463 results about "Revolute joint" patented technology

The present invention is a wrist mechanism and a method for making robotic devices in which the transmission of motion, force and / or torque around a revolute joint can be accomplished without coupling. This construction allows mounting the actuators on the base or lower elements of a mechanism, so that only linkage elements move the end-effector. Thus reducing inertia of the moving elements and increasing performance of the device. The decoupled motion of the end-effector or links is achieved by routing their transmission cables around idler pulleys placed parallel to the joint rotation axis on an optimal position such any stretch on the transmission cable is minimized. In particular, this construction can be use for robotic surgical tools that have two independently driven jaws, decoupled and orthogonal from its articulating wrist. This device may be used in grasping, cutting, suturing or alike operations.

The present invention relates to an exoskeleton interface apparatus that parallels human arm motion and is comprised of a serial assemblage of five powered linkages and joints based at a rigid support structure worn on the torso of the human subject. Such apparatus generates shoulder rotation using three orthogonal revolute joints mounted on serial linkages encompassing and intersecting at the anatomical glenohumeral joint. Elevation of the shoulder joint is articulated using a link member driven by a single revolute joint mounted in the torso structure. Passive adjustable linkages are used to match variation in anatomical forearm length, upper arm length, and scapula-to-glenohumeral radius. A plurality of integrated dc motor / harmonic drive transmission modules is co-located on adjoining linkages to power the joints. Force is exchanged with the human at the handgrip and elbow brace, and reacted to the torso structure via the base attachment. The present invention is applicable in particular to rehabilitation of the shoulder.

The present invention is a wrist mechanism and a method for making robotic devices in which the transmission of motion, force and / or torque around a revolute joint can be accomplished without coupling. This construction allows mounting the actuators on the base or lower elements of a mechanism, so that only linkage elements move the end-effector. Thus reducing inertia of the moving elements and increasing performance of the device. The decoupled motion of the end-effector or links is achieved by routing their transmission cables around idler pulleys placed parallel to the joint rotation axis on an optimal position such any stretch on the transmission cable is minimized. In particular, this construction can be use for robotic surgical tools that have two independently driven jaws, decoupled and orthogonal from its articulating wrist.

A sensing system is provided for measuring various joints of a human body for applications for performance animation, biomechanical studies and general motion capture. One sensing device of the system is a linkage-based sensing structure comprising rigid links interconnected by revolute joints, where each joint angle is measured by a resistive bend sensor or other convenient goniometer. Such a linkage-based sensing structure is typically used for measuring joints of the body, such as the shoulders, hips, neck, back and forearm, which have more than a single rotary degree of freedom of movement. In one embodiment of the linkage-based sensing structure, a single long resistive bend sensor measures the angle of more that one revolute joint. The terminal ends of the linkage-based sensing structure are secured to the body such that movement of the joint is measured by the device. A second sensing device of the sensing system comprises a flat, flexible resistive bend sensor guided by a channel on an elastic garment. Such a flat sensing device is typically used to measure various other joints of the body which have primarily one degree of freedom of movement, such as the elbows, knees and ankles. Combining the two sensing devices as described, the sensing system has low sensor bulk at body extremities, yet accurately measures the multi-degree-of-freedom joints nearer the torso. Such a system can operate totally untethered, in real time, and without concern for electromagnetic interference or sensor occlusion.

A wrist prosthesis has first, second, and third components that in one form are a radial component, a metacarpal component, and a bearing component. The bearing component is non-fixed or non-stationary relative to one of the radial component and the metacarpal component when the wrist prosthesis is assembled such as when implanted into a patient. As such, in one form a rotational joint or union is provided on the radial component and the bearing component. The bearing component is thus free to rotationally ride on the radial component, preferably 360° thereabout. Distal the radial component, the bearing component includes an articulation surface. The metacarpal component includes an articulation surface that is complementary to the articulation surface of the bearing component. In this manner, the metacarpal component correspondingly moves relative to the bearing component. The bearing component is preferably made of a polymer such as polyethylene.

A catheter configured for intraluminal delivery to a location in the body of a patient, the catheter comprising a steerable assembly comprising a first segment connected to a second segment; the first segment comprises first and second cylindrical elements connected to each other by a first revolute joint in a first single plane; the second segment comprises third and fourth cylindrical elements connected to each other by a second revolute joint in a second single plane, wherein the first single plane and the second single plane are offset by an angle from each other.

