual center 200, which has a virtual reality (VR) or augmented reality (AG) head-mounted device for remote robot control. The user will have the option to use the VR head-mounted device to indicate what they are looking at based on their head movements. As the user's head moves, the end effector 100 will move accordingly and project visual cues about what the user is observing.

[0050] According to one embodiment, VR / AR technology is integrated with the end effector 100 to provide an immersive experience for the operator. VR allows the operator to have a first-person perspective of the robot's surroundings, thereby enhancing situational awareness. AR overlays virtual information onto the operator's real-world view, thereby providing additional guidance and visual cues during the surgical procedure.

[0051] According to one embodiment, the robot incorporates RGB cameras mounted on a gimbal at its base. These cameras capture the robot's surroundings and transmit the visual data to the operator's VR headset. This allows the operator to perceive the environment from the robot's perspective, thereby enhancing spatial awareness and facilitating more precise control over the robot's movements.

[0052] According to one embodiment, an additional vision module embedded in the robot's base and the vision center 200 of the end effector 100 can be used to recreate depth perception and dynamic views for the patient and operator during two-way video conferencing. Based on head and body movements captured by the operator's camera, information can be relayed to the robot to distort the movement of the arm, end effector, and gimbal system, thereby capturing visual information and relaying it to the operator in the orientation of the view from the operator's head position. Based on their head and body movements, the operator's visual display will be altered and distorted to the view from the patient's head position. Advantageously, this method is computationally less intensive than conventional methods that use multiple fixed cameras to track head and body movements to generate dynamic visual displays from the viewer's perspective.

[0053] According to one embodiment, virtual reality is applied to a robotic arm to make it visually resemble an operator's arm. By overlaying the operator's arm movements onto the robotic arm, the system creates a more intuitive control interface, allowing the operator to perform tasks with a concrete and familiar feeling. The arm is then moved out of the field of view.

[0054] According to one embodiment, during rehabilitation training or physical therapy sessions, visual cues such as projected targets or markers can be used to guide movement and track progress to help patients.

[0055] According to one embodiment, the projector 210 is configured to display real-time medical imaging data or visual instructions on a patient's body during surgical or other procedures to assist medical professionals in accurate positioning and precise treatment.

[0056] refer to Figure 3 According to one embodiment, the end effector 100 is configured to project educational or entertainment content or a graphical user interface 150 onto a surface such as a wall 154, a table, or a floor, thereby enhancing the patient's experience during downtime or therapy sessions. For illustrative purposes, in Figure 3 The robot connected to the end effector 100 is not shown in the image.

[0057] According to one embodiment, a ToF sensor 204 is used to locate the user / patient relative to the room and the robot for better sound calibration EQ and relative speaker volume.

[0058] According to various embodiments, the end effector 100 is configured for tactile feedback and control systems in a variety of applications. Using a ToF sensor 204, the robot can provide tactile feedback for GUI (Graphical User Interface) interaction. The ToF sensor 204 measures the distance between the end effector 200 and the surface, thereby taking into account touch detection without physical contact, enabling versatile technical applications as described below.

[0059] According to one embodiment, the ToF sensor 204 is configured to capture hand movements and gestures 152, thereby enabling intuitive interaction with GUI elements projected by the projector 210. For example, swipe gestures or zoom actions performed by the user can be detected and interpreted.

[0060] Leveraging its ability to quickly (i.e., in real-time) and accurately measure the time it takes for emitted light to travel and return, the ToF sensor 204 provides depth information about the surrounding environment. This data can be used for gesture recognition, enabling robots to interpret and respond to user gestures in real time.

[0061] According to one embodiment, using advanced computer vision algorithms, a ToF sensor 204 is configured to capture the depth and movement of a user's hand or body, thereby taking into account precise gesture recognition. This enables intuitive interaction between the user and the robot, eliminating the need for traditional input devices (e.g., keyboard, mouse) or physical contact (e.g., pressing a button). The user can perform gestures such as waving, pointing, or making specific hand shapes, and then the gestures are recognized and translated into commands (sign language) that are meaningful to the robot. The ToF sensor 204 can sense subtle changes in hand or body position, thereby taking into account precise and responsive control of the robot. Furthermore, because the ToF sensor operates in real time, it enables instantaneous feedback and interaction between the user and the robot.

