257 results about "Human arm" patented technology

The invention discloses a robot arm control method and device, equipment, a medium and a product, and the method comprises the steps: obtaining a pre-training dynamic model and a real visual depth map of a real robot arm visual angle, and the pre-training dynamic model is used for completing a specified task; determining a joint control value according to the real vision depth map and a pre-training kinetic model; hybrid action control is carried out based on the joint control value, and remote target navigation is carried out on the response action of the real robot arm through a visual navigation model; and the controlled simulation target image and the actual image are obtained, feature matching and closed-loop estimation are carried out based on the simulation target image and the actual image, and pose error compensation is carried out on the action of the real robot arm. The motion is observed and deduced through a real visual depth map, then real and simulated mixed motion control is carried out to reduce a visual and dynamic gap, and finally pose error compensation is carried out. And the pose error of the arm is reduced, and a start pose guarantee is provided for downstream control.

The invention discloses a dynamic millimeter-wave radar point cloud human arm tracking system and method based on joint learning, and the method comprises the steps: obtaining a millimeter-wave point cloud generated by human motion through millimeter-wave radar equipment, and enabling the generated point cloud to serve as the input of an arm point cloud generation module based on heuristic and clustering; decoupling a dynamic millimeter wave point cloud generated by arm movement; taking the dynamic arm point cloud as the input of a spatial-temporal feature encoder, and carrying out feature extraction; and point cloud features are output as input of a multi-task joint learning module, gesture recognition is introduced as an auxiliary task, learning assistance is provided for an arm tracking task, and finally three-dimensional motion trajectory tracking of main joints of the arm is achieved. According to the method, the technical challenges of arm semantic information loss and dynamic change in millimeter wave point cloud are overcome, and the human arm motion robust tracking with privacy protection is realized.

A multi-degree-of-freedom bionic arm of a humanoid robot belongs to the technical field of robots, and seven degrees of freedom of the robot arm are formed by a shoulder swing arm rotating mechanism, a shoulder left-right swing arm rotating mechanism, a big arm axial rotating mechanism, an elbow rotating mechanism, a small arm axial rotating mechanism, a wrist rotating mechanism and a wrist inner drive rotating mechanism. Holes and grooves are formed in the elbow part for laying cables, the cables are not exposed, and the shell size of the elbow joint is reduced. And the cable does not run about when the elbow moves in a large range, so that interference with other parts is avoided. A connecting rod mechanism composed of a first output disc, two connecting rods and a second output disc is arranged on the side face, the load inertia of a forearm joint, a whole arm force arm and the tail end is reduced, and the arm load capacity and motion performance are improved; the wrist drives the front-back and left-right freedom degree axes of the hand to coincide at one point, and the flexibility of the wrist is improved. Due to seven degrees of freedom, the robot is more bionic, the degrees of freedom are also on the same straight line after the arms of a person are straightened laterally, and the movement offset is small.

Teleoperative, partially automated, and fully automated robotic surgery systems and methods are described herein. These systems and methods relate to at least improvement of robotic movements, three dimensional tracking and pose correction for robots interacting with deformable objections, controlling and optimizing the redundant axis of a seven degree of freedom robotic arm, virtual robotic surgery and simulation, and task coordination and optimization for multi-robot surgery.

According to the simulation robot arm structure and the simulation robot provided by the invention, the first shoulder driving assembly for controlling the arm assembly to swing back and forth and the second shoulder driving assembly for controlling the arm assembly to realize lateral horizontal lifting are arranged in the trunk of the simulation robot; therefore, the arrangement positions and the arrangement modes of the transmission structure and the fastening structure in the whole arm are adjusted, the length of the arm is shortened, the size of the joint part is reduced, the whole arm is miniaturized, the appearance of the whole arm is closer to a real arm shape, meanwhile, the joint movement track and the bending degree can be more natural and vivid, and the whole arm is more attractive. And the arm appearance and the motion simulation degree are improved.

A method includes accessing first image data captured by a camera of an environmental scene in which a subject arm performs a task. A first image is obtained from the first image data. The first image includes a subject arm object representing the subject arm and a background representing the environmental scene. A set of robot arm parameters for the first image is determined at least in part based on the subject arm object. An image of a robot arm object is rendered based on the set of robot arm parameters and a robot arm model. The image of the robot arm object is composited with the first image to obtain a synthetic robot image, which may be used for generating training data for AI model training.

