89 results about "Passive joint" patented technology

A haptic interface was designed and developed for use in manipulation tasks. The mechanism consists of a closed kinematic chain. The force feedback mechanism consists of three degrees of spatial force feedback (X, Y and Z directions) and 1 degree of grasping/parting (increasing the distance between two or more points) force feedback. The three degrees of spatial force feedback are comprised of three independently actuated prismatic joints along orthogonal coordinate axes. The one degree of grasping/parting force feedback consists of a two thimbles with rotary motion for grasping and parting tasks using one's fingers. This device also provides a net of three additional passive joints for a total of 7 degrees-of-freedom.

A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The robotic arm may contain a passive joint that provides an additional degree of freedom. Additionally, the system may include a disconnect input device that decouples the arm from an input device such as the handles.

The invention provides an underactuated lower limb assistance exoskeleton robot based on a rope-pulley mechanism, and relates to an underactuated lower limb assistance exoskeleton robot. The robot aims to solve the problems that a prior active joint-driving exoskeleton has large self-mass, large drive energy consumption, and a passive joint exoskeleton cannot provide effective assistance. The robot comprises a harness device, a drive control power system, two thigh bar devices, two leg bar devices, two ankle devices, two drive devices and two strings; wherein each drive device includes a motor shell bracket, a first motor shell, a waist frame, a planetary reducer, a second motor shell, a servo motor, a third motor shell, a hip joint spline shaft, a drive pulley, an elastic actuator, a first shaft sleeve, a small bevel gear, a large bevel gear, a second shaft sleeve, a fourth motor shell, a fifth motor shell, a sixth motor shell, a fixing plate and two first bearing end covers with bearings. The underactuated lower limb assistance exoskeleton robot based on the rope-pulley mechanism is used for the field of assistance exoskeleton robots.

Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In an other aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

The invention discloses humanoid robot feet. Each humanoid robot foot comprises a humanoid sole and a robot shank connected onto the sole through an ankle joint, wherein the sole comprises toes, an arch body and a sole plate; the toes are connected onto the arch body through a passive joint; the arch body comprises an upper arch body, an inner arch motion block and a lower arch part; flexible cushion blocks are arranged between the upper arch body and the inner arch motion block as well as between the inner arch motion block and the lower arch part; the upper arch body is hinged onto the sole plate; and the lower arch part is fixed on the sole plate. The humanoid robot feet are compact in structure, impact generated in a stage of contact between the feet and the ground during walking can be cushioned, greater push force is generated when the feet leave the ground, and the robot can walk on a complicated ground.

The invention discloses a wire order test method for testing cable wire order. The method is as follows: a first N-path analog quantity switch selector is placed at the side of a cable to be tested, and a far-end loopback line is arranged; the far-end loopback line is respectively connected with resistors R1-RN in series, and the requirement of selecting far-end loopback resistors is that the sumof any two resistors is not equal; local 5 V high level is output through the line and then delivered to a far-end loopback passive joint; the 5 V high level is looped back to the local through the tandem resistors in the line and then through the tandem resistors on the other line; and because the sum of any two far-end resistors is not equal, the partial pressure value on any loopback line is not equal, thus the connection manner of the wire order can be judged. In the invention, a single port device is used to achieve measurement and the cost of the test device can be saved. By using the method, the measurement of any wire order can be realized. The method can be used in more occasions owing to the any wire order judgment function.

The invention discloses a single-leg robot in-place jumping mechanism with a power energy storage function and belongs to the technical field of robots. A robot is composed of five portions including a body, a hip joint, a knee joint, a pelma and a thigh and a shank, the body and the thigh are connected through the hip joint, the thigh and the shank are connected through the knee joint, the hip joint is composed of elements like a motor, a harmonic speed reducer, a coder and a hip spring, has a function of actively outputting joint moment and provides active moment output for the knee joint through a synchronous belt, a knee spring is mounted on a knee rotary shaft of the knee joint, the knee joint stores and complements energy for jumping of the robot by converting gravitational potential energy of the robot into elastic potential energy of the knee spring, and a force sensor is mounted on the pelma and used for detecting ground-touching information of the robot. By reasonably arranging the joints and combining an active and passive joint control technology to store and complement the energy for jumping of the robot, improving of quickness and efficiency in moving of the robot is facilitated.

A working robot, which is able to perform a required operation by locating a tool on a working position of a moving object, comprises a robot body moving with the object according to the movement of the object with more than one degree of freedom; an actuator mounted on a free end of the robot body and including a tool mounting unit, on which the tool is mounted, connected by a passive joint which reacts passively to small displacement of the object for locating the tool on the working position; and a control device for controlling the robot body, the actuator, and the tool.