[0062] According to one embodiment, when the ToF sensor 204 detects a touch gesture, the robot can generate haptic feedback through an auxiliary haptic device to simulate the feeling of touch. This feedback enhances the user's perception and improves the overall user experience.

[0063] According to one embodiment, using computer vision technologies such as OpenCV and OpenPose, the visual center 200 is configured to estimate the posture and movement of a human operator. This allows the system to accurately map the operator's gestures and movements onto the robot, thereby enabling intuitive and coordinated control.

[0064] According to one embodiment, both 2D and 3D semantic segmentation models are used to identify and understand different anatomical regions, thereby enabling precise robot movement and interaction. The segmentation models analyze and understand the environment. By identifying different anatomical regions and objects, the system can more accurately guide the robot's movement and interaction, thus ensuring a safe and accurate surgical procedure. Human post-estimation and semantic segmentation can both be used to assist in higher-frequency motion control.

[0065] In one embodiment, when a user brings their hand (or another body part) into the line of sight of the projector 210 (which would otherwise obstruct the projection and create a shadow), the ToF sensor 204 "sees" the hand and causes the projector 210 to block the hand, so that no shadow is cast behind the hand. According to one embodiment, image and video data captured by the visual center 200 is transmitted and anonymized on a server to ensure patient / user privacy. Patient data is encrypted and securely transmitted to the server for storage. To ensure patient privacy, the patient's identifiable image is anonymized before being stored on the server. This involves removing any personally identifiable information, such as name or medical record number, from the image. The system employs robust encryption to protect patient data during transmission to the server, thereby ensuring its confidentiality and integrity.

[0066] According to one embodiment, anonymization is also employed to address patient anonymity and privacy issues during video transmission. This technique replaces all visual identifiers presented in the video with an anonymous representation (typically an avatar or a computer-generated image overlay). By overlaying the avatar onto the video, all identifiable features of the patient (including their face, tattoos, and other distinguishing characteristics) are effectively masked, while still capturing their eye tracking, gauze, and other features relevant to the patient's responses.

[0067] The video data undergoes a process in which the patient's visual identifiers are detected and mapped. These identifiers are then replaced in real time with head-image overlays, ensuring that identifiable information is not visible in the transmitted video stream. This replacement process occurs before the video data is encrypted and securely transmitted to the recipient. Importantly, the system is designed to prioritize patient privacy. It ensures that no identifiable information from the original video is stored or retained within the system. Only head-image overlay data that does not contain patient-specific information is stored for later viewing or reference. At the recipient end (such as a spectrometer operator or healthcare professional), secure video can be accessed without the head-image overlay. This allows healthcare professionals to have an unobstructed view of the patient's anatomy and perform necessary assessments or surgical procedures. However, it is crucial to note that the system does not store any data related to the patient's visual identifiers, thus protecting patient privacy. By employing anonymization in this way, patient anonymity and privacy are maintained throughout video transmission. Using head-images to replace visual identifiers, coupled with encryption and strict data storage strategies, helps maintain the confidentiality and security of patient information, thereby fostering trust in the system and protecting patient rights.

[0068] When integrated with haptic feedback devices, the ToF sensor 204 provides real-time depth information that can be used to simulate interactions between a user and virtual objects. As the user's hand or other body parts approach or touch a virtual object, the ToF sensor 204 captures precise distance and position data, allowing the assistive haptic system to generate corresponding haptic feedback. The ToF sensor's fast response time and high accuracy contribute to realistic haptic feedback. It can even detect subtle changes in proximity and movement, ensuring precise synchronization between the user's actions and the haptic response. This level of detail enhances the user's perception and interaction with virtual objects, making haptic feedback more intuitive and engaging.

[0069] refer to Figures 4A-4B The illustration shows a haptic device 300 according to one embodiment. The haptic device 300 acts as an input device allowing a user to interact with the robot and its environment via a haptic control device 300, through touch and force feedback. According to some embodiments, as described below, the haptic device 300 can act as a tool attached to a robot's end effector.

[0070] According to various embodiments, the haptic device 300 provides either three or six degrees of freedom (DOF), thereby accommodating versatile and dexterous manipulation. DOF enables the user to sense and control movement in multiple directions, thus providing a natural and intuitive control interface and enhancing the realism and versatility of haptic feedback.