The utility model discloses a positioning precision detection device realized by combining with a robot, comprising a mechanical arm used for clamping a mapping conduit connected with a three-dimensional mapping system; under the condition that the mapping catheter moves to a theoretical coordinate point, the three-dimensional mapping system can generate a mapping coordinate point corresponding to the theoretical coordinate point; the intracardiac environment simulation device is provided with a space for movement of the mapping catheter; and the upper computer is used for generating a plurality of theoretical coordinate points, is connected with the mechanical arm and is used for controlling the mapping catheters to move to the theoretical coordinate points one by one in the intracardiac environment simulation device along with the mechanical arm. In conclusion, the mechanical arm simulates the action of a human arm, so that flexible movement is performed in a three-dimensional space, and high-precision and repeated precision evaluation of the three-dimensional mapping system is further realized.

The invention discloses a two-arm smart teleoperation method and system based on motion redirection and self-adaption, and relates to the technical field of robots, and the method comprises the steps: determining the posture of a human hand and the posture of a human arm according to a human body image; the robot is redirected according to the human hand posture and the human arm posture through the space attention gating map convolutional network, and the joint angle of a mechanical hand of the robot and the joint angle of a mechanical arm of the robot are correspondingly obtained; the mechanical arm is driven according to the joint angle of the mechanical arm so that the mechanical arm can grab the target object; and target force needed for grabbing the target object is determined, and the mechanical arm is driven to grab the target object according to the target force and the joint angle of the mechanical arm. According to the method, topology modeling and cross-platform action redirection between the human body and the robot are achieved through the space attention gating map convolutional network, pairing data dependence is eliminated, and therefore the high precision of action reproduction and the safety and flexibility of the grabbing process are both considered in the complex dynamic environment.

A method of in-space assembly includes: providing a roll of spooled high strength composite (HSC) boom, a robotic arm, and a printhead disposed at about an end of the robotic arm, the roll of spooled high strength composite boom feedingly coupled to the printhead; positioning the robotic arm; dispensing from the roll of spooled high strength composite boom a length of high strength composite boom; positioning again the robotic arm; dispensing another length of high strength composite boom from the roll of spooled high strength composite boom or from another roll of spooled high strength composite boom; joining by the printhead; and repeating said step of positioning to said step of joining until a desired structure is assembled in part or in whole. A system for in-space assembly and printhead to print struts for in-space assembly are also described.

A bathroom cleaning robot can include a main body, a mobility module, a robotic arm, different cleaning tools, a tool change module, and a door opening module. The main body can have an outer housing containing internal components that facilitate autonomous bathroom cleaning. The mobility module can move the bathroom cleaning robot autonomously across floors. The robotic arm can have a fixed end, a movable end, and multiple movable arm segments therebetween. Each cleaning tool can be mounted along an outer robot surface and can be removed and manipulated by the robotic arm to perform a cleaning function. The tool change module can facilitate securely coupling and uncoupling the robotic arm to each different cleaning tool. The door opening module can pull and hold open a spring-loaded door while the mobility module moves the bathroom cleaning robot through the open door.

The invention provides a robot arm motion control method, device and equipment, a robot and a medium, and relates to the technical field of sensors and robots. The method comprises the steps of predicting a singular value decomposition result of a Jacobian matrix through a deep learning model, and obtaining a direction vector set and a corresponding singular value sequence; dividing the direction vector into two subsets respectively corresponding to a non-approximate singular direction and an approximate singular direction based on the singular value sequence and a sensitivity threshold; decomposing the input vector of the expected speed on the two subsets to obtain a first direction component and a second direction component; and performing scaling processing on the second directional component, and calculating the speed of each joint in the joint space based on the first directional component and the scaled second directional component. According to the invention, stable and accurate motion control can be realized when the robot arm is close to the singular configuration, and the calculation complexity is reduced while the control effect is ensured, so that the resource occupation is reduced and the calculation efficiency is improved.