The invention relates to a method for navigating and positioning a multi-joint arm mechanical sensing type ultrasonic image, which mainly comprises a mechanical sensing component combining method, and a navigating and positioning method, wherein the method adopts a six-joint arm with a sensor to directly measure the real-time position of an ultrasonic probe; the multi-joint arm adopts the combination form that rotating shafts of two electric joints and four passive joints are mutually perpendicular; the x-direction displacement only depends on the intersection angle of the electric joint group and is unrelated to the intersection angle of the passive joint group when the probe position is measured and controlled; and the y-direction displacement of a probe pedestal only depends on the intersection angle of the passive joint group and is unrelated to the intersection angle of the electric joint group. The method adopts a semi-active structure mode that the electric joint group is matched with the passive joint group mutually. The method has the advantages of simple and compact structure, safety and stability.

The invention discloses a multi-body magnetic adsorption type adaptive wall climbing robot and belongs to the technical field of special robots. The robot comprises a main body device, at least one slave body device, at least one mechanical arm and a working tool arranged on each slave body device, wherein the main body device comprises a main body frame, a movable mechanism and a main body magnetic adsorption device; the slave body device comprises a slave body frame, a slave body magnetic adsorption device and at least one auxiliary supporting wheel; and each mechanical arm comprises at least five connecting rods, at least two active joints and at least two passive joints. The invention provides a wall climbing robot which flexibly moves and steers on a magnetized wall surface at full positions spatially, is adaptive to a spatial curved surface and can perform welding, gouging, cutting, grinding, milling, detecting, cleaning or spraying work. The robot has wide processing range, high carrying capacity, high flexibility of movement and high working efficiency.

The invention provides a bionic foot for a bionic robot. The bionic foot comprises a sole base, a bionic arch, an anti-sliding foot pad and a moveable sole, wherein the bionic arch has an arch-shaped structure, simulates a human arch and comprises four bionic arch plate spring stacking modules which are formed by successively staggering and stacking a plurality of plate spring blocks; the bionic arch has a buffering function when the robot walks and climbs stairs and can greatly reduce the ground impact force; the moveable sole is in pivoted connection with the sole base through a rotating shaft; the moveable sole and the sole base has a same degree of freedom; a spring is used for applying a pre-tightening force in the rotating shaft, so that a passive joint is formed; when the robot walks, the moveable sole is clung to the ground, so that the flexibility of the foot is increased and the moving posture of the foot while walking is improved.

Improved customizable orthotic/prosthetic braces and a lightweight modular exoskeleton may aid individuals with lower limb motor impairment, including children. These customizable orthotic/prosthetic braces improve the strength and rigidity of such braces without a weight penalty. A structural frame is embedded between an inner shell and outer shell, which comprise materials that are easily moldable to conform to a user's limb. The lightweight modular exoskeleton system provides six (6) joint actuators, which are designed to be modular, that act as the active joints (e.g. hips, knees, and ankles) of the exoskeleton. Additionally, the exoskeleton may also provide four (4) passive joints for inversion/eversion of the legs and feet. Foot, crutch, and hip assemblies may also be provided IN for the exoskeleton. Further, the six joint actuators may be utilized between the hip brace assembly and thigh brace assembly, the thigh and shank brace assembly, and the shank brace assembly and foot assembly, where the braces may correspond to the customizable orthotic/prosthetic design. The modularity of the actuators and braces allows for exoskeleton assemblies that can be tailored to patient specific needs.

The invention provides an instrument holding mechanical arm used for a minimally-invasive robot, and relates to the instrument holding mechanical arm. The instrument holding mechanical arm solves the problems that the number of passive joints is large when an existing mechanical arm is arranged in a concentrated mode and the existing mechanical arm is large in overall size and low in rigidity when a passive arm is too long. The instrument holding mechanical arm comprises vertical horizontally-moving safety brake devices, passive joints, first joints, second joints and an integrated operative instrument drive device. One ends of the passive joints are arranged on the upper portions of the vertical horizontally-moving safety brake devices in a rotatable mode. One ends of the first joints are connected to the passive joints in a rotatable mode. One ends of the second joints are connected with the other ends of the first joints in a rotatable mode. The integrated operative instrument drive devices are arranged at the other ends of the second points. The instrument holding mechanical arm is used for operative instrument drive of the micro operative instruments of the robot.

The present invention provides a biped (two-footed) walking mobile system, its walk controller, and walk control method therefore, which are to realize enhancing an walk stability, as well as a consumed energy saving. A walk controller (30) of a biped walking mobile system forms a gait data by a gait forming part (33) based on parameters from a gait stabilizing part (32), and drive-controls drive means of respective joint portions (15L, 15R-20L, 20R) of each leg portion based on said gait data. In this case, the walk controller (30) is so constituted as to selectively witch a powered mode to conduct ordinary drive-control and a passive mode to drive-control the drive means similarly with passive joints, whereby drive-controlling respective joint portions. The walk controller (30) preferably switches the drive and passive modes with respect to, for example, joint portions of knee and foot portions, or switches to the powered mode for kick-up and landing during walking motion, and to the passive mode for a free foot state.