[0071] according to Figures 4A-4D The embodiment shown utilizes a delta configuration comprising a parallel motion structure with at least three interconnected arms 301. Each arm 301 includes an upper arm segment 302 and a lower arm segment 304 connected at a lower passive joint 308. The lower passive joint 308 provides up to three degrees of freedom. Each upper arm segment 302 is connected to a tool attachment point 310 via a passive upper joint 307. The passive upper joint 307 also provides up to three degrees of freedom. This configuration provides high rigidity, stability, and precision in controlling haptic feedback, thereby ensuring accurate and responsive force feedback during user interaction. Robotic arm configurations follow a delta configuration, which offers advantages such as high precision, rapid movement, and compact design. This configuration enhances the robot's agility and maneuverability, enabling it to precisely perform complex tasks.

[0072] Each arm 301 is connected to at least one servo mechanism 314, and preferably two servo mechanisms 314, 316. Each servo mechanism 314, 316 adds one degree of freedom. The servo mechanisms 314, 316 are mounted in a housing attached to the main body 315. The servo mechanisms 314, 316 are configured to "passively" measure the angle and movement of the arm 301 connected to them when the user manipulates the haptic device 300. The servo mechanisms 314, 316 are further configured to "actively" apply torque to the arm 301 to provide haptic feedback to the user. For example, if the haptic device 300 is remotely controlling the robot arm, the haptic device provides the user with haptic feedback reflecting the resistance / load experienced by the robot arm.

[0073] The housing of arm 301 and servo mechanism can be made of any suitable material, not limited to carbon fiber, metal or polymer-based materials.

[0074] The tactile device includes a body 315 housing a controller and a PCB for the tactile device 300. The body 315 further includes a fluid conduit and valve for connection to a fluid line passing through the arm 301 to a tool mounting point 310. The tool mounting point 310 is configured to detachably attach a tactile tool to the tactile device 300.

[0075] According to one embodiment, the haptic device 300 features a detachable haptic tool (not shown) that can be easily removed and replaced. For example, the haptic tool could be a handle for a user to grip. The haptic tool uses the same mounting interface as the end effector tool and the desktop workstation 350, thus ensuring compatibility and interchangeability. This allows the user to switch between different tools for specific tasks while maintaining consistent haptic feedback.

[0076] According to one embodiment, using the same interface as the end effector of the robot at the desktop workstation, the tactile tool can be easily detached from the robot and used independently. This allows for seamless integration and rapid tool changeover, thereby promoting efficient workflows and adaptability to the needs of different surgical procedures.

[0077] refer to Figure 4CThe haptic device 300 includes a mounting interface 306 configured to physically and electrically connect the haptic device 300 to a desktop workstation 350. When mounted to the desktop workstation 350, the haptic device 300 acts as an input device for a remotely operated device (e.g., a computer or robot). The desktop workstation 350 includes an I / O port 352 (e.g., USB) for connecting a computer to the robot to grant user control over the robot's movement. A 6-axis force sensor similar to that described within the end effector 100 is included in the desktop workstation 350. This force sensor can be used to help measure the forces applied and received by the haptic system 300.

[0078] refer to Figure 4B and 4D Mounting interface 306 is also compatible with end effector mounting interfaces (e.g., mounting interface 106) and is used to physically and electrically connect the haptic device 300 to the end effector 100 of the robot 400. Figure 4D In this configuration, the haptic device 300 acts as a tool for the robot 400. This standardization ensures tool compatibility and interchangeability, thus taking into account flexibility and adaptability in a variety of surgical procedures. The mounting interface 306 includes a locking lug 322 (coarse thread) for engaging a locking lug (e.g., locking lug 122) on the end effector, and a spring pin 320 for transmitting data and power between the haptic device 300 and the robot 400 via the end effector 100. The mounting interface 306 further includes a fluid conduit 312 that mates with a fluid connection point (e.g., fluid connection point 113) on the end effector.

[0079] According to one embodiment, the tactile device 300 incorporates a pneumatic braking system to control and suppress movement of the tactile device 300. This system uses compressed air to regulate the speed and force applied by the device, thereby ensuring smooth and controlled tactile interaction.

[0080] According to one embodiment, the haptic device 300 may be further integrated with a magnetic or piezoelectric braking system. These systems use magnetic fields or piezoelectric materials, respectively, to provide additional braking force and fine-tuning control of haptic feedback, thereby enabling precise and realistic tactile feedback.