The utility model relates to the technical field of intelligent equipment, in particular to a mechanical arm and a robot, and solves the problem of poor anthropomorphism of the mechanical arm. The mechanical arm comprises a large arm assembly, a first driving assembly, a driving bevel gear, a driven bevel gear, a small arm assembly, two linear driving assemblies, a first connecting assembly and a second connecting assembly. The first driving assembly is used for driving the driving bevel gear to rotate, then the driving bevel gear drives the driven bevel gear to rotate, then the driven bevel gear drives the small arm assembly to rotate around the second axis, and the rotation freedom degree of the small arm assembly is achieved. The two linear driving assemblies are used for driving the second connecting assembly to rotate around the fourth axis and the third axis, and two degrees of freedom of the second connecting assembly are achieved. The extension direction of the first output shaft of the first driving assembly is the same as that of the large arm assembly, and the extension direction of the second output shafts of the two linear driving assemblies is the same as that of the small arm assembly, so that the appearance of the mechanical arm is closer to that of a human arm, and the anthropomorphic property is good.

Nesting wafer handling robot arms are provided that may be used to move semiconductor wafers between various wafer placement locations in a semiconductor processing tool. The nesting wafer handling robot arms may be configured so that each wafer handling may be able to translate along a translation system and pick and place wafers independent of what the other wafer handling may be doing. The two wafer handling robot arms may enter a nesting configuration so that each wafer handling robot may concurrently pick or place wafers from wafer placement locations where one wafer placement location is directly above the other.

A robot system includes a multi-joint robot arm including a plurality of joints; a robot controller configured or programmed to control movement of the multi-joint robot arm; an interactor configured to interact with a workpiece; a signal output configured to output a moving amount signal based on a moving amount of the interactor arranged on a distal end part of the multi-joint robot arm at a fixed time period; and an interaction controller configured or programmed to control interaction of the interactor with the workpiece based on the moving signal output by the signal output.

The invention relates to a control technology of a humanoid robot, in particular to a humanoid robot control method which comprises the following steps: acquiring image information in a target area, identifying the position and posture of a to-be-grabbed object through a convolutional neural network model, and determining the position and posture of the to-be-grabbed object; and the robot arm is controlled to move to the position above the to-be-grabbed object, the posture of the end effector is adjusted to be matched with the object, the grabbing action is executed after the object state is captured and confirmed, the grabbed object is carried to a designated placement area, the optimal placement position is determined in the placement area, and the objects are placed according to a preset sequence. The robot achieves the effects of accurate recognition, stable grabbing and efficient carrying, and is particularly suitable for operation requirements in a complex environment.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

The invention relates to a human-machine cooperation humanoid motion autonomous planning method and system based on motion primitives and double DQNs, and belongs to the technical field of robots. According to the method, through a human-human cooperative motion experiment, human arm action primitive types are extracted, and selection factors of the human arm action primitive types are analyzed; a double-DQN primitive decision-making method based on a long-short-term memory network is adopted, a reward function is designed according to the action primitive frequency, a loss function related to the reward function is constructed, and selection of primitive types is achieved; establishing an autonomous planning method; and through a human-machine cooperation experiment, collaborator feedback data is obtained, double-DQN model parameters are optimized, and finally, the robot humanoid motion autonomous planning ability and the acceptability of the collaborator to robot motion are verified. According to the method, the problem of robot humanoid motion autonomous planning in contact type man-machine cooperation is solved, and the humanoid degree of robot motion and the acceptability of a collaborator to robot motion are remarkably improved.

A method for guiding in real time a robot arm for the processing of data of the surface of a body, includes generating a body model including a meshing of points; planning a treatment trajectory on the surface of the body model with a calculator; activating at least one transmission of a transmitter and / or acquisition of a sensor of an operator device, the operator device being arranged at the distal end of the robotised arm, the activation being carried out when the orientation of the axis of the sensor or the transmitter is merged with a predefined straight line passing through the target point, the target point being referenced on the generated body model.

The utility model provides a quick release device and a robot. The quick release device is used for connecting the robot arm and the robot palm. The quick release device comprises a switching assembly and a quick release assembly. The switching assembly comprises a switching base and a quick release part, the switching base is used for being connected with a robot palm, and the quick release part is arranged on the switching base. The quick-release assembly comprises a quick-release base and a locking piece, the quick-release base is used for being connected with a robot arm, and the locking piece is detachably connected with the quick-release piece in a plug-in mode and movably arranged on the quick-release base so that the locking piece can be switched between a locking position and an unlocking position; when the locking piece is located at the locking position, the locking piece locks the quick release piece; and when the locking piece is located at the unlocking position, the locking piece unlocks the quick release piece. According to the quick release device, the locking piece is connected with the quick release piece in a quick release mode, so that quick release connection of the robot arm and the robot palm is achieved, assembly, disassembly, later replacement and later maintenance are facilitated, use is flexible, and the structure is simple.

