A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms are mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.

Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.

A robotic surgical system has a user interface with a control arm that includes a passive axis system for maintaining degrees-of-freedom of a gimbal rotatably supported on the control arm as the gimbal is manipulated during a surgical procedure. The control arm includes a swivel member, a first member, and a second member. The swivel member is rotatable about a first axis. The first member rotatably coupled to the swivel member about a second axis that is orthogonal to the first axis. The second member rotatably coupled to the first member about a third axis that is parallel to the second axis. The gimbal rotatably supported by the second member about a fourth axis that is orthogonal to the third axis. The passive axis system correlating rotation of the swivel member about the first axis with rotation of the gimbal about the fourth axis.

A remote control system including a robot arm, an imaging apparatus, a base part, and a remote controller for remotely controlling the robot arm. The robot arm is fitted to the base part. The imaging apparatus is fitted to the base part and provided near a head of a wearer. The base part is fitted to an upper half of a body of the wearer, the upper half of the body being exemplified by a back. The robot arm and the imaging apparatus are communicably connected to the remote controller. The remote controller controls the robot arm based on an image received from the imaging apparatus.

A remote control system including a robot arm, an imaging apparatus, a base part, and a remote controller for remotely controlling the robot arm. The robot arm is fitted to the base part. The imaging apparatus is fitted to the base part and provided near a head of a wearer. The base part is fitted to an upper half of a body of the wearer, the upper half of the body being exemplified by a back. The robot arm and the imaging apparatus are communicably connected to the remote controller. The remote controller controls the robot arm based on an image received from the imaging apparatus.

A control system includes a master device, a slave device, and a control device that controls the master device and the slave device. In the control device, a response value acquisition unit acquires data of physical quantities representing action of the movable portion of the master device, and data of physical quantities representing action of the movable portion of the slave device. A command value calculation unit hypothesizes a virtual object that includes the master device and the slave device, and calculates a command value for causing the master device and the slave device to follow behavior expressed in the virtual object by input to the master device and the slave device, on the basis of the data of physical quantities acquired by the response value acquisition unit.

A control system includes a master device, a slave device, and a control device that controls the master device and the slave device. In the control device, a response value acquisition unit acquires data of physical quantities representing action of the movable portion of the master device, and data of physical quantities representing action of the movable portion of the slave device. A command value calculation unit hypothesizes a virtual object that includes the master device and the slave device, and calculates a command value for causing the master device and the slave device to follow behavior expressed in the virtual object by input to the master device and the slave device, on the basis of the data of physical quantities acquired by the response value acquisition unit.

A manipulator and a method for controlling the manipulator are disclosed. The manipulator includes: a plurality of links respectively corresponding to a user’s upper arm, fore arm, and hand, a plurality of motors rotating the plurality of links, a communication interface comprising communication circuitry, a memory storing at least one instruction, and a processor configured to execute the at least one instruction, wherein the processor is configured to: based on first rotation angle information for motors corresponding to the upper arm and the fore arm among the plurality of motors, obtain information for a body frame of a link corresponding to the fore arm, obtain equilibrium angle information that positions the body frame in equilibrium with a specified reference frame, based on receiving a sensing value indicating the posture of the hand from an external sensor through the communication interface, obtain second rotation angle information for motors corresponding to the hand among the plurality of motors based on the sensing value and the equilibrium angle information, and control the motors corresponding to the hand based on the second rotation angle information.

A manipulator and a method for controlling the manipulator are disclosed. The manipulator includes: a plurality of links respectively corresponding to a user’s upper arm, fore arm, and hand, a plurality of motors rotating the plurality of links, a communication interface comprising communication circuitry, a memory storing at least one instruction, and a processor configured to execute the at least one instruction, wherein the processor is configured to: based on first rotation angle information for motors corresponding to the upper arm and the fore arm among the plurality of motors, obtain information for a body frame of a link corresponding to the fore arm, obtain equilibrium angle information that positions the body frame in equilibrium with a specified reference frame, based on receiving a sensing value indicating the posture of the hand from an external sensor through the communication interface, obtain second rotation angle information for motors corresponding to the hand among the plurality of motors based on the sensing value and the equilibrium angle information, and control the motors corresponding to the hand based on the second rotation angle information.