[0081] According to another embodiment (not shown), the haptic device utilizes a hybrid parallel configuration consisting of two interconnected arms, a housing for mounting servo motors, and three sets of two servo motors connected in series, thereby utilizing an end effector to close a loop. The end effector consists of an electronic circuit board and a closed housing with mounting features for different attachments for operator or robot use.

[0082] According to one embodiment, there exists a tactile control system that integrates a vision system, capacitive touch sensors, and force sensors to detect and prevent collisions. The vision system (e.g., a vision center 200) provides real-time feedback about the robot's surroundings, while the capacitive touch sensors and force sensors measure contact forces and detect obstacles. If a collision is imminent, the system activates anti-collision measures. It limits the tactile control of movement, thus taking into account inputs from the capacitive touch sensors, force sensors, and vision system.

[0083] According to one embodiment, the tactile control system also warns the operator of reaching limits, ensuring they are aware of potential collisions and can take corrective action. The maximum speed and force applied by the robot are determined based on inputs from a vision system and a semantic segmentation model or other AI models (computer vision, sensor fusion, 3D mapping). These inputs help define the maximum stress a body region can withstand and the contact area of ​​the probe or tool. By taking these factors into account, the system ensures safe and appropriate force during the surgical procedure. The segmentation model determines the body region to be operated on. This model analyzes captured images and identifies specific anatomical areas requiring attention. This information guides the robot's movement and enables precise targeting of the affected area, thereby improving surgical accuracy and patient safety. A combination of visual data, AI processing for segmentation and region delineation, and the maximum force and speed that can be applied using tactile devices can be applied to other interactions with different surfaces and / or components of a surface or object to ensure that no excessive force is applied.

[0084] According to one embodiment, the tactile control system incorporates semi-automatic features, enabling the robot to independently perform certain tasks under operator supervision. The operator can define high-level commands and goals, while the robot autonomously plans and executes low-level actions to complete the task. This improves efficiency and reduces the operator's cognitive load. As an example, to guide a patient through the steps of an ultrasound examination, to a location of interest, or to the area being examined (kidney, liver), the robot will autonomously go there.

[0085] Telekinesis guides movement, and the robot fills in the gaps between each command. Intelligence fills the gaps between the commands from the haptic system and the actual commands from the robot. The robot must smoothly predict between commands from the haptic system, maintain path and pressure, while awaiting commands from the haptic system (10 rigid movements to 1 smooth movement to execute the action). This will feed into point 8 regarding human post-estimation.

[0086] According to one embodiment, the ToF sensor 204 can be used to provide collision detection and avoidance in haptic control applications. By continuously monitoring the proximity of a user's hand or body part to a physical object or boundary, the ToF sensor 204 allows the haptic system to adjust its feedback accordingly. It can provide warnings or dynamically adapt to force or vibration intensity to prevent collisions or ensure user safety.

[0087] According to one embodiment, in combination with other pressure sensing technologies, the ToF sensor 204 can distinguish between a light touch and a firm press from an end effector tool, thereby taking into account more subtle interactions with the projected GUI. Pressure sensing is a fundamental aspect of haptic feedback systems, and when combined with other pressure sensing technologies, it enables more nuanced and realistic tactile experiences within robotic systems.

[0088] The system can sense the spring force constants used in biomechanical models at the tactile system and model the spring force constants used in biomechanical models to simulate the sensations of different types of tissues that robots have detected using pressure sensing technology.

[0089] By integrating multiple pressure sensing technologies, such as resistive, capacitive, and piezoresistive sensors, haptic systems can capture and interpret a wide range of pressure signals to provide rich and detailed haptic feedback. Resistive pressure sensors, for example, measure pressure by detecting changes in resistance. When a user applies pressure to a haptic device or object, the resistive sensor records the pressure and converts it into an electrical signal. This information is then processed by the haptic system to generate corresponding tactile sensations, allowing the user to perceive different levels of pressure feedback.