A two degree-of-freedom parallel device for orienting or pointing an end effector with vibration suppression is described. The two end effector degrees-of-freedom are decoupled by connecting fast actuators to the effector by passive joints. The stiffness of the linkages and the high speed of the revolute and prismatic actuators employed permit the application of large feedback useful for disturbance rejection.

The invention provides a method for controlling a position of a 2R under-actuated plane flexible mechanical arm. The method comprises the following steps: an assumed mode method is adopted to establish a dynamic model synthetically considering joint passivity, rod piece flexibility and joint friction, of the 2R under-actuated plane flexible mechanical arm; and aiming at the characteristics of flexibility and under-actuating which simultaneously exist in the system, and on the base of a time-scale and PID control method, a segmented control strategy is designed so as to realize the position control of an active joint and a passive joint, thereby finishing the tail-end operation of a whole robot. Compared with a conventional full-drive rigidity system, the under-actuated plane flexible mechanical arm provided by the invention has the advantages of light weight, low energy consumption and compact structure; by the segmented control design, complex operation and control for the robot can be realized by using the simple method; a nonlinear theory and a nonlinear theory solving method are avoided; and the purpose of simple method and easiness in realization are achieved.

The invention discloses a joint movement rehabilitation instrument used for guaranteeing sufficient joint recovery training of fracture patients. The rehabilitation instrument is characterized in that an elbow joint rehabilitation assembly and a knee joint rehabilitation assembly which are driven through a drive assembly are arranged on a base assembly, and angle of passive joint training can be optionally adjusted. A temperature adjusting mechanism is arranged on each of the elbow joint rehabilitation assembly and the knee joint rehabilitation assembly, elbow joints and knee joints can be adjusted in temperature, namely early cold compress and later thermal therapy, training effect can be enhanced, and rehabilitation time can be shortened. An elbow joint movement unit and the elbow joint rehabilitation assembly can be used in connection or separation, and passive training is performed when the elbow joint movement unit and the elbow joint rehabilitation assembly are used in connection; when the elbow joint movement unit and the elbow joint rehabilitation assembly are used in separation, the patient wears the instrument for active training, and active training and the passive training are performed alternatively so as to enhance the rehabilitation effect. A carrying-angle adjusting structure is arranged on the elbow joint movement unit so as to meet requirements of different patients and alleviate pains of the same in training, and comfortableness is increased.

The invention discloses a translation parallel mechanism with two degrees of freedom and hooke joints as passive joints. The parallel robot mechanism comprises a moving platform, a fixed platform, two pairs of guide rails and two moving side chains, and the moving side chains are connected between the fixed platform and the moving platform in parallel. One or two secondary constraint side chains and a moving slider are serially connected to form each moving side chain, the moving sliders are directly connected with the guide rails, the corresponding hooke joint, a corresponding connecting rod and another corresponding hooke joint are serially connected to form each secondary constraint side chain, and the secondary constraint side chains are connected between the moving platform and the moving sliders in parallel. The translation parallel mechanism with the two degrees of freedom is simple in structure and does not have an over-constraint structure; and the hooke joints are used as the passive joints, so that stress states of the connecting rods are improved, and lateral rigidity of the mechanism is improved.

The invention provides a parameter optimization method for six-degree of freedom parallel mechanisms for modal space control. The six-degree of freedom parallel mechanism is similar to a viscous proportion damping system by changing structural parameters on the premise of not ignoring passive joint damping, so that a modal space decoupling controller can still give full play to the advantage of greatly improving the control characteristics of the system. By the method, the application range of the modal space controller is greatly increased.

The invention discloses an underactuated biped robot excitation planning and control method, which has the advantages of high real-time property and strong engineering practicability. The method comprises the following steps: (1) establishing a mathematic model and converting the mathematic model into a system state equation; (2) selecting an excitation signal; (3) inputting the excitation signal; (4) taking joint angle positions, joint angle speeds and joint angle acceleration obtained in the step (3) as given values, recording an angle excitation plan for a passive joint to be qpd and recording an actual output angle of an underactuated joint to be qp; (5) performing sampling according to a sampling period and calculating an actual underactuated joint angle qp, an underactuated joint angle speed and underactuated joint angle acceleration by using a sensor; (6) comparing qpd with qp in each sampling period to obtain an error, determining the error with an expression and performing sliding mode variable structure control correction so as to make e tend to zero; (7) outputting an active joint control variable ua after the operation of the sliding mode variable structure control correction; and (8) repeating the steps (3) to (7) to obtain the active joint control variables of each sampling period.