An end effector assembly and method for robot-enabled manipulation of round objects automates the gripping, rotationally manipulating, loading, and unloading of round objects, like an ophthalmic substrate, to a coating machine subassembly. A lens wheel carries spring-loaded retention pegs that grip and release the round object. Springs selectively generate tension on the retention pegs, causing retention pegs to articulate radially inward or outward, so as to press the round object to the lens wheel, or release the object. A retention peg actuator selectively engages the springs to generate tension and release tension from springs. A processor regulates articulation of the retention peg actuator. A sensor detects the position of the object, whereby at least one position of the round object triggers the sensor to transmit a signal commanding the retention peg actuator to articulate. A human-machine interface transmits command signals and displays positions of the lens wheel and retention pegs.

Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for fixing target objects and/or receptacles using soft robotic actuators, for positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.

A robotic gripper may be configured to dexterously manipulate an article. The robotic gripper may include two or more fingers containing one or more rotatable contacts each. The rotatable contact may transition between a rotation mode and a braking mode such that the contacts are free to rotate in the rotation mode and are prevented from being rotated in the braking mode. In some instances, the robotic gripper may make contact with the article via the contact pads. Thus, the robotic gripper may dexterously manipulate the article via the contact pads and brake.

Force sensors capable of measuring only forces in xyz coordinate axis directions are installed in fingertips, respectively, and forces and moment forces acting on a robot hand are calculated based on positional information about each fingertip. This structure eliminates the need for using large force sensors to thereby enable downsizing of each fingertip, and enables detection of loads and moment forces acting on the robot hand.

Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.

Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. Systems, methods, apparatuses and computer-readable media instructions are disclosed for interactions with and control of robotic systems, in particular, pick and place systems using soft robotic actuators to grasp, move and release target objects.

A system for processing device parts of simulated smoking devices, such as cartridges of electronic cigarettes, said system comprising a processing station to perform a processing operation on each of the device parts of a batch of device parts, which batch has a batch number of device parts being larger than one, an evaluation station to evaluate the result of the processing operation on each device part of the batch, which evaluation station is configured to provide an evaluation signal for each device part of the batch, a transport device to move the device parts of the batch along a production trajectory, which production trajectory extends through the processing station, the evaluation station and an isolating station, and a controller which is in communication with the evaluation station and the isolating station.

Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. Systems, methods, apparatuses and computer-readable media instructions are disclosed for interactions with and control of robotic systems, in particular, pick and place systems using soft robotic actuators to grasp, move and release target objects.

The invention relates to a method for designing grippers and fixtures for handling objects in robotic manufacturing and pick-and-place tasks. To achieve this a method for determining a shape of the holding or support surface of the gripper or fixture is presented. This method includes steps of determining an initial shape of the support surface based on an outer shape of the object, applying a shaping function to different locations of the initial shape, determining modified shape points at locations of the initial shape by comparing the applied shaping function with the initial shape. If the application of the shaping function results in an extension of the initial shape G(xi,yj) at the neighbour location (xi, yj) this extension forms part of a modified support surface for the gripper or fixture. A method for determining an optimum shape of the support surface with respect to optimization conditions is also presented.

Methods, apparatus, systems, and computer-readable media are provided for enabling users to approximately identify a space within an environment inhabited by a plurality of objects that user wishes for a robot to manipulate. In various implementations, an approximation of a space within an environment may be identified based on user input. The actual space within the environment may then be extrapolated based at least in part on the approximation and one or more attributes of the environment. A plurality of objects that are co-present within the space and that are to be manipulated by a robot may be identified. The robot may then be operated to manipulate the identified plurality of objects.