A sensing system is provided for measuring various joints of a human body for applications for performance animation, biomechanical studies and general motion capture. One sensing device of the system is a linkage-based sensing structure comprising rigid links interconnected by revolute joints, where each joint angle is measured by a resistive bend sensor or other convenient goniometer. Such a linkage-based sensing structure is typically used for measuring joints of the body, such as the shoulders, hips, neck, back and forearm, which have more than a single rotary degree of freedom of movement. In one embodiment of the linkage-based sensing structure, a single long resistive bend sensor measures the angle of more than one revolute joint. A second sensing device of the sensing system comprises a flat, flexible resistive bend sensor guided by a channel on an elastic garment.

The present invention relates to an exoskeleton interface apparatus that parallels human arm motion and is comprised of a serial assemblage of five powered linkages and joints based at a rigid support structure worn on the torso of the human subject. Such apparatus generates shoulder rotation using three orthogonal revolute joints mounted on serial linkages encompassing and intersecting at the anatomical glenohumeral joint. Elevation of the shoulder joint is articulated using a link member driven by a single revolute joint mounted in the torso structure. Passive adjustable linkages are used to match variation in anatomical forearm length, upper arm length, and scapula-to-glenohumeral radius. A plurality of integrated dc motor / harmonic drive transmission modules is co-located on adjoining linkages to power the joints. Force is exchanged with the human at the handgrip and elbow brace, and reacted to the torso structure via the base attachment. The present invention is applicable in particular to rehabilitation of the shoulder.

A linkage system which offers high rigidity and good assemblability and producibility, and enables parts such as rotary transmission components and actuators to be readily installed. A linkage system includes an input member disposed on an input side, an output member disposed on an output side, and three or more link mechanisms, each link mechanism consisting of end links rotatably coupled to the input member and the output member, respectively, a center link rotatably coupled to the end links on the input side and the output side, and four revolute joints by which the end links are rotatably coupled to the input and output members, and to the center link. The link mechanism being geometrically identical with respect to a center cross-sectional plane relative on the input and output sides. Each of the revolute joints of the link mechanism includes bearings that support at both ends of the revolute joint.

A unilateral external fixator device that allows for gross manipulation and fine adjustment of deformities in six degrees of freedom. The device may comprise a strut assembly and two compound movable joints, one at each end of the strut assembly. One compound movable joint may comprise two revolute joints, each containing a gear reduction mechanism and may rotate about the strut. The second compound movable joint may contain two revolute joints, each containing a gear reduction mechanism, and may move along the length of the strut assembly. The gear reduction mechanisms may comprise helical spline assemblies that allow for gross and fine adjustment of the fixator.

An interface assembly comprises a nasal mask that includes a seal having a rolling portion. The rolling portion of the seal rolls over a portion of a clip that secures the seal to a frame. The frame has a ball and socket connection to a connector. The connector comprises an elbow having integrally formed exhaust holes and a swivel.

A fiber optic rotary joint is provided that is unaffected by variations in the optical properties of a fluid that fills its internal cavity. The rotary joint includes a housing defining the internal cavity, first and second optical collimation arrays on opposite sides of the internal cavity, and a reversion prism between the optical collimation arrays. Further, the rotary joint includes an interface optical element proximate at least one of the first and second optical collimation arrays and the reversion prism. Each interface optical element includes an optically flat surface adapted to contact the fluid such that optical signals that are oriented normal to the optically flat surface can be transmitted without refraction, thereby rendering the optical signals immune to variations in the fluid's optical properties. A reversion prism assembly, an optical collimation assembly and a method of aligning an optical collimation array utilizing alignment pins are also provided.

What is provided is a fixation system that offers a strong and stable construct for maximum fusion augmentation and yet is versatile enough for any patient and is easy to use. Disclosed is a connection assembly for connecting a spinal implant, the assembly comprising: a body, the body including a body opening for receiving at least a portion of a first connector; a swivel having first and second ends and being operatively connected to the body, the first end including a swivel opening for receiving at least a portion of a second connector; a locking plate having an arm at least partially extending into the body opening; a locking unit operatively connected to the body and contacting the second end of the swivel; and whereby activation of the locking unit causes the arm to engage the first connector and swivel opening to engage the second connector thereby preventing relative rotation between the first and second connectors.

