The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics.

A vibration control device that can achieve the best vibration control effect within an allowable stroke range of a movable mass includes a controller that calculates at least one of a displacement deviation between a target displacement of a movable mass and a displacement of the movable mass detected by a mass displacement sensor and a velocity deviation between a target velocity of the movable mass and a velocity of the movable mass detected by a mass velocity sensor, and generates a control command for making a motor drive the movable mass on the basis of at least one of the displacement deviation and the velocity deviation. The target displacement and the target velocity are set in a manner that the amplitude of the movable mass becomes constant and that phases thereof are delayed 90 degrees with respect to the vibration of a building.

A vibration damper assembly that may be attached and moved about a payload or optical mount surface of an optical structure such as an optical table. The vibration damper assembly may include a sensor and an actuator that may be disposed within a housing. In some embodiments, the vibration damper assembly or components thereof may be incorporated into an optical structure in the form of an optical component to be disposed or mounted on an optical mount surface of an optical structure such as an optical table. Embodiments of the vibration damper system may include a controller in communication with the damper assembly Embodiments of the controller may use adaptive tuning, auto-ranging selection of gain factors and other features in order to optimize damping performance.

A vibration damper assembly that may be attached and moved about a payload or optical mount surface of an optical structure such as an optical table. The vibration damper assembly may include a sensor and an actuator that may be disposed within a housing. In some embodiments, the vibration damper assembly or components thereof may be incorporated into an optical structure in the form of an optical component to be disposed or mounted on an optical mount surface of an optical structure such as an optical table. Embodiments of the vibration damper system may include a controller in communication with the damper assembly Embodiments of the controller may use adaptive tuning, auto-ranging selection of gain factors and other features in order to optimize damping performance.

Provided is a control system that can control the operation of a robot with high accuracy. A control system 1 is provided with a sensor 44 that detects an acceleration that is based on the vibration of a robot 3, an interpolation unit 222 that interpolates a plurality of pieces of sensor data detected by the sensor 44, and a data generation unit 223 that generates combined data having a short sampling period on the basis of a plurality of pieces of interpolation data obtained through interpolation by the interpolation unit 222.