A gimbal for a robotic surgical system includes a support link, an input link, and a vibration assembly. The input link extends from the support link and the vibration assembly is mounted to the support link. The vibration assembly includes a central support, an end cap, and a voice coil. The end cap is moveable relative to the central support. The voice coil has an inner member that is fixed to the central support and an outer member that is fixed to the end cap. The voice coil is configured to vibrate the gimbal in response to a voltage being applied to one of the inner or outer members.

Systems and methods for multi-level closed loop control of haptic effects are disclosed. One illustrative system for multi-level closed loop control of haptic effects includes a haptic output device configured to output a haptic effect, a sensor configured to sense the output of the haptic output device and generate a sensor signal, and a processor in communication with the sensor. The processor is configured to: receive a reference signal, receive the sensor signal, determine an error based at least in part on the reference signal and the sensor signal, generate a haptic signal based at least in part on the reference signal and the error, and transmit the haptic signal to a haptic output device configured to output a haptic effect based on the haptic signal.

A gimbal for a robotic surgical system includes a support link, an input link, and a vibration assembly. The input link extends from the support link and the vibration assembly is mounted to the support link. The vibration assembly includes a central support, an end cap, and a voice coil. The end cap is moveable relative to the central support. The voice coil has an inner member that is fixed to the central support and an outer member that is fixed to the end cap. The voice coil is configured to vibrate the gimbal in response to a voltage being applied to one of the inner or outer members.

Systems and methods for multi-level closed loop control of haptic effects are disclosed. One illustrative system for multi-level closed loop control of haptic effects includes a haptic output device configured to output a haptic effect, a sensor configured to sense the output of the haptic output device and generate a sensor signal, and a processor in communication with the sensor. The processor is configured to: receive a reference signal, receive the sensor signal, determine an error based at least in part on the reference signal and the sensor signal, generate a haptic signal based at least in part on the reference signal and the error, and transmit the haptic signal to a haptic output device configured to output a haptic effect based on the haptic signal.

An intuitive control system for lifting equipment is described. The intuitive control system translates user defined inputs into machine expressions of movement that are in turn used to control a construction lift or similar piece of construction equipment. Orientation and relative position sensors may be incorporated into the translation and control system for correct user control of the lifting equipment in various operating conditions.

A gimbal for a robotic surgical system includes a support link, an input link, and a vibration assembly. The input link extends from the support link and the vibration assembly is mounted to the support link. The vibration assembly includes a central support, an end cap, and a voice coil. The end cap is moveable relative to the central support. The voice coil has an inner member that is fixed to the central support and an outer member that is fixed to the end cap. The voice coil is configured to vibrate the gimbal in response to a voltage being applied to one of the inner or outer members.

An apparatus for providing haptic feedback to a teach pendant including a teach pendant having a housing and a processor disposed therein. The processor is in signal communication with a robot controller and is configured to monitor and control a robot. At least one haptic device is disposed on the teach pendant. The haptic device is in signal communication with the processor and configured for providing haptic feedback through the teach pendant to a user upon the occurrence of a haptic event.

An operation system of a robot arm includes the robot arm disposed in a work box which is sealed, an operation apparatus disposed outside the work box and including an operation device which is operated by an operator to input an operation command of the robot arm, a control apparatus moving the robot arm based on the operation command from the operation apparatus, and a reaction force controller. Based on movable region information which indicates a movable region of the robot arm in the work box, as the robot arm approaches the limit of the movable region, the reaction force controller increases a reaction force which is against a force of moving the operation device by the operator in a direction approaching the limit of the movable region.

A controller 3 includes: a force controller 36 that performs force control of moving a robot 1 in accordance with an operation force exerted on an operator 2 from a user U to apply a treatment to an object W and of moving the operator 2 in accordance with a reaction force exerted on the robot 1 from the object W; an estimator 37 that estimates a dynamic characteristic of the user U; and an adjuster 310 that adjusts a control parameter of the force control in accordance with the estimated dynamic characteristic of the user such that a frequency characteristic of the force control approaches a target frequency characteristic.

A robotic control device for receiving manipulation instructions for an end effector of a surgical instrument has a platform for supporting a haptic manipulator device, the platform being movably coupled to a surface for supporting the platform and having a movement facilitating member operable to change the amount of force required to move the platform relative to the surface.