A two-channel fiber optical rotary joint has been invented in which optical signals can be transmitted simultaneously along two optical passes through a single mechanical rotational interface for both single mode fiber and multi mode fiber. The first channel of light path consists of a pair of micro-collimators, or a pair of fibers, co-axially fixed in 2 holders respectively. The light signal from one of micro-collimator, or fiber can be directly coupled into another micro-collimator, or fiber. The second channel of light path is off-axis arranged, including a pair of conventional collimators, a pair of first reflecting surfaces and a pair of second reflecting surfaces. The light signal emitted from one of the said conventional collimator will be reflected by one of the said first reflecting surface, one of the said second reflecting surface, another said second reflecting surface, and another said first reflecting surface, then coupled into another said conventional collimator. An index matching fluid is filled in the housing for lubrication and pressure compensation purposes.

The suspended ceiling fan generates a sustained flow of air, which can be aimed at one spot, such as a person's face. In one embodiment, the suspended ceiling fan has an elongated member, a track connector, a swivel, and a fan unit. The elongated member has first and second opposing ends. The track connector is attached to the first end, and is adapted for attachment to an existing track, such as a track lighting system, or other support for a suspended lighting system. In one mode of operation the connector snaps into the track. In another embodiment, the ceiling fan comprises an adjustable arm having a hinged joint. The fan may be moved along the track and pivoted on the swivel to direct airflow in any desired direction.

A system for positioning a laparoscopic device includes a curvilinear articulating arm and a holder. The holder has at least two rotational regions and a clamping portion for receiving the laparoscopic device, and the holder is coupled to the curvilinear articulating arm. The at least two rotational regions are permitted to articulate. In addition, a method of positioning a laparoscopic device in a skin port of a mammal includes: securing the laparoscopic device to a holder having at least two rotational joints; coupling the holder to a curvilinear articulating arm; disposing the laparoscopic device partially within the skin port; positioning the laparoscopic device by selectively articulating the curvilinear articulating arm and selectively rotating portions of the holder with respect to one another.

An apparatus, system, method, and computer program and computer program product are provided for constraining the movement of a graphical hand when the physical hand controlling the graphical hand does not have a similar physical constraint. The constraining technique may comprise use and analysis of a revolute-joint-link-spring model. In such a model, an uncompressed / unextended spring position represents the corresponding measured joint angle or link position. In addition to linear springs which follow Hook's Law, i.e., F=k*x, non-linear springs or other non-linear force functions may be employed to obtain the desired result of allowing a graphical joint or link to deviate from what the corresponding measured joint or link provides. In particular, if a graphical hand configuration corresponding to measured joint and link positions causes a portion of the hand to penetrate a simulated graphical solid object, a mathematical determination is used to compute modified joint and link positions such that the graphical hand part will no longer penetrate the graphical solid object. Such a constraint technique may include solving a spring model such that the various joint and link springs compress or extend to produce modified joint and link positions. Such a constraint technique may also be applied to constrain other graphical body parts and graphical inanimate objects, where corresponding physical controlling, i.e., measured, body parts and inanimate objects do not possess a similar constraint or impediment.

A vehicle capable of both aerial and terrestrial locomotion. The terrestrial and aerial vehicle includes a flying device and a rolling cage connected to the flying device by at least one revolute joint. The rolling cage at least partially surrounds the flying device and is free-rolling and not separately powered.

Minimally invasive neurosurgical intracranial robot system is introduced to the operative site by a neurosurgeon through a narrow surgical corridor. The robot is passed through a cannula and is attached to the cannula by a latching mechanism. The robot has several links interconnected via revolute joints which are tendon-driven by tendons routed through channels formed in the walls of the links. The robot is teleoperatively guided by the neurosurgeon based on real-time images of the intracranial operative site and tracking information of the robot position. The robot body is equipped with a tracking system, tissue liquefacting end-effector, at as well as irrigation and suction tubes. Actuators for the tendon-driven mechanism are positioned at a distance from the imaging system to minimize distortion to the images. The tendon-actuated navigation of the robot permits an independent control of the revolute joints in the robot body.

A robot assembly for transporting a substrate is presented. The robot assembly having a first arm and a second arm supported by a column, the first arm further having a first limb, the first limb having a first set of revolute joint / line pairs configured to provide translation and rotation of the distalmost link of the first limb in the horizontal plane. The assembly further having a second arm further having a second limb, the second limb comprising a second set of revolute joint / link pairs configured to provide translation and rotation of a distalmost link of the second limb in the horizontal plane. The first limb and second limb further having proximal revolute joints having a common vertical axis of rotation and a proximal inner joint housed in a common housing. The assembly further having an actuator assembly coupled to the first set of revolute joint / link pairs and to the second set of revolute joint / link pairs to effect rotation and translation of the distalmost links of the first limb and the second limb, each of the first limb and the second limb defining, in conjunction with the actuator assembly, at least three degrees of freedom per limb, whereby the distal most links of the first limb and the second limb are independently horizontally translatable for extension and retraction.