[0090] On the other hand, capacitive pressure sensors rely on changes in capacitance to measure pressure. They consist of electrodes that detect changes in charge when pressure is applied. These sensors can provide precise pressure measurements, enabling haptic systems to deliver fine-grained feedback and capture subtle changes in touch or force. Piezoresistive pressure sensors utilize the piezoresistive effect, where the resistance of the material changes under applied pressure, to measure force and pressure. These sensors are highly sensitive and can accurately capture even minute pressure changes. By incorporating piezoresistive sensors into haptic systems, users can experience a more realistic tactile feel, mimicking the texture, compliance, and responsiveness of virtual objects. This combination of pressure sensing technologies allows haptic systems to capture a full range of pressure inputs, from light touches to firm presses, and translate them into appropriate haptic feedback. This integration enhances the realism and accuracy of the haptic experience, enabling users to perceive different levels of pressure and interact with virtual objects in a more natural and intuitive way.

[0091] According to one embodiment, an end effector is configured for volumetric velocity control to ensure safe and controlled robot movement within a defined workspace. Volumetric velocity control is used for both coarse and fine movements by adjusting the robot's velocity based on its position within the volumetric space. To achieve volumetric velocity control, position control or velocity control techniques are used to specify the desired position, or to adjust the robot's movement speed.

[0092] The bounding volume is defined as the region within which the robot operates. Within this volume, two or more nested cubes are arranged. The inner cubes act as fine motion control zones, where haptic devices control the robot's movement. This considers precise and delicate manipulation of the robot's actions within this confined space. As the robot moves between the boundaries of the nested cubes, it transitions to a faster motion pattern. The center position of the cubes shifts and resets accordingly to accommodate the robot's movement. This considers smoother and faster traversal within the larger bounding volume, thus optimizing efficiency while maintaining safety.

[0093] To ensure the robot's awareness of its surroundings and to prevent collisions, the system utilizes internal sensors, such as a vision system and capacitive sensors. These sensors enable the robot to perform forward-looking and predictive models, allowing it to anticipate obstacles or potential hazards in its path. By combining these sensor inputs with the robot's guided movement capabilities, the system enables semi-autonomous behavior. The robot can dynamically adjust its movements to avoid obstacles or hazards, thereby improving safety and reducing the need for human intervention. The vision system provides visual feedback to the robot, enabling it to perceive and analyze its environment in real time. Capacitive sensors detect the proximity of objects or obstacles, allowing the robot to maintain a safe distance and avoid collisions.

[0094] By utilizing these sensors in conjunction with enclosing volume velocity control, the system ensures that the robot operates within its designated workspace while adapting its movement to specific task requirements and environmental conditions. In summary, enclosing volume velocity control enables safe and controlled robot movement within a defined workspace. By setting velocity limits based on the robot's position within the enclosing volume, the system regulates the robot's movement for both coarse and fine tasks. The integration of vision and capacitive sensors enhances the robot's awareness of its surroundings, enabling guided movement and obstacle avoidance. This combination of technologies improves the efficiency, safety, and adaptability of robot operation.