We provide a shutdown system for robotic arms. [Solution] The robot arm shutdown system comprises an uninterruptible power supply (UPS), a robot arm, and a system operating device. The UPS receives power and generates system power. The system operating device is connected to the UPS and the robot arm and has a designated shutdown time. The system operating device detects the power supply status and generates data for the basic operating process by controlling the operation of the robot arm. When a voltage drop suddenly occurs in the power supply, if the abnormal condition persists and the designated shutdown time is reached, the shutdown process is initiated. The shutdown process involves the system operating device saving the data for the basic operating process when there is no time-series change in the watchdog signal of the system operating device, calculating the shutdown delay time, and shutting down the UPS when the countdown of the shutdown delay time is complete.

The utility model relates to a robot arm joint which comprises a first joint, a second joint, a joint shaft, a motor and a torque limiting mechanism, the torque limiting mechanism comprises a connecting hole, a mounting hole, an elastic positioning plug and a pressure adjusting assembly, one end of the joint shaft is inserted into the connecting hole, and positioning grooves are circumferentially distributed in the joint shaft; the other end of the elastic positioning plug is inserted into the positioning groove, the depth of the positioning groove is gradually increased in the axial direction, and a length adjusting assembly for adjusting the length of the joint shaft entering the connecting hole is arranged between the first joint and the second joint. Due to the design of the elastic positioning plug and the pressure adjusting assembly, the torque limiting mechanism is easy to maintain and adjust, and a user can easily change the torque limiting value according to needs; the arrangement of the length adjusting assembly allows the length of the joint shaft entering the connecting hole to be adjusted according to actual needs, so that fine adjustment of the joint movement range and flexibility is achieved, and reduction of output torsion caused by abrasion of the joint shaft and the elastic positioning plug is prevented.

This invention provides a welding method that allows the robot arm to move in an approaching manner so that the welding tool of the robot arm can reach the abutting portion at the midpoint in the depth direction of the two adjacent sides of the front of one side of the steel column, even for large steel columns, while avoiding a decrease in work efficiency due to frequent approaching movements. [Solution] This welding method uses a support structure 1 to support the robot arm 2. The robot arm 2 is used to weld the butt joint portion 31 between the lower square steel column 3A and the upper square steel column 3B. In the basic position, welding is not performed in areas that the robot arm 2 cannot reach (specific welding locations F), and welding is performed by the robot arm 2 in the weldable area G (thick dotted line area) for a number of passes less than the required number. Then, after removing the erection piece 32, welding is performed on the entire structure.

A vein simulator system can be used by clinicians to improve their proficiency in placing catheters such as PIVCs or in otherwise accessing a vasculature. A vein simulator system can include a simulated portion of a body, such as a simulated human arm, that includes at least one simulated vein. The vein simulator system can also include a control system, one or more sensors and one or more feedback components. The control system can leverage the one or more sensors to generate feedback during a clinician's attempt to place a catheter and can output the feedback via the feedback components, either during or after the attempt.

Control method for conveying a main element using a first robot arm (120A) and a second robot arm (120B), wherein the first robot arm (120A) has a first suction structure (111A) and a first gripping structure (116A) adjacent to each other in a direction intersecting with a first direction, and the second robot arm (120B) has a second suction structure (111B) and a second gripping structure (116B) adjacent to each other in a direction intersecting with the first direction, wherein the control method comprises: Actuating the first robot arm (120A) and the second robot arm (120B) to cause the first gripping structure (116A) to grasp a first auxiliary element (420) located in the first direction, and to cause the second gripping structure (116B) to grasp a second auxiliary element (420) located in the first direction; wherein the first gripping structure (116A) and the second gripping structure (116B) grip the first auxiliary element (420) and the second auxiliary element (420) respectively, actuation of the first robot arm (120A) and the second robot arm (120B) to cause the first suction structure and the second suction structure (111B) to suction and hold the main element located in the first direction; Actuating the first robot arm (120A) and the second robot arm (120B) to move the suctioned main element and to place the main element on an arrangement surface of a conveying target; and Releasing the grip by the first gripping structure (116A) and the second gripping structure (116B) and placing the first auxiliary element (420) and the second auxiliary element (420) onto the main element.

