A learning assistance system includes an operation control unit, a parameter acquisition unit, and a display control unit. The operation control unit causes an apparatus to be controlled to operate in accordance with force tactile sensation during operation by a user. The parameter acquisition unit acquires control parameters that are used for the control by the operation control unit. The operation control unit and the display control unit comparably provide, to a second user, a first control parameter acquired by the parameter acquisition unit in a case where the operation control unit controlled the operation of the apparatus based on operation by the first user and a second control parameter acquired by the parameter acquisition unit in a case where the operation control unit controlled the operation of the apparatus based on operation by the second user.

A robot comprising: a base; a flexible arm extending from the base and having a plurality of joints whereby the configuration of the arm can be altered, a plurality of drivers arranged to drive the joints to move, a plurality of sensors for sensing the position of each of the joints and an attachment structure for attaching a tool to the arm, the joints permitting the angular attitude of the attachment structure relative to the base to be varied; and a control unit configured to control the drivers and to receive inputs from the sensors, and operable in a calibration mode in which, whilst a tool is attached to the attachment structure and captive in a port, it: (i) controls the drivers so as to permit the arm to be reconfigured by the action of an external force applied to the arm; (ii) monitors the configuration of the arm under the presence of an external force applied to the arm and transmitted through the tool to the port so as to cause the attitude of the attachment structure to the base to alter; whereby the location of the port can be estimated.

A robot comprising: a base; a flexible arm extending from the base and having a plurality of joints whereby the configuration of the arm can be altered, a plurality of drivers arranged to drive the joints to move, a plurality of sensors for sensing the position of each of the joints and an attachment structure for attaching a tool to the arm, the joints permitting the angular attitude of the attachment structure relative to the base to be varied; and a control unit configured to control the drivers and to receive inputs from the sensors, and operable in a calibration mode in which, whilst a tool is attached to the attachment structure and captive in a port, it: (i) controls the drivers so as to permit the arm to be reconfigured by the action of an external force applied to the arm; (ii) monitors the configuration of the arm under the presence of an external force applied to the arm and transmitted through the tool to the port so as to cause the attitude of the attachment structure to the base to alter; whereby the location of the port can be estimated.

A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.

A medical movable body system according to the present disclosure includes a medical movable body, a robot, a manipulator, and a controller. The robot is in a first space. The manipulator is in a second space. The controller executes: (A) making the robot self-travel to approach a patient; and after the (A), (B) operating an arm and/or a hand .

A medical movable body system according to the present disclosure includes a medical movable body, a robot, a manipulator, and a controller. The robot is in a first space. The manipulator is in a second space. The controller executes: (A) making the robot self-travel to approach a patient; and after the (A), (B) operating an arm and/or a hand .

A medical manipulator system includes a manipulator having a first joint; a first detecting means detecting an orientation of the first joint; an operation unit having a second joint associated with the first joint for operating the first joint; a second detecting means detecting an orientation of the second joint; a control unit outputting a signal for operating the first joint, the signal being based on the orientation of the second joint detected by the second detecting means; and a display unit displaying information output by the control unit, wherein a display of the information by the display unit includes a first display indicating a predetermined range of an orientation determined by using the orientation of the first joint that is detected by the first detecting means as a reference and a second display indicating the orientation of the second joint that is detected by the second detecting means.

A robotic assembly control system is disclosed. The robotic assembly control system includes an exoskeleton apparatus adapted to be worn by a user, at least one robotic assembly, the at least one robotic assembly controlled by the user by way of the exoskeleton, and at least one mobile platform, the at least one mobile platform controlled by the user and wherein the at least one robotic assembly is attached to the at least one mobile platform.

A robotic assembly control system is disclosed. The robotic assembly control system includes an exoskeleton apparatus adapted to be worn by a user, at least one robotic assembly, the at least one robotic assembly controlled by the user by way of the exoskeleton, and at least one mobile platform, the at least one mobile platform controlled by the user and wherein the at least one robotic assembly is attached to the at least one mobile platform.

A manipulator, including: a drive unit for generating a driving force, and a treatment tool that is driven by the drive unit and attachable to and detachable from the drive unit, wherein the treatment tool includes: a distal end having at least one joint driven by the drive unit, a lock unit that is actuated to lock at least one of joints at the distal end, a lock-operating unit for operating the lock unit, and a control unit that is operated such that the lock unit is operated by the lock-operating unit and such that when the drive unit is driven, the drive unit is deactivated, and even with the treatment tool detached from the drive unit, the lock unit keeps on with locking.