Systems and methods for detecting pose and force against an object are provided. A method includes receiving a signal from a deformable sensor comprising data from a deformation region in a deformable membrane resulting from contact with the object utilizing an internal sensor disposed within an enclosure and having a field of view directed through a medium and toward a bottom surface of the deformable membrane. The method also determines a pose of the object based on the deformation region of the deformable membrane. The method also determines an amount of force applied between the deformable membrane and the object is determined based on the deformation region of the deformable membrane.

A user control device for a surgical system. The surgical system includes a robotic manipulator to support and move a surgical instrument that has an energy applicator. One or more controllers operate the robotic manipulator in a semi-autonomous mode and calculate an instrument feed rate, which is the velocity at which the energy applicator advances along a tool path in the semi-autonomous mode. The user control device includes a housing configured as a pendant configured to be held in one hand of a user. A first control member is mounted to the housing and can be depressed to initiate operation of the robotic manipulator in the semi-autonomous mode. A second control member is mounted to the housing and can be depressed to modify the instrument feed rate in the semi-autonomous mode.

A robotic system includes control circuitry configured to cause actuation of one or more actuators of each of a first robotic arm and a second robotic arm. The control circuitry is configured to determine a position of a first end effector of the first robotic arm and a position of a second end effector of the second robotic arm, the positions of the first end effector and the second end effector forming a virtual rail, receive manual positioning input for the first robotic arm based at least in part on sensor signals from one or more sensors of the first robotic arm, and in response to the manual positioning input, generate a first movement command to move the first robotic arm in accordance with the manual positioning input and generate a second movement command to move the second robotic arm in a manner as to maintain at least one of a position or orientation of the second end effector relative to a point on the virtual rail.

A robotic system and methods are disclosed. A common axis is defined for an instrument and an energy applicator extending from the instrument. A manipulator has a plurality of links and actuators configured to move the links to position the instrument and energy applicator. A force/torque sensor coupled to the manipulator generates an output in response to forces/torques applied to the instrument. Controller(s) defines a centering point that intersects the common axis. Controller(s) model the instrument and the energy applicator as a virtual rigid body and determine forces/torques to apply to the virtual rigid body, which are determined, in part, based on the output of the force/torque sensor. Controller(s) control the manipulator to advance the energy applicator based on the determined forces/torques applied to the virtual rigid body and reorient the instrument such that the common axis pivots about the centering point during advancement of the energy applicator.

The present disclosure provides a biologically-inspired robotic device comprising: a first member; a second member pivotably connected to the first member; one or more actuators; and a coupler/decoupler mechanism (CDC) selectively coupling or decoupling of the one or more actuators to the second member, such that, when the one or more actuators are coupled to the second member, the one or more actuators act to pivot the second member relative to the first member.

An operation support device includes a connecting body in which a first support body and a second support body are detachably connected to each other; a first shaft engaging section; a shaft connecting member having a connection engaging section engaged with the first shaft engaging section; and a shaft fixing member. The shaft fixing member is movably installed with respect to a first shaft section or a second shaft section and is configured to selectively form a shaft engagement fixing state in which the connection engaging section is held down to retain an engagement state such that the connection engaging section is engaged with the first shaft engaging section and a second state in which holding down to the connection engaging section is released in accordance with a moved position with a moved position of the shaft fixing member.

A force detector provided between a robot arm and a robot hand detects forces Fx, Fy, and Fz. A robot controller performs a filtering process for the forces Fx and Fy by a first low-pass filter of a cutoff frequency F.sub.c1, moves the robot hand so that the forces Fx and Fy become smaller, corrects a trajectory of the robot arm, performs a filtering process for the force Fz by a second low-pass filter of a cutoff frequency F.sub.c2 having a frequency higher than the cutoff frequency F.sub.c1, performs a threshold value determination for the force Fz, and stops the movement of the robot hand when the force Fz exceeds a threshold value during a fitting operation.

A robotic machine assembly includes a movable robotic arm configured to perform an assigned task that involves moving toward, engaging, and manipulating a target object of a vehicle. The assembly also includes a communication circuit configured to receive manipulation parameters for the target object from a remote database. The manipulation parameters are specific to at least one of the vehicle or a vehicle class in which the vehicle belongs. The assembly also includes one or more processors configured to generate a task performance plan for the robotic arm based on the manipulation parameters. The task performance plan includes prescribed forces to be exerted by the robotic arm on the target object to manipulate the target object. The one or more processors also are configured to drive movement of the robotic arm during performance of the assigned task according to the task performance plan.

A robot arm and method for using the robot arm. Embodiments may be directed to an apparatus comprising: a robot arm; an end effector coupled at a distal end of the robot arm and configured to hold a surgical tool; a plurality of motors operable to move the robot arm; and an activation assembly operable to send a move signal allowing an operator to move the robot arm.

A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.