A medical supporting arm control apparatus that includes a memory, and processing circuitry that obtains a current spatial position of an operating point in a multi-link structure configured by coupling a plurality of links by a joint section, by detecting a current rotational angle of the joint section, compares a movable region of the operating point stored in the memory with the obtained current spatial position, the movable region being set in advance, and restricts an operation of the operating point on a basis of a result of the comparison.

When a first condition that a time in which magnitude of a first detection force detected by a force detection unit is larger than a first force threshold value continued for a time longer than zero and shorter than a first time threshold value is satisfied in teaching, a movable unit is moved in a predetermined amount in a direction according to a direction of the first detection force. When a second condition that magnitude of a second detection force detected by the force detection unit is larger than a second force threshold value that is larger than the first force threshold value is satisfied during movement of an end effector, the movable unit is decelerated or stopped.

A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered and one or more force or torque sensors, each force or torque sensor configured to sense a force or torque at a joint of the series of joints, the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more force or torque sensors indicative of a sensed force or torque at a part of the surgical robot arm resulting from the externally applied force or torque; determining a position of the part of the surgical robot arm using a reference position, whereby the sensed force or torque would be compensated by moving the part of the surgical robot arm to the determined position; sending a command signal to the surgical robot arm to drive the part of the surgical robot arm to the determined position; and updating the reference position if the difference between the reference position and the determined position is greater than a threshold displacement.

A position correcting system, method and tool for guiding a tool during its use based on its location relative to the material being worked on. Provided is a system and tool which uses its auto correcting technology to precisely rout or cut material. The invention provides a camera which is used to track the visual features of the surface of the material being cut to build a map and locate an image on that map used to reference the location of the tool for auto-correction of the cutting path.

Systems and methods of the present disclosure relate generally to facilitate performing a task on a surface such as woodworking or printing. More specifically, in some embodiments, the present disclosure relates to mapping the surface of the material and determining the precise location of a tool in reference to the surface of a material. Some embodiments relate to obtaining and relating a design with the map of the material or displaying the current position of the tool on a display device. In some embodiments, the present disclosure facilitates adjusting, moving or auto-correcting the tool along a predetermined path such as, e.g., a cutting or drawing path. In some embodiments, the reference location may correspond to a design or plan obtained from obtained via an online design store

Systems and methods of the present disclosure relate generally to facilitate performing a task on a surface such as woodworking or printing. More specifically, in some embodiments, the present disclosure relates to mapping the surface of the material and determining the precise location of a tool in reference to the surface of a material. Some embodiments relate to obtaining and relating a design with the map of the material or displaying the current position of the tool on a display device. In some embodiments, the present disclosure facilitates adjusting, moving or auto-correcting the tool along a predetermined path such as, e.g., a cutting or drawing path. In some embodiments, the reference location may correspond to a design or plan obtained from obtained via an online design store.

A robot system that can perform cooperative work in accordance with an action of a person. A robot system according to the present disclosure includes a robot, a detection apparatus detecting a work object and detecting a predetermined action of a worker with respect to the work object, and a robot controller causing the robot to execute a predetermined work on the work object detected by the detection apparatus when the detection apparatus detects the predetermined action.

A control device that controls a drive unit included by a production line includes: an obtaining unit that obtains physical information indicating a variation with time of a posture of a worker at work; a storage for storing physical information of the worker obtained when the worker works in a stable posture; a detection unit that detects a difference between a magnitude of the variation with time indicated by the physical information obtained and a magnitude of a variation with time indicated by the physical information stored in the storage; and a determination unit that determines from the detected difference whether to change an amount of controlling the drive unit.

Method and robot arm, where the motor torques of the joint motors of a robot arm are controlled based on a static motor torque indicating the motor torque needed to maintain the robot arm in a static posture, where the static motor torque is adjusted in response to a change in posture of the robot arm caused by an external force different from gravity applied to the robot arm. Further the motor torque of the joint motors is controlled based on an additional motor torque obtained based on a force-torque provided to the robot tool flange, where the force-torque is obtained by a force-torque sensor integrated in the tool flange of the robot arm.

A flexible exosuit includes rigid and flexible elements configured to couple forces to a body of a wearer. Further, the flexible exosuit includes flexible linear actuators and clutched compliance elements to apply and/or modulate forces and/or compliances between segments of the body of the wearer. The flexible exosuit further includes electronic controllers, power sources and sensors. The flexible exosuit can be configured to apply forces to the body of the wearer to enable a variety of applications. In some examples, the flexible exosuit can be configured to augment the physical strength or endurance of the wearer. In some examples, the flexible exosuit can be configured to train the wearer to perform certain physical tasks. In some examples, the flexible exosuit can be configured to record physical activities of the wearer.