A robotic arm that extends in a longitudinal direction includes a pivot assembly that pivots a gripping portion around an axis that is substantially perpendicular to the robotic arm, in a direction transverse to the longitudinal direction of the robotic arm, and between at least a maximum-left position, a maximum-right position, and a centered position. The pivot assembly includes a first actuator that extends and retracts a first cable coupled to a left side of the gripping portion in order to pivot the gripping portion. The pivot assembly further includes a second actuator that extends and retracts a second cable coupled to a right side of the gripping portion in order to pivot the gripping portion.

A medical instrument may include multiple joint members and at least two pairs of tendons connected with the joint members and adapted to move at least one of the joint members relative to at least one other joint member. Each joint member may include a main structural body that may be a single piece and includes at least one convex contact surface. A main portion of each tendon contacts the medical instrument only on the convex contact surfaces.

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 programmable motion system is disclosed that includes a dynamic end effector system. The dynamic end effector system includes an end effector that is coupled via a dynamic coupling to the programmable motion system, wherein the dynamic coupling provides that at least a portion of the end effector may spin with respect to an other portion of the end effector.

A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes (20, 21), the mechanism comprising: an intermediate carrier (28) attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear (33) disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear (37) disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.

A joint assembly for a robot, comprising a housing connected with an output part. The housing comprising a housing wall and a strain wave gearing system. The strain wave gearing system comprising a wave generator, a flexspline, and a circular spline connected to the output part. The wave generator is rotated by a rotor shaft. The rotor shaft is driven by an electric motor comprising a rotor magnet and a stator. The rotor magnet being affixed to the rotor shaft. The joint assembly further comprises one or more sensors comprising one or more magnetic field sensors and one or more pole rings arranged to measure a position of the output part in relation to the housing.

A robot arm includes a wrist, an end effector, and an adjustable joint coupling the end effector to the wrist. The adjustable joint includes a member received in a socket. In one example, the member is a ball. In another example, the member is a tang. In both examples, an upper flange and a lower flange can be used to couple the wrist to a forearm.

The present invention relates to a joint assembly (1) for a robot (100), comprising a housing (26) connected with an output part (8), the housing comprising a housing wall (26A), a strain wave gearing system (90) comprising a wave generator (7), a flexspline (13), and a circular spline (36) connected to the output part (8), wherein the wave generator (7) is rotated by a rotor shaft (3), the rotor shaft being driven by an electric motor (140) comprising a stator (15) and a rotor magnet (16), the rotor magnet (16) being affixed to the rotor shaft (3), and wherein the joint assembly (1) further comprises a rotor brake (30) configured to stop/prevent relative movement between the rotor shaft (3) and the flexspline (13), and sensors arranged to measure the position of the housing (26) in relation to the output part (8). Furthermore, the present invention also relates to a robotic arm (100) comprising a joint assembly according to the present invention and to the use of the joint assembly according to the present invention.

A robot arm comprising a joint mechanism for articulating one limb (310) of the arm relative to another limb (311) of the arm about two non-parallel rotation axes (20, 21), the mechanism comprising: an intermediate carrier (28) attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear (33) disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear (37) disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.

A joint assembly for a robot, comprising a housing connected with an output part. The housing comprising a housing wall and a strain wave gearing system. The strain wave gearing system comprising a wave generator, a flexspline, and a circular spline connected to the output part. The wave generator is rotated by a rotor shaft. The rotor shaft is driven by an electric motor comprising a rotor magnet and a stator. The rotor magnet being affixed to the rotor shaft. The joint assembly further comprises one or more sensors comprising one or more magnetic field sensors and one or more pole rings arranged to measure a position of the output part in relation to the housing.