The present disclosure is intended to provide a buttock wiping device configured so that pressure on the buttocks in wiping can be adjusted and a buttock wiping arm used for the buttock wiping device. The present disclosure relates to a wiping arm whose operation is controlled by a buttock wiping device for wiping the buttocks with a wiping material. The wiping arm includes an arm portion, a head portion configured to press the wiping material against the buttocks, and a force sensor configured to detect force when the wiping material is pressed against the buttocks. The force sensor is a strain gauge, a load cell, or a semiconductor pressure sensor.

A force control device mitigates or eliminates impact force overshoot upon contact between a robotic tool and a workpiece. Contact is detected while operating the force control device in a position control mode, according to either of a steady state search method or a transient search method. The force applied to the workpiece upon contact is less than a predetermined setpoint force. Upon detecting contact, the force control device performs a bumpless transfer to a force control mode. In force control mode, the force control device ramps the contact force to the predetermined setpoint. The force ramp may be linear, or along a user-defined trajectory. The stiffness of the force control device is different in position and force control modes, controlled by backpressure in a pneumatic cylinder.

A force control device mitigates or eliminates impact force overshoot upon contact between a robotic tool and a workpiece. Contact is detected while operating the force control device in a position control mode, according to either of a steady state search method or a transient search method. The force applied to the workpiece upon contact is less than a predetermined setpoint force. Upon detecting contact, the force control device performs a bumpless transfer to a force control mode. In force control mode, the force control device ramps the contact force to the predetermined setpoint. The force ramp may be linear, or along a user-defined trajectory. The stiffness of the force control device is different in position and force control modes, controlled by backpressure in a pneumatic cylinder.

The embodiments disclosed herein relate to an apparatus for monitoring a valve having a control element, wherein the control element is actuated by an actuator, having: a valve stem, wherein the valve stem is connected to the control element; a cavity defined within the valve stem; an electronics module embedded within the cavity of the valve stem, wherein the electronics module further has one or more sensors within the valve stem; and wherein the electronic module further has a microprocessor within the valve stem; and a conductor connecting the electronics module to the actuator.

The embodiments disclosed herein relate to an apparatus for monitoring a valve having a control element, wherein the control element is actuated by an actuator, having: a valve stem, wherein the valve stem is connected to the control element; a cavity defined within the valve stem; an electronics module embedded within the cavity of the valve stem, wherein the electronics module further has one or more sensors within the valve stem; and wherein the electronic module further has a microprocessor within the valve stem; and a conductor connecting the electronics module to the actuator.

Vibration instruction data for vibrating a vibration apparatus is received from another apparatus, data related to the received vibration instruction data is stored in a memory, and the vibration apparatus is vibrated using the data stored in the memory. Then, as an example, a state of the data related to the vibration instruction data stored in the memory is detected, and when the state of the data satisfies a predetermined condition, predetermined data related to the vibration instruction data is additionally stored in the memory. As another example, when the vibration instruction data cannot be received from the other apparatus, predetermined data related to the vibration instruction data is additionally stored in the memory.

Vibration instruction data for vibrating a vibration apparatus is received from another apparatus, data related to the received vibration instruction data is stored in a memory, and the vibration apparatus is vibrated using the data stored in the memory. Then, as an example, a state of the data related to the vibration instruction data stored in the memory is detected, and when the state of the data satisfies a predetermined condition, predetermined data related to the vibration instruction data is additionally stored in the memory. As another example, when the vibration instruction data cannot be received from the other apparatus, predetermined data related to the vibration instruction data is additionally stored in the memory.

An electronic actuator control system and method (“system”) are provided. The system may comprise an electro-mechanical actuator (EMA) configured to generate a force and an electro-mechanical actuator controller (EMAC) electrically coupled to the EMA. The EMAC may include a non-transitory memory communicating with the EMAC, the non-transitory memory having instructions stored thereon that, in response to execution by the EMAC, cause a processor to perform operations. The operations carried out by the EMAC may comprise commanding the EMA to apply a force, determining an expected voltage in response to the force, measuring a voltage generated by the EMA, and comparing the voltage generated by the EMA to the expected voltage.

An electronic actuator control system and method (“system”) are provided. The system may comprise an electro-mechanical actuator (EMA) configured to generate a force and an electro-mechanical actuator controller (EMAC) electrically coupled to the EMA. The EMAC may include a non-transitory memory communicating with the EMAC, the non-transitory memory having instructions stored thereon that, in response to execution by the EMAC, cause a processor to perform operations. The operations carried out by the EMAC may comprise commanding the EMA to apply a force, determining an expected voltage in response to the force, measuring a voltage generated by the EMA, and comparing the voltage generated by the EMA to the expected voltage.

A system that improves on known systems for reducing output torque by a motor in the event of a jam may include an electromechanical actuator (EMA), a motor configured to drive the EMA and a controller. The controller may be coupled to the motor and configured to receive a speed of the EMA and a position of the EMA. The controller may be further configured to determine whether a jam of the EMA is imminent or is occurring according to the EMA speed, EMA position, and a known range of motion of the EMA, and to provide an input signal to the motor to reduce a torque of the motor if a jam of the EMA is imminent or is occurring.