A method of performing a fit test on an actuator unit coupled to a user. The method includes actuating the actuator unit; determining a first configuration of the actuator unit generated during the actuating the actuator unit; determining a second configuration of the actuator unit generated during the actuating the actuator unit; determining a change in configuration of the actuator unit based at least in part on the difference between the first and second configuration; and determining that the change in configuration corresponds to an improper fit of the actuator unit to the user.

A diagnostic device is to be used for a link actuation device. A distal end side link hub to be coupled to a proximal end side link hub via three or more link mechanisms such that posture of the distal end side link hub is changeable. Each of the three or more link mechanisms is to be associated with a respective one of actuators. A predetermined action is to be carried out under a predetermined condition by driving each of the actuators. A preload applicator is to cause a preload to be applied to the link actuation device. A torque detector is to detect a drive torque of each of the actuators while a preload is being applied. A determiner is to determine whether or not the torque that is detected by the torque detector lies within a predetermined range. A notifier is to notify the determination result.

Provided is a three-dimensional (3D) spring array device that is connected to an end effector of a mechanical impedance estimating robot so as to verify reliability and accuracy of the mechanical impedance estimating robot, the 3D spring array device including a fixed body having an internal space therein, a moving body positioned in the internal space, and at least one spring configured to connect the fixed body to the moving body in the internal space.

A calibration device is provided. The calibration device includes a frame, a first optical sensing device, a second optical sensing device and a third optical sensing device. The frame includes a bottom plate and at least four sidewalls, wherein the sidewalls have a first grating hole, a second grating hole, a third grating hole and a fourth grating hole at a first height. The bottom plate has an image recognition pattern, a first measurement point, a second measurement point and a third measurement point.

A method of performing a fit test on an actuator unit coupled to a user. The method includes determining a first configuration of the actuator unit while the actuator unit is in an un-actuating state and while the user is in a fit test position; actuating the actuator unit; determining a second configuration of the actuator unit generated in response to the actuating the leg actuator unit; determining a change in configuration of the actuator unit based at least in part on the difference between the first and second configuration; and determining that the change in configuration corresponds to an improper fit of the actuator unit to the user.

The present invention relates to a static compliance performance testing device applied to an industrial robot, comprising a loading direction adjusting component and a loading force adjusting component, wherein the force applying end of the loading direction adjusting component is connected with an end mechanical interface of the industrial robot, and is configured to adjust a force bearing direction of the end mechanical interface. The loading force adjusting component comprises a lever, a first-stage weight and a second-stage weight, the lever is provided with a fixing part and is rotatable around the fixing part, the force bearing end of the loading direction adjusting component is connected with the lever, the first-stage weight is suspended on the lever, the second-stage weight is suspended on the lever and is movable along the lever, the weight of the first-stage weight is larger than the weight of the second-stage weight.

A method of performing a fit test on an actuator unit coupled to a user. The method includes determining a first configuration of the actuator unit generated in response to actuating the actuator unit while the user is performing one or more movements for the fit test; determining a change from the first configuration of the actuator unit while the user is performing the one or more movements for the fit test; determining that the change from the first configuration corresponds to an improper fit of the actuator unit coupled the user; and generating an improper fit indication that indicates improper fit of at least leg actuator units coupled the user.

A failure diagnosis support system includes first image acquisition means mounted on a robot for acquiring an image of the robot; and control means for controlling position and orientation of the first image acquisition means. The control means controls the position and orientation of the first image acquisition means at a predetermined timing so that the first image acquisition means faces a predetermined part of the robot. The first image acquisition means acquires an image of the predetermined part at the position and orientation controlled by the control means.