The invention relates to a variable impedance control method for a wrist joint rehabilitation training robot, and the method comprises the steps: constructing a self-adaptive reference stiffness correction model, inputting the rehabilitation score of a patient and the real-time muscular tension of each motion dimension of a wrist joint, and outputting the self-adaptive reference stiffness of each motion dimension; constructing a composite cost function which comprises a contact force safety threshold penalty term model and an impedance parameter change rate penalty term model; and constructing an uncertainty weighted correction model, inputting the composite cost value, the state prediction result and the patient rehabilitation score, and outputting the weighted instantaneous cost. Through the composite cost function and the dynamic impedance adjustment strategy, the impedance adjustment characteristic of the human arm is simulated, high-rigidity rapid approaching in the non-contact stage, low-rigidity high-damping buffering in the contact stage and low-rigidity low-damping compliant control in the stable stage are achieved, and the training comfort and safety are improved. According to limb impedance characteristics, rehabilitation stages and training tasks of patients, personalized requirements and dynamic rehabilitation scenes of different patients can be adapted.

The application discloses a kind of action primitive-based anthropomorphic motion planning method, device and medium, comprising: the task to be executed is divided into subtask, and the execution order of the subtask is planned according to task demand;Capture the motion data of human arm when each subtask is executed, and the action primitive under each task is extracted and fitted quantization, to construct the action primitive library of each subtask;The action primitive library of each subtask is used as carrier to transfer the motion skill of human arm to anthropomorphic arm, to realize the anthropomorphic motion planning of redundant mechanical arm.The application can greatly reduce the data volume while improving the adaptability of robot to task.

The present invention relates to a robot base (10) comprising a first robot arm interface (12) configured for coupling a first robot arm (14), and at least one second robot arm interface (16) configured for coupling a second robot arm (18), wherein the first robot arm interface (12) and the second robot arm interface (16) are each configured for coupling a software RCM robot arm (20). The present invention further relates to a robot base (10) with a holding arm (22) on which the first robot arm interface (12) and the second robot arm interface (16) are configured in a fixed relative position to each other.

This application discloses a method, apparatus, device, and storage medium for motion redirection, relating to the field of computer technology. The method includes: acquiring a motion capture sequence to be processed, the motion capture sequence including an upper limb motion sequence and a lower limb motion sequence; obtaining human arm span information based on a preset parametric human model and the upper limb motion sequence; converting the upper limb motion sequence based on preset arm span parameters of a target robot and the human arm span information to obtain an upper limb motion sequence of the target robot; obtaining an upper limb joint angle sequence of the target robot using an inverse kinematics algorithm based on the upper limb motion sequence of the target robot; performing information extraction processing on the upper limb joint angle sequence of the target robot to obtain three-dimensional spatial pose information corresponding to the upper limb joint angle sequence of the target robot; and determining the motion data of the target robot to be redirected based on the upper limb joint angle sequence and the three-dimensional spatial pose information of the target robot.

A method includes accessing first image data captured by a camera of an environmental scene in which a subject arm performs a task. A first image is obtained from the first image data. The first image includes a subject arm object representing the subject arm and a background representing the environmental scene. A set of robot arm parameters for the first image is determined at least in part based on the subject arm object. An image of a robot arm object is rendered based on the set of robot arm parameters and a robot arm model. The image of the robot arm object is composited with the first image to obtain a synthetic robot image, which may be used for generating training data for AI model training.

The application discloses a method for classifying grasping states based on visual-haptic learning, builds an experimental scene for the method, and performs grasping experiments with a 6-DOF robot arm equipped with parallel grippers. Each end of the parallel grippers is equipped with a visual-haptic sensor to capture the small sliding trend of the object. The optical flow dataset OFB-6 of deformable objects in three states of over-stability, complete stability and instability is constructed. The published dataset is used for benchmark testing. The recognition accuracy of the Transformer model is improved before and after the addition of the optical flow, verifying the effectiveness of the proposed optical flow guided Transformer model learning. The optical flow method of the application can detect these small changes in advance, thereby timely adjusting the grasping strategy. The dynamic changes in the tactile image can be more accurately captured. Through the fusion of visual and tactile information, the model can more comprehensively understand the physical changes in the grasping process, and improve the overall grasping performance.