97 results about "Human arm" patented technology

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.

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.

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.

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.

The utility model discloses a cable special for a robot arm. The cable comprises an outer protective layer; the utility model relates to an electromagnetic shielding cable, which comprises an outer protection layer, a shielding layer, a wrapping layer and an inner branch layer, and a protection assembly which is arranged at the inner side of the outer protection layer and comprises a fiber braid layer, the beneficial effects of the electromagnetic shielding cable are that through the design of the outer protection layer, the fiber braid layer, the shielding layer, the wrapping layer and the inner branch layer structure, the electromagnetic shielding cable has strong mechanical strength, wear resistance and electromagnetic shielding performance; according to the cable, the internal wire assembly is effectively protected from being damaged by the external environment and electromagnetic interference, the internal structure of the cable is effectively supported through the design of the filling core and the stable branch layer, displacement and deformation of the wire in the moving or bending process are prevented, the stability and reliability of the cable are guaranteed, and the problem of core breakage is avoided.

A robotic arm angle interval inverse solving method and a robotic arm using the same are provided. The method includes: obtaining a joint angle calculation model and a differential relationship model of a target joint of the robotic arm; obtaining extreme arm angles corresponding to a joint angle of the differential relationship model at extreme values based on the differential relationship model; obtaining a joint arm angle interval corresponding to the target joint based on the extreme arm angle and the joint angle calculation model; and obtaining a target arm angle interval corresponding to the robotic arm based on the joint arm angle interval corresponding to the target joint of the robotic arm. In comparison with the existing method to solve the arm angle interval of the robotic arm, a more accurate arm angle interval can be obtained.

A control method of a robotic arm is provided. The control method includes: setting a detection circuit, a comparing circuit and a switching circuit. The detection circuit detects the motion of the robotic arm to generate a detection signal. The comparing circuit compares the detection signal with a low threshold region and compares the detection signal with a high threshold region to generate a comparison signal. The switching circuit switches the robotic arm to a first motion mode or a second motion mode according to the comparison signal.

This invention discloses a lightweight robotic arm with a foamed aluminum composite skeleton. The invention relates to the field of robotic arm technology. The lightweight robotic arm with a foamed aluminum composite skeleton includes a cast aluminum robot rotating base, a gradient foamed aluminum composite upper arm, a gradient foamed aluminum composite lower arm, and an end effector mounting base connected in sequence. The main bodies of the gradient foamed aluminum composite upper arm and the gradient foamed aluminum composite lower arm are both integrally formed foamed aluminum composite skeletons. Axial main truss rods and damping nodes are arranged axially inside the foamed aluminum composite skeleton. By setting the gradient foamed aluminum composite upper arm and the gradient foamed aluminum composite lower arm, and utilizing the porous characteristics of foamed aluminum, passive heat dissipation, vibration reduction, noise reduction, and health monitoring functions are integrated into the skeleton. Energy-free passive temperature control is achieved by filling the embedded axial cooling channels with phase change material, eliminating the need for an active cooling system.

To provide a jig and a method capable of carrying a container and opening / closing a lid even by an inexpensive general-purpose robot arm.SOLUTION: The jig includes a first arm having a plate-like shape in which a thickness in a vertical direction decreases toward a first direction along a horizontal direction and extending in the first direction, and a second arm having a plate-like shape in which a thickness in the vertical direction decreases toward the first direction along the horizontal direction, extending in the first direction in parallel with the first arm, and having a distance from the first arm wider than a width of a main body and narrower than a width of a lid in a container having the main body and the lid covering an upper portion of the main body.SELECTED DRAWING: Figure 6

The application discloses a kind of robot arm, dexterous hand and sensor hot plug system and control method thereof, belong to intelligent robot modularization sensing technical field, solved the problem that traditional sensor replacement needs to stop, interface is not unified, hot plug security is poor, cannot be automatically adapted.System is composed of standardization hot plug interface, intelligent sensor, distributed sensing controller and central controller, interface is located in robot arm, joint, wrist and hand end, integrated mechanical quick change, surge suppression power supply, multi-protocol communication and identity identification contact;Sensor built-in sensing element, microcontroller and identity parameter memory.Through identity pre-identification, buffer start-up power-on, dynamic drive loading, orderly power-off control process, realize sensor live safety plug, automatic plug and play.The application can complete sensor replacement without stopping, with the advantages of strong safety protection, good compatibility, modular management, improve robot operation continuity and operation efficiency.

The present invention provides a method of calibrating an end-effector provided at the distal end of a robot arm, said method comprising: connecting a surgical instrument having a first arm and a second arm to the end-effector, the instrument being adapted for switching between and / or being used in an open configuration and a closed configuration; performing an opening-closing-opening cycle of the surgical instrument; measuring and recording force data related to (closure) force applied to the instrument, especially such as current data and position data during the opening-closing-opening cycle and / or related sensor data; defining and recording a relationship between force data and position data during the opening-closing-opening cycle; analyzing the relationship and determining a closing point of the surgical instrument, and calibrating the end-effector based on the determined closing point of the surgical instrument.

