Systems and methods are provided for supporting an arm of a user while using a tool that include a harness configured to be worn on a body of a user; an arm support pivotally coupled to the harness for supporting a user's arm; and a tool mount on a free end of the arm support for receiving a tool such that the tool is manipulatable by a hand of user's arm supported by the arm support. One or more compensation elements may be coupled to the arm support and/or the tool mount for at least partially offsetting a gravitational force acting on the user's arm and/or the tool received on the tool mount.

A robot configured to provide accurate control over the rate of spin or rotation of the robot. To control the rate of spin, the robot includes an inertia shifting (or moving) assembly positioned within the robot's body so that the robot can land on a surface with a target orientation and stick the landing of a gymnastic maneuver. The inertia shifting assembly includes sensors that allow the distance from the landing surface (or height) to be determined and that allow other parameters useful in controlling the robot to be calculated such as present orientation. In one embodiment, the sensors include an inertial measurement unit (IMU) and a laser range finder, and a controller processes their outputs to estimate orientation and angular velocity. The controller selects the right point of the flight to operate a drive mechanism in the inertia shifting assembly to achieve a targeted orientation.

A control system (10) according to the present invention includes a robot arm (11) provided in a manner capable of moving in a given space, a motor (14) for operating the robot arm (11), a torque adjustment device (16) for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor (14) to the robot arm (11), and a control device (19) for performing operation control of the robot arm (11). The robot arm (11) is provided with a gravity-compensating mechanism (12) for cancelling an effect of gravity due to the robot arm (11), and the control device (19) commands adjustment of the transmitted torque at the torque adjustment device (16), without taking into account the effect of the gravity of the robot arm (11).

A conveyance system includes a robot and a suspending device. The robot moves and conveys a workpiece in a horizontal direction. The suspending device includes a suspending mechanism, a lifting unit, and a support mechanism. The suspending mechanism suspends the workpiece, and the lifting unit lifts up and down the workpiece. The support mechanism supports the suspending mechanism such that the suspending mechanism is movable in the horizontal direction.

An exoskeleton includes a first link that pivots in a transverse plane about a first vertical axis and a second link that pivots in a transverse plane about a second vertical axis. The second link is coupled to the first link. An arm support assembly is coupled to the second link and pivots about a horizontal axis. The arm support assembly includes a spring that generates an assistive torque that counteracts gravity. The arm support assembly provides the assistive torque to an arm of a wearer to support the arm of the wearer. The arm support assembly further includes a cam profile and a cam follower. Contact between the spring, cam follower and cam profile determines an amount of the assistive force provided by the arm support assembly. A cuff is coupled to the arm support assembly and the arm of the wearer.

Dynamic control of a center of mass position is based on replacement of discrete motion of macro body (counterweighing solid or counterbalancing mechanisms) for continuous molecular flow of counterweighing liquid. Redistributing liquid counterweight between chambers attached to independently moving parts of robot allows its motion to new stable position without disruption in static stability and dynamic balance. Various embodiments include bipods/humanoids, wheeled locomotion robots and hybrid wheeled/multi-pod bio-like robotic systems; some embodiments allow reversible mutual reconfiguration between various structural arrangements. In humanoid embodiments, method allows moving on uneven terrain or ascending staircases while maintaining static stability; method also decreases the probability of fall and secures self-rising if a fall occurred. In some embodiments liquid counterweight may be transferred upon high barriers exceeding the height of robot by a few folds, such as walls of the building or ledge or steep slope in mountains, thus providing robots with capability principally not available to prior art.

New multi-computers architecture allows protection of personal computer by the combined hardware and software means reinforcing online security to the safety level not achievable using software security means alone. The disclosed system encompasses intermediate lock-computer and unidirectional internal interfaces based on novel principles providing complete security while sending information to world wide web and reliable filtering out of unwanted software while receiving information from Internet. One of the key principles underlying the present invention is physical separation of dataflow from web-connected computer to intermediate lock-computer to the main personal computer and the counter dataflow from main computer to lock-computer to web-connected computer. The interfaces in direct data flow from Internet to personal computer and in the counter dataflow may be based on different physical and system principles including novel two-dimensional image-based interface. Effectively, the disclosed methods and apparatuses provide five levels of computer defense, including four principally new levels of defense.

A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

A holding arm for medical purposes, in particular for holding surgical mechatronic assistance systems and/or surgical instruments, includes a proximal end for attaching the holding arm to a base and a distal end for receiving a surgical mechatronic assistance system and/or surgical instrument; at least one first and one second arm segment, wherein the first arm segment is connected to a first joint and the second arm segment is connected to a second joint, wherein each joint is releasable and lockable. An operating unit is provided for bringing the holding arm into a desired pose, wherein the operating unit is adapted to release the associated joint upon contact between an operator and one of the first and second arm segments. A corresponding method is also provided.