An adaptive learning interface system for end-users for controlling one or more machines or robots to perform a given task, combining identification of gaze patterns, EEG channel's signal patterns, voice commands and/or touch commands. The output streams of these sensors are analyzed by the processing unit in order to detect one or more patterns that are translated into one or more commands to the robot, to the processing unit or to other devices. A pattern learning mechanism is implemented by keeping immediate history of outputs collected from those sensors, analyzing their individual behavior and analyzing time correlation between patterns recognized from each of the sensors. Prediction of patterns or combination of patterns is enabled by analyzing partial history of sensors' outputs. A method for defining a common coordinate system between robots and sensors in a given environment, and therefore dynamically calibrating these sensors and devices, is used to share characteristics and positions of each object detected on the scene.

A method for operating an automated food making apparatus having a motor, actuator arm, and an apparatus. The apparatus may be a paddle with flexible fins. The method rotates the paddle with a pin-shaft mechanism to dispense an ingredient placed in a canister, controls the motor automatically based on weight sensor readings, and locates a position of the actuator arm with position sensors. The same motor dispenses ingredients from a plurality of canisters. The method may have a plurality of paddle rotation and weight measurement steps until a target weight is reached. The plurality of paddle rotation steps may be unidirectional or bidirectional paddle rotation. The paddle may be rotated according to one or more paddle rotation algorithms, an error recovery algorithm, or different algorithms based on the amounts of ingredients remaining in the canister. The paddle may be rocked until the target weight is achieved.

A method and a system stream robot tool center point position to external processors at high frequency. The method includes the steps of: reading robot joint encoder data using an Interrupt Service Routine in the robot controller; calculating tool center point position based on the encoder data; and sending the calculated position data to a network socket in a high priority task. The method achieves tool center point and/or joint position communication at fast and consistent time intervals, as compared to much longer times for prior art methods. A downstream device, such as a processor or controller for another machine, reads the communicated tool center point and/or joint position data and uses it to control the operations of its own device. High speed motion command streaming from outside processors can be used in a similar way to control the robot.

A method for operating an automated food making apparatus having a motor, actuator arm, and an apparatus. The apparatus may be a paddle with flexible fins. The method rotates the paddle with a pin-shaft mechanism to dispense an ingredient placed in a canister, controls the motor automatically based on weight sensor readings, and locates a position of the actuator arm with position sensors. The same motor dispenses ingredients from a plurality of canisters. The method may have a plurality of paddle rotation and weight measurement steps until a target weight is reached. The plurality of paddle rotation steps may be unidirectional or bidirectional paddle rotation. The paddle may be rotated according to one or more paddle rotation algorithms, an error recovery algorithm, or different algorithms based on the amounts of ingredients remaining in the canister. The paddle may be rocked until the target weight is achieved.

A method and system for picking articles from a collection of articles and arranging articles into placement locations, includes capturing an image with a first vision system from a collection of articles at a first pick location and determining coordinate data for at least some of the articles in the collection of articles. The coordinate data for an article in the collection of articles is provided to a first robotic manipulator. That article is picked from the collection of articles with the first robotic manipulator according to the coordinate data for that article and that article placed at a first place location. The position and orientation data of that article are obtained at a second pick location and provided along with a desired position and orientation of that article at a second place location to a second robotic manipulator. That article is picked with the second robotic manipulator using the position and orientation data of that article at the second pick location and that article is placed at the second place location at the desired position and orientation.

An automated food making apparatus is described. An automated food making apparatus can include: a carousel; a dispensing apparatus shared among a plurality of canisters on the carousel, wherein at least one canister includes a paddle; and wherein the dispensing apparatus is configured to rotate the canister's paddle to dispense ingredients stored in the canister. A dispensing mechanism for an automated food making apparatus can include: an actuator arm; a motor that is adapted to rotate the actuator arm; one or more magnets embedded in the actuator arm; and one or more sensors configured to detect position of the actuator arm; wherein the actuator arm dispenses ingredients by rotating a pin located on a canister.

A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

A device and a related mammography method employing the device are described. The device comprises an x-ray source, an x-ray detector placed under a support plate for supporting an object and arranged to detect the x-rays coming from the x-ray source after they have passed through the object, and a positioning assembly with an arm having multiple degrees of freedom which is a collaborative robot for positioning the x-ray source with respect to the support plate. A method for performing an imaging procedure, which includes placing an object of interest on the support plate; moving the x-ray source relative to the object of interest along a non-planar trajectory to avoid collision with the object; and activating the x-ray source and the x-ray detector so as to detect the x-rays coming from the x-ray source after they have passed through the object, thus obtaining a set of x-ray images.

A method including, based upon a desired path of a reference point from a start position to an end position, where the reference point is on an end effector on a robot arm, determine an included angle that corresponds to the start position and the end position, calculating a trajectory in radial coordinates of the reference point on the end effector at least partially based upon the included angles; calculating corresponding angular coordinates of the reference point on the end effector, based on the calculated radial coordinates, so that the reference point follows the desired path; using a modified formulation of inverse kinematics, converting the radial and angular coordinates supplemented with the included angles of the trajectory and corresponding angular velocity and acceleration of the end effector to form motion setpoints for the robot arm; and controlling the motors of the robot drive.

An apparatus including a robot drive having motors and coaxial drive shafts connected to the motors; and a robot arm connected to the robot drive. The robot arm includes two upper arms, a first set of forearms connected to a first one of the upper arms, a second set of forearms connected to a second one of the upper arms and end effectors connected to respective ones of the forearms. The first and second upper arms are connected to respective first and second ones of the coaxial drive shafts. The first set of the forearms is mounted on the first upper arm and connected to a third one of the coaxial drive shafts by respective first and second drive belt assemblies. The second set of the forearms is mounted to the second upper arm and connected to a fourth one of the coaxial drive shafts by respective third and fourth drive belt assemblies.