Patient positioning device comprising: - a patient couch (2) which has a lying surface (2a) for one person, - a robot arm (3) with eight links and seven joints, which are arranged serially and alternately in a kinematic chain of the robot arm (3), - wherein the first link (4.1) in the kinematic chain of the robot arm (3) forms a base frame for attaching the robot arm (3) to a base (6), and the eighth link (4.8) in the kinematic chain of the robot arm (3) forms a mounting flange of a robot hand (7) of the robot arm (3) to which the patient bed (2) is attached, - the second link (4.2) is rotatably mounted on the first link (4.1) by means of the first joint (5.1) about a first, vertical axis of rotation (D1), - the third link (4.3) is rotatably mounted on the second link (4.2) by means of the second joint (5.2) about a second, vertical axis of rotation (D2), - the fourth link (4.4) is rotatably mounted on the third link (4.3) by means of the third joint (5.3) about a third, vertical axis of rotation (D3), - the fifth link (4.5) is rotatably mounted on the fourth link (4.4) by means of the fourth joint (5.4) about a fourth, horizontal axis of rotation (D4), - and the robot hand (7) of the robot arm (3) is attached to the fifth segment (4.5), which robot hand (7) includes the sixth segment (4.6), the seventh segment (4.7) and the eighth segment (4.8), as well as the fifth joint (5.5), the sixth joint (5.6) and the seventh joint (5.7) of the robot arm (3).

1. Name of the design product: anthropomorphic robot with two arms. 2. Use of the design product: to imitate human arm movements to perform various operations. 3. Design features of the design product: in shape. 4. Picture or photograph best indicating the design features: perspective view.

An adaptive tool holder of a robotic arm includes: a tool shank; a hollow barrel seat, connected below the tool shank; a ball spline with an upper section, an outer convex ring and a lower section; a spring seat, disposed within the barrel seat and located on the upper section of the ball spline; an elastic element, disposed within the barrel seat, where both ends of the elastic element abut against a bottom of the tool shank and the spring seat respectively; a spring guide pin, disposed through the spring seat; a connecting post, disposed within the lower section of the ball spline, where a top of the connecting post is connected and fixed to the spring guide pin; and a friction stir welding tool inserted and fixed detachably at a bottom end of the connecting post.

The present invention relates to a robot arm of a novel structure that minimizes the movement of a power line connected to a work device provided at the tip, thereby minimizing the fatigue applied to the power line. The robot arm according to the present invention is further provided with a holder (50) provided on the side of the second pivot bar (20) and through which the power lines (41, 42, 43) pass, and a support (60) provided on the side of the front end of the second pivot bar (20) through which the power lines (41, 42, 43) pass. Accordingly, the middle portion of the power line (41, 42, 43) is fixed by the holder (50), and the front portion of the power line (41, 42, 43) is supported by the support (60), so that when the third pivot bar (31) is rotated in the up-and-down direction or the work device (32) is rotated, the support (60) rotates in accordance with the flow of the power line (41, 42, 43), thereby minimizing the flow of the power line (41, 42, 43). Therefore, by minimizing the fatigue applied to the power lines (41, 42, 43), there is an advantage in extending the lifespan of the power lines (41, 42, 43).

The utility model discloses a robot arm angle adjusting device, and relates to the technical field of robots. The angle adjusting mechanism comprises two mechanical arms, an adjusting assembly used for adjusting the angle is arranged between the mechanical arms, a mounting plate is arranged on the adjusting assembly, and a fixing assembly used for connecting the mounting plate and the mechanical arms is further arranged on the mounting plate. The adjusting assembly comprises a first mounting block located at the rear end, the front end of the first mounting block is rotationally connected with an adjusting disc, and the front end of the adjusting disc is fixedly connected with a second mounting block. The movable plate and the adjusting rod are driven to move through the first threaded rod and the first sleeve rod, the connecting plate and the mounting plate are driven to move through the adjusting rod, the problem that in the prior art, the length of the mechanical arm is inconvenient to adjust is solved, meanwhile, the vertical clamping plate is driven to move through the two-way threaded rod, and the mechanical arm is convenient to adjust. And the mounting plate is clamped on the mechanical arm through the vertical clamping plate and the longitudinal clamping plate, so that the problem that the mechanical arm is inconvenient to mount and dismount in the prior art is solved.

To provide a robot, a remote teaching system, a teaching robot, a control method, and a program that prevent an excessive force from being applied during teaching.SOLUTION: And a control unit configured to, when it is determined that the workpiece and the object have come into contact with each other based on the force detected by the detection unit, execute impedance control of the robot arm in which a position of the workpiece at the time of contact is set as a neutral point of a spring in a control model of a spring mass damper system.SELECTED DRAWING: Figure 4

In a robotic surgical system according to this disclosure, a controller performs return processing, if a surgical instrument is deviated from a pivot position stored in a storage, to return a robot arm to a position that makes the surgical instrument pass through the pivot position at a moving speed smaller than a moving speed of the robot arm moved through operation of an operation tool.