Movement of a graphical hand is constrained when the physical hand controlling the graphical hand does not have a similar physical constraint. An analysis of a revolute-joint-link-spring model in which an uncompressed / unextended spring position represents the corresponding measured joint angle or link position is used. Linear springs , non-linear springs, or the like may be employed to obtain the desired result of allowing a graphical joint or link to deviate from what the corresponding measured joint or link provides. If a graphical hand configuration causes a portion of the hand to penetrate a simulated graphical solid object, a mathematical determination is used to compute modified joint and link positions such that the graphical hand part will no longer penetrate the solid object. Such a constraint technique may include solving a spring model such that the various joint and link springs compress or extend to produce modified joint and link positions.

An off-axis rotary joint (20) for selectively enabling communication of a signal (i.e., electrical and / or optical) between a housing (21) mounted for rotation about an axis (y-y) relative to a hollow shaft assembly (22) at all permissible relative angular displacements (e.g., 0°, 180°, 360°, 540°, 720°, etc.) between the housing and shaft assembly, broadly includes: a first conductor (23) having an first end mounted on the second member and having a second end mounted on the first member, the first conductor being adapted to convey a signal between its ends; a first motor (24) operatively arranged to selectively rotate the first conductor first end through a desired angular displacement relative to the second member; a second conductor (25) having an first end mounted on the second member and having a second end mounted on the first member, the second conductor being adapted to convey a signal between its ends; a second motor (26) operatively arranged to selectively rotate the second conductor second end through a desired angular displacement relative to the first second member; an encoder (28) for monitoring the angular displacement of the first member relative to the second member; a first divider / combiner (29) communicating with the second end of each of the conductors; a second divider / combiner (30); a first connector (31) mounted on the first member for selectively communicating the first and second divider / combiners through the first conductor; a second connector (32) mounted on the first member for selectively communicating the first and second divider / combiners through the second conductor; and a controller (33) for selectively operating the first and second motors and the first and second connectors; whereby a signal may be conveyed though the joint at all permissible angular displacements of the housing relative to the shaft assembly.

A self-locking support arm is provided, comprising a hang arm and a linked device between a support seat and a connecting seat, which forms a set of four parallel connected rods. Therefore, when the support arm moving up and down, the connecting seat will maintain a fixed angle. A spring device is disposed between the hang arm and the linked device to provide tension of auto homing to the support arm. And, in a rotating joint formed by the linked device and the support seat, a ramp block and a ramp slider block is engaged, to provide an effect of self-locking, and better loading capacity.

The invention discloses a device for measuring spatial motion with six degrees of freedom and a dynamic measuring method. A fixed platform (1) of the measuring device is provided with six Hooke hinges (2), and a moveable platform (10) is arranged above the fixed platform (1). The moveable platform (10) is provided with six ball hinges (9) which are respectively connected with the corresponding six Hooke hinges (2) through branched chains. A revolute joint (6) of each branched chain is provided with a spiral coder (5). The dynamic measuring method comprises the steps of establishing a coordinate system, measuring an angle-time curve of relative motion of upper and lower support rods of the revolute joint (6) by the spiral coders (5), so as to obtain the law of motion with the spatial six degrees of freedom of an object measured by a positive solution of the angle-time curve of the spiral coder (5) and the like. The device and the method not only measure the motion with the six degrees of freedom simultaneously, but also ensures the accuracy of measuring results, and have the characteristics of being good in flexible, strong in adaptation, wide in measuring range, high in accuracy and the like.

A linkage system which offers high rigidity and good assemblability and producibility, and enables parts such as rotary transmission components and actuators to be readily installed. A linkage system includes an input member disposed on an input side, an output member disposed on an output side, and three or more link mechanisms, each link mechanism consisting of end links rotatably coupled to the input member and the output member, respectively, a center link rotatably coupled to the end links on the input side and the output side, and four revolute joints by which the end links are rotatably coupled to the input and output members, and to the center link. The link mechanism being geometrically identical with respect to a center cross-sectional plane relative on the input and output sides. Each of the revolute joints of the link mechanism includes bearings that support at both ends of the revolute joint.