[0095] While the foregoing description provides examples of one or more devices, methods, or systems, it will be appreciated that other devices, methods, or systems may be within the scope of the claims, as will be understood by those skilled in the art. Claims (as amended under Article 19 of the Treaty) 1. An end effector, comprising: A robot end effector configured to physically and electrically connect the end effector to the robot. The mounting interface is configured to detachably attach the tool and electrically connect the tool to the end effector; Multiple sensors, the multiple sensors being used to sense the environment; and A projector used to project video and / or images. 2. The end effector of claim 1, further comprising a multi-axis force sensor configured to measure the load experienced by the end effector. 3. The end effector of claim 1, wherein the robot end effector comprises: For physically connecting the end effector to the robot's servo connection point; and The port used to electrically connect the end effector to the robot. 4. The end effector as claimed in claim 1, wherein the mounting interface comprises: A latching mechanism for detachably attaching the tool to the end effector. 5. The end effector of claim 4, wherein the latching mechanism comprises: A pair of lugs for engaging a groove on the tool to prevent relative axial movement of the tool when attached; and A latch biased in the locked position by a constant force spring connected to a shape memory alloy (SMA) cable. 6. The end effector of claim 5, wherein the SMA cable is configured to shorten its length when current flows through the SMA cable to overcome the constant force spring bias. 7. The end effector of claim 5, wherein the latching mechanism further includes a manual latch release member configured to overcome the constant force spring bias when the manual latch release member is pressed. 8. The end effector of claim 1, further comprising: A fluid conduit extending from the robot's end to the mounting interface; and The end face seal on the mounting interface is used to cover the end of the fluid conduit. 9. The end effector of claim 1, further comprising a protective cover covering the plurality of sensors and the projector. 10. The end effector of claim 9, further comprising a solid-state fan configured to blow air through the protective shroud. 11. The end effector of claim 1, wherein the plurality of sensors comprises: Two stereo RGB cameras with a global shutter, which is positioned to create a parallax effect for enhanced depth perception; A time-of-flight (ToF) sensor is positioned between the RGB cameras; LED diodes for the ToF sensor: and Thermopile or thermal camera. 12. The end effector of claim 11, wherein the RGB cameras are spaced apart at a distance corresponding to the space between human eyes. 13. The end effector of claim 11, wherein the RGB camera is configured for virtual reality remote transmission. 14. The end effector of claim 1, wherein the projector includes a dynamic focusing system configured to maintain a focused projection regardless of the distance to the object or surface on which the projector is projecting. 15. The end effector of claim 14, wherein the dynamic focusing system comprises: Focus knob; and The SMA cable is secured to the focus knob approximately halfway along its length. When the SMA cable is shortened, the focusing knob rotates in a first direction, and when the SMA cable is lengthened, the focusing knob rotates in a second direction. 16. The end effector of claim 15, wherein the dynamic focusing system includes a controller configured to: Receive input from the plurality of sensors to determine the distance to the object or surface on which the projector is projecting; and The current flowing through the SMA cable is changed according to the distance. 17. A robot comprising: An end effector, the end effector comprising: The mounting interface is configured to detachably attach the tool and electrically connect the tool to the end effector; Multiple sensors, the multiple sensors being used to sense the environment; and A projector for projecting video and / or images, the projector including a dynamic focusing system configured to maintain a focused projection regardless of the distance to the object or surface on which the projector is projecting. 18. The robot of claim 17, wherein the dynamic focusing system comprises: Focus knob; and The SMA cable is secured to the focus knob approximately halfway along its length. When the SMA cable is shortened, the focusing knob rotates in a first direction, and when the SMA cable is lengthened, the focusing knob rotates in a second direction. 19. The robot of claim 18, further comprising a controller configured to: Receive input from the plurality of sensors to determine the distance to the object or surface on which the projector is projecting; and The current flowing through the SMA cable is changed according to the distance. 20. The robot of claim 17, further comprising a controller configured to: Receive input from the plurality of sensors to determine the position of an object within a predefined proximity range; and The projector is prompted to project a warning indicator. 21. The robot of claim 17, further comprising: Manipulator tools attached to the mounting interface; and The controller is configured to: Receive input from the plurality of sensors to determine the position of the object; Adjust the orientation of the projector to project the visual indicator pattern onto the object. 22. The robot of claim 17, further comprising a controller configured to: This causes the projector to project a graphical user interface (GUI) onto the object or the surface; Input is received from the plurality of sensors to sense user interaction with the GUI. 23. A tactile device, comprising: A parallel motion structure with three or more interconnected arms; At least one brushless servo motor is connected to each arm; It can operate the braking system connected to each servo motor; The tool is configured to detachably attach a tool and electrically connect the tool to the tool attachment point of the tactile device; and An installation interface configured to physically and electrically connect the tactile device to the second device. 24. The tactile device of claim 23, wherein the braking system is one of the following: Pneumatic braking system; Magnetic braking system; and Piezoelectric braking system. 25. The tactile device of claim 23, wherein the mounting interface comprises: Spring pins for forming an electrical connection to the second device. 26. The tactile device of claim 23, wherein the second device is one of a robot end effector and a desktop workstation.

Claims

1. An end effector, comprising: A robot end effector configured to physically and electrically connect the end effector to the robot. The mounting interface is configured to detachably attach the tool and electrically connect the tool to the end effector; Multiple sensors, which are used to sense the environment; as well as A projector used to project video and / or images.

2. The end effector of claim 1, further comprising a multi-axis force sensor configured to measure the load experienced by the end effector.

3. The end effector of claim 1, wherein the robot end effector comprises: Used to physically connect the end effector to the robot's servo connection point; as well as The port used to electrically connect the end effector to the robot.

