A controlled relative motion system includes a base support and a manipulable support. A plurality of lower link members are pivotally coupled to the base support, and each includes a spherical section capture opening. A plurality of upper link members are rotatably coupled to the lower link members via spherical joints at the spherical section capture openings. The manipulable support is pivotally coupled to the plurality of upper link members.

An analyser is disclosed for optical analysis of a biological specimen. In at least one embodiment, the analyser includes optics which includes a camera, intermediate optics and front optics. The intermediate optics is movably arranged and the front optics is fixedly arranged. An analyser for optical analysis of a biological specimen, in at least one embodiment includes a robot for transporting a slide to be analyzed. The robot is controlled by at least three motors to allow movement of the robot in three dimensions. The robot includes a handling device configured to grip the slide.

A rotary motor includes a rotor and at least one stator. The rotor has a shaft. The stator has an iron core and a coil wound around the iron core. A cross section of the iron core perpendicular to the shaft has a long axis and a short axis, and the rotor is disposed on an extension line of the long axis.

Systems and methods relating to a clutch system for use in controllably transmitting torque from an input shaft to an output shaft. The clutch system has a torque transmission fluid that has a viscosity that changes based on the strength of an electromagnetic field passing through the fluid. A number of sensors are placed at different radial locations on the torque transmission disks to detect the strength of the electromagnetic field. Based on the strength of the electromagnetic field, the amount of torque being transmitted from the input shaft to the output shaft can be adjusted. Also disclosed is a distributed actuation architecture that uses this clutch system. The distributed actuation architecture allows for the use of a single drive motor in conjunction with multiple instances of the clutch system to actuate a mechanical linkage, such as a robotic arm.

Provided is an actuator device used in a plurality of sites of a multi-shaft driving mechanism such as a multi-shaft manipulator, a robot arm, a leg structure and a snake-shaped robot. A torque sensor is connected to a bearing such as a cross roller bearing through a mount part. The torque sensor is driven by an outer ring relative to a stationary part case of an actuator device. An attachment surface of an output shaft frame is arranged in a position offset from the bearing on a side of the stationary part case. An entire length of the actuator device in an output shaft direction does not change also after the output shaft frame is attached and an occupied space does not increase.

Systems and methods relating to a clutch system for use in controllably transmitting torque from an input shaft to an output shaft. The clutch system has a torque transmission fluid that has a viscosity that changes based on the strength of an electromagnetic field passing through the fluid. A number of sensors are placed at different radial locations on the torque transmission disks to detect the strength of the electromagnetic field. Based on the strength of the electromagnetic field, the amount of torque being transmitted from the input shaft to the output shaft can be adjusted. Also disclosed is a distributed actuation architecture that uses this clutch system. The distributed actuation architecture allows for the use of a single drive motor in conjunction with multiple instances of the clutch system to actuate a mechanical linkage, such as a robotic arm.

An encoder includes a first rotator connectable to a rotating shaft and including a first pattern, and a first detection unit positioned at a non-rotatory member and configured to detect the first pattern. The encoder also includes a second rotator connectable to an output shaft that is rotatable around a predetermined axis and is configured to output rotation caused by the rotating shaft. The encoder also includes a second detection unit positioned at the non-rotatory member and configured to detect the second pattern, and a reference unit configured to position the first detection unit and the second detection unit by a common position reference.

The various robotic medical devices include robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Additional embodiments relate to devices having arms coupled to a device body wherein the device has a minimal profile such that the device can be easily inserted through smaller incisions in comparison to other devices without such a small profile. Further embodiments relate to methods of operating the above devices.