The invention relates to a drive device (4) for a joint (L) of a robot arm (3), comprising a driver (19) connected to a guide tube end section (18) of a cable guide tube (17), the driver having a hub section (19a) connected to the guide tube end section (18), a radially outwardly offset cable guide section (19b), and a connecting section (19c) connecting the hub section (19a) to the cable guide section (19b), and comprising an annular space (R) arranged coaxially to a motor (9), which is configured to receive a cable loop (7c) of a cable (7) inserted into the annular space (R), wherein the annular space (R) has an opening (20) through which the cable (7) can be fed into the annular space (R), wherein the cable guide section (19b) of the driver (19) is configured in a cable (7) inserted state.The invention relates to the cable (7) being guided axially from the gearbox-side tube end (17a) to the motor-side tube end (17b) through the cable guide tube (17) and radially to the cable guide section (19b), the cable (7) being carried into the opening (20) of the annular space (R) in a transition section (7c) of the cable (7) during rotation of a gearbox output member (15) of the drive device (4), such that the cable (7) is guided into the annular space (R) at a circumferential point corresponding to the current rotational position of the gearbox output member (15). The invention also relates to an associated robot arm (3) and a corresponding rotary feedthrough.

The utility model discloses a high-precision industrial assembly robot arm structure, which relates to the technical field of robot arms, and comprises a mounting plate, the front side of the mounting plate is fixedly connected with a box body, and the front side of the box body is provided with an assembly mechanism and a driving mechanism. According to the robot arm, the assembling mechanism is arranged, the overall angle of the robot arm can be adjusted after the connecting blocks and the balls are tightened, the balls are matched with the arc-shaped sliding grooves, the overall adjustability can be further improved, and the flexibility of the overall robot arm is greatly improved; according to the flexible mechanical arm, the angle of the arm can be adjusted in multiple directions according to different environments, the flexible mechanical arm can adapt to complex terrains, the flexibility of a biological arm is simulated, precise operation is conducted in a narrow space or an irregular surface, the multiple first motors are ingeniously utilized for cooperative work, precise control over the joint angle of the mechanical arm is achieved, and the mechanical arm is more flexible. And various tasks can be completed more naturally and smoothly.

The present application relates to the field of computer vision, especially to a two-dimensional human arm posture estimation method based on feature fusion and attention mechanism, comprising the following steps: step one, collecting human action images, and performing image cropping through human boundary range; step two, performing human arm joint feature extraction on the cropped images through a basic network module; step three, performing feature fusion and focusing through a feature fusion and attention combination module, so as to reduce feature loss and improve effective information concentration, and obtaining an arm joint heat map; step four, obtaining position coordinates from the obtained arm joint heat map. The present application can obtain accurate two-dimensional arm joint position coordinates from human action RGB images.

The invention provides an anti-explosion humanoid robot humanoid arm and system, and the humanoid arm comprises a seven-degree-of-freedom humanoid mechanical arm structure chain which is connected with a supporting structure through a mechanical arm fixing base, is connected with a plurality of mounting parts in series through seven driving joints, and is finally connected to a tail end clamping jaw tool through a six-dimensional force sensor. According to the core improvement, joint covering parts covering the outer sides of the second driving joint, the fourth driving joint and the sixth driving joint are arranged, and the covering parts and the driving joint bodies jointly form an explosion-proof cavity so as to meet the explosion-proof requirement. The explosion-proof cavity adopts a structure of combining a wide spigot with a high-temperature-resistant sealing ring, energy limitation is carried out on an internal circuit through an intrinsic safety isolation fence, and sealing wiring is carried out through hollow shaft wiring and an explosion-proof cable gland. A six-dimensional force sensor and a binocular depth camera are further integrated, and a double-arm system can be formed through symmetrical arrangement. The system has high flexibility and environment perception capability, and ensures the operation safety in the flammable and explosive environment at the same time.

The invention provides a robot arm which has a good anti-pulling function and specifically comprises a framework assembly and a driving assembly. The skeleton assembly is provided with a first skeleton, a second skeleton and a composite joint, and the first skeleton and the second skeleton are movably connected through the composite joint; one end of the shaft flange is connected with the robot body, and the other end of the shaft flange is in power connection with the first skeleton.

The present invention imparts mechanical characteristics such as elasticity and viscosity when constraining the trajectory of a controlled object onto a figure (a two-dimensional figure or a three-dimensional spatial figure) defined by a signed distance function (SDF). In a trajectory constraint device 1, a rotational angle position of a robot arm 10 is converted into end tip position information using a command value input for a signed distance, and the signed distance between the position information and a bound trajectory is calculated. When the signed distance is being controlled, an acceleration reference value expressed by formula (3) is calculated using a velocity gain and position gain representing virtual elasticity and viscosity. Said acceleration reference value is multiplied with a calculated result of a unit vector applied to a partial differential of the signed distance XSD, converting into an acceleration reference value expressed by formula (4). This acceleration reference value is converted into an acceleration reference value expressed by formula (12) to rotate each shaft of the robot arm 10. The inertia of the rotational angle direction of each shaft is then multiplied by this acceleration reference value, the torque of each shaft is controlled by determining a torque reference value for each shaft, and the trajectory of the robot arm 10 is constrained.