4. The end effector as claimed in claim 1, wherein the mounting interface comprises: c。 5. The end effector of claim 4, wherein the latching mechanism comprises: A pair of lugs for engaging a groove on the tool to prevent relative axial movement of the tool when attached; as well as A latch biased in the locked position by a constant force spring connected to a shape memory alloy (SMA) cable.

6. The end effector of claim 5, wherein the SMA cable is configured to shorten its length when current flows through the SMA cable to overcome the constant force spring bias.

7. The end effector of claim 5, wherein the latching mechanism further includes a manual latch release member configured to overcome the constant force spring bias when the manual latch release member is pressed.

8. The end effector of claim 1, further comprising: A fluid conduit extending from the end of the robot to the mounting interface; as well as The end face seal on the mounting interface is used to cover the end of the fluid conduit.

9. The end effector of claim 1, further comprising a protective cover covering the plurality of sensors and the projector.

10. The end effector of claim 9, further comprising a solid-state fan configured to blow air through the protective shroud.

11. The end effector of claim 1, wherein the plurality of sensors comprises: Two stereo RGB cameras with a global shutter, which is positioned to create a parallax effect for enhanced depth perception; A time-of-flight (ToF) sensor is positioned between the RGB cameras; LED diodes for the ToF sensor: and Thermopile or thermal camera.

12. The end effector of claim 11, wherein the RGB cameras are spaced apart at a distance corresponding to the space between human eyes.

13. The end effector of claim 11, wherein the RGB camera is configured for virtual reality remote transmission.

14. The end effector of claim 1, wherein the projector includes a dynamic focusing system configured to maintain a focused projection regardless of the distance to the object or surface on which the projector is projecting.

15. The end effector of claim 14, wherein the dynamic focusing system comprises: Focus knob; as well as The SMA cable is secured to the focus knob approximately halfway along its length. When the SMA cable is shortened, the focusing knob rotates in a first direction, and when the SMA cable is lengthened, the focusing knob rotates in a second direction.

16. The end effector of claim 15, wherein the dynamic focusing system includes a controller configured to: Receive input from the plurality of sensors to determine the distance to the object or surface on which the projector is projecting; and The current flowing through the SMA cable is changed according to the distance.

17. A robot comprising: An end effector, the end effector comprising: The mounting interface is configured to detachably attach the tool and electrically connect the tool to the end effector; Multiple sensors, the multiple sensors being used to sense the environment; and A projector for projecting video and / or images, the projector including a dynamic focusing system configured to maintain a focused projection regardless of the distance to the object or surface on which the projector is projecting.

18. The robot of claim 17, wherein the dynamic focusing system comprises: Focus knob; as well as The SMA cable is secured to the focus knob approximately halfway along its length. When the SMA cable is shortened, the focusing knob rotates in a first direction, and when the SMA cable is lengthened, the focusing knob rotates in a second direction.

19. The robot of claim 18, further comprising a controller configured to: Receive input from the plurality of sensors to determine the distance to the object or surface on which the projector is projecting; and The current flowing through the SMA cable is changed according to the distance.

20. The robot of claim 17, further comprising a controller configured to: Receive input from the plurality of sensors to determine the position of an object within a predefined proximity range; and The projector is prompted to project a warning indicator.

21. The robot of claim 17, further comprising: Manipulator tool attached to the mounting interface; as well as The controller is configured to: Receive input from the plurality of sensors to determine the position of the object; Adjust the orientation of the projector to project the visual indicator pattern onto the object.

22. The robot of claim 17, further comprising a controller configured to: This causes the projector to project a graphical user interface (GUI) onto the object or the surface; Input is received from the plurality of sensors to sense user interaction with the GUI.

23. A tactile device, comprising: A parallel motion structure with three or more interconnected arms; At least one brushless servo motor is connected to each arm; It can operate the braking system connected to each servo motor; The tool is configured to be detachably attached and the tool is electrically connected to the tool attachment point of the tactile device; as well as An installation interface configured to physically and electrically connect the tactile device to the second device.

24. The tactile device of claim 23, wherein the braking system is one of the following: Pneumatic braking system; Magnetic braking system; and Piezoelectric braking system.

25. The tactile device of claim 23, wherein the mounting interface comprises: Spring pins for forming an electrical connection to the second device.

26. The tactile device of claim 23, wherein the second device is one of a robot end effector and a desktop workstation.

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