An assistance system that can be used for prosthetic heart valve manufacturing or suturing procedures includes an automated fixture that can comprise an articulation arm and a target device holder. The target device holder can be positioned and oriented to reduce operator strain during a manufacturing or inspection process. The assistance system includes a user input device enabling the operator to move between positions to assist in such processes. The assistance system can also be trained by capturing sequences of position data corresponding to a manufacturing or inspection process.

In a first step, a needle pierces into an object to be sewed by reciprocal motion and leaves from the object to be sewed after the tip of the needle has penetrated therethrough. At this time, the needle is placed in a state of being stopped relative to the object to be sewed. In a second step, the needle leaves from the object to be sewed. At this time, the needle is moved relative to the object to be sewed along a sewing direction (sewing line).

A sewing mechanism is provided with: a post bed and sewing needles, wherein an article to be sewn is interposed between the post bed and the sewing needles. When the post bed comes closer to the article to be sewn than that in the previous sewing by at least a predetermined distance, in other words, when a separation distance between the article to be sewn and the post bed becomes less than that in the previous sewing by at least a predetermined distance, a thread pulling mechanism pulls threads hooked in needle holes of the sewing needles in a direction away from the post bed.

An apparatus for manufacturing trapezoid-shaped masks is disclosed. The apparatus may include, a first feeding unit, for providing three or more rolled fabrics; a second feeding unit, for providing one or more rolled materials, simultaneously to the provision of the three or more rolled fabrics; a first folding and joining unit, for folding and joining together edges of three or more fabrics provided by the first feeding unit to form a joint multilayered fabric; a second folding and joining unit, for folding and joining the edges of one or more materials provided by the second feeding unit to form folded material; and a joining unit configured to join together the joint multilayered fabric and the folded material, by forming the continuous joint thereby forming at least two masks in relatively alternating positions, such that the open side of one mask is pointing in an opposite direction from the open side of the other mask.

An apparatus for manufacturing trapezoid-shaped masks is disclosed. The apparatus may include, a first feeding unit, for providing three or more rolled fabrics; a second feeding unit, for providing one or more rolled materials, simultaneously to the provision of the three or more rolled fabrics; a first folding and joining unit, for folding and joining together edges of three or more fabrics provided by the first feeding unit to form a joint multilayered fabric; a second folding and joining unit, for folding and joining the edges of one or more materials provided by the second feeding unit to form folded material; and a joining unit configured to join together the joint multilayered fabric and the folded material, by forming the continuous joint thereby forming at least two masks in relatively alternating positions, such that the open side of one mask is pointing in an opposite direction from the open side of the other mask.

An apparatus for manufacturing trapezoid-shaped masks is disclosed. The apparatus may include, a first feeding unit, for providing three or more rolled fabrics; a second feeding unit, for providing one or more rolled materials, simultaneously to the provision of the three or more rolled fabrics; a first folding and joining unit, for folding and joining together edges of three or more fabrics provided by the first feeding unit to form a joint multilayered fabric; a second folding and joining unit, for folding and joining the edges of one or more materials provided by the second feeding unit to form folded material; and a joining unit configured to join together the joint multilayered fabric and the folded material, by forming the continuous joint thereby forming at least two masks in relatively alternating positions, such that the open side of one mask is pointing in an opposite direction from the open side of the other mask.

An apparatus for manufacturing trapezoid-shaped masks is disclosed. The apparatus may include, a first feeding unit, for providing three or more rolled fabrics; a second feeding unit, for providing one or more rolled materials, simultaneously to the provision of the three or more rolled fabrics; a first folding and joining unit, for folding and joining together edges of three or more fabrics provided by the first feeding unit to form a joint multilayered fabric; a second folding and joining unit, for folding and joining the edges of one or more materials provided by the second feeding unit to form folded material; and a joining unit configured to join together the joint multilayered fabric and the folded material, by forming the continuous joint thereby forming at least two masks in relatively alternating positions, such that the open side of one mask is pointing in an opposite direction from the open side of the other mask.

Various examples are provided related to transporting and sewing material in, e.g., automation of sewing robots. An automated sewing process feed control system is disclosed in which a material aligner is utilized. An omni-chain material aligner can include a circular roller chain in which the rollers allow for a controlling force to be applied to a material. An omni-belt material aligner can include a belt with attached perpendicular rollers which allow feed control and active motorized steering control. The material aligner can control the pressure applied onto the material to facilitate control of feeding the material.

Various examples are provided related to transporting and sewing material in, e.g., automation of sewing robots. An automated sewing process feed control system is disclosed in which a material aligner is utilized. An omni-chain material aligner can include a circular roller chain in which the rollers allow for a controlling force to be applied to a material. An omni-belt material aligner can include a belt with attached perpendicular rollers which allow feed control and active motorized steering control. The material aligner can control the pressure applied onto the material to facilitate control of feeding the material.

Due to rapid advancement in computing technology of both hardware and software, the labor intensive sewing process has been transformed into a technology-intensive automated process. During an automated process, product materials may become wrinkled or folded, which can slow down the automated process or result in human intervention. Various examples are provided related to the automation of sewing robots, and removal of wrinkles from products. Images of material on a work table can be captured and analyzed to determine if there are wrinkles or folds in the product. The robot can remove the wrinkle or fold by manipulating the material through the use of end effectors such as, e.g., budgers.