A robot system includes an arm with a plurality of joints, the arm being configured to assume a first position and a second position, an end effector attached to the arm, the end effector having a specific position, and a force detector configured to detect a force or a torque applied to or generated by the arm or the end effector, and a robot control apparatus configured to receive an output value from the force detector to change the arm from the first position to the second position while the end effector remains in the specific position, and store the second position of the arm in a memory so as to relate the second position of the arm with the specific position of the end effector.

A robot system includes an arm with a plurality of joints, the arm being configured to assume a first position and a second position, an end effector attached to the arm, the end effector having a specific position, and a force detector configured to detect a force or a torque applied to or generated by the arm or the end effector, and a robot control apparatus configured to receive an output value from the force detector to change the arm from the first position to the second position while the end effector remains in the specific position, and store the second position of the arm in a memory so as to relate the second position of the arm with the specific position of the end effector.

The invention relates to a method for controlling the movements of articulated arms (21, 22, 23) of an industrial robot (2) using a movement setting means (3) to be guided by hand by an operator, the movements of which are provided for generating at least a portion of the movement control data for the industrial robot (2) to be controlled. At least one of a plurality of reference marks (19, 19, 19) is arranged or formed at least on individual articulated arms (21, 22, 23) adjustable by the operator. The movement setting means (3) comprises at least one imaging and/or at least one distance-sensitive sensor (16, 17) which at least one sensor (16, 17) can be set with at least one of the plurality of reference marks (19, 19, 19) into a relative spatial position selected by the operator. During a movement of the movement setting means (3) at least the articulated arm (21, 22, 23) bearing the respectively selected reference mark (19, 19, 19) follows the movements of the movement setting means by control technology. In addition, a corresponding control system (1) and movement setting means (3) are specified.

The invention relates to a method for controlling the movements of articulated arms (21, 22, 23) of an industrial robot (2) using a movement setting means (3) to be guided by hand by an operator, the movements of which are provided for generating at least a portion of the movement control data for the industrial robot (2) to be controlled. At least one of a plurality of reference marks (19, 19, 19) is arranged or formed at least on individual articulated arms (21, 22, 23) adjustable by the operator. The movement setting means (3) comprises at least one imaging and/or at least one distance-sensitive sensor (16, 17) which at least one sensor (16, 17) can be set with at least one of the plurality of reference marks (19, 19, 19) into a relative spatial position selected by the operator. During a movement of the movement setting means (3) at least the articulated arm (21, 22, 23) bearing the respectively selected reference mark (19, 19, 19) follows the movements of the movement setting means by control technology. In addition, a corresponding control system (1) and movement setting means (3) are specified.

A rehabilitation system for rehabilitation of a subject including at least one end-effector for interacting with the subject, the end-effector having at least two degrees of freedom of motion, at least one actuator for actuating the at least one end-effector, at least one sensor for measuring at least the position and the speed of the at least one end-effector; at least one sensor for measuring the interaction force between the subject and the end-effector; a memory including at least two initial coefficients and a session including at least one exercise including at least one reference trajectory to be carried out by the subject through actuation of the end effector; and an actuator controlling unit. The memory delivers the initial coefficients and the session, the sensors deliver measurement signals to the controlling unit, and the controlling unit provides a force-controlled feedback based on the initial coefficients.

A rehabilitation system for rehabilitation of a subject including at least one end-effector for interacting with the subject, the end-effector having at least two degrees of freedom of motion, at least one actuator for actuating the at least one end-effector, at least one sensor for measuring at least the position and the speed of the at least one end-effector; at least one sensor for measuring the interaction force between the subject and the end-effector; a memory including at least two initial coefficients and a session including at least one exercise including at least one reference trajectory to be carried out by the subject through actuation of the end effector; and an actuator controlling unit. The memory delivers the initial coefficients and the session, the sensors deliver measurement signals to the controlling unit, and the controlling unit provides a force-controlled feedback based on the initial coefficients.

An industrial robot having high operability for a user is provided. An industrial robot includes a manipulator, a controller which controls an operation of the manipulator, and a detection device attached to the manipulator and detecting a gesture input. The controller executes a process corresponding to the detected gesture input.

An industrial robot having high operability for a user is provided. An industrial robot includes a manipulator, a controller which controls an operation of the manipulator, and a detection device attached to the manipulator and detecting a gesture input. The controller executes a process corresponding to the detected gesture input.

A medical holding apparatus includes: a support including a plurality of arms, and a plurality of joints configured to connect the plurality of arms, the support being configured to support an imaging unit at a distal end thereof; a load applying mechanism arranged in at least one of the joints and configured to apply a resistance load against operation of the at least one of the joints to the support; and a processor comprising hardware, the processor being configured to: set torque to be applied by the load applying mechanism based on an operating state of the imaging unit; and apply a load corresponding to the set torque to the load applying mechanism when a rotation inhibit state of each of the arms of the support is released.

In a robot system provided with an articulated arm, information showing whether or not an operator holds one or more of a plurality of arms of the articulated arm. An operator's holding state of the arms are determined based on the detected information. Based on results of the determination, the rotation of motors provided at axes (joints) is controlled for selectively controlling a constrained state which constrains the rotation of the axes and release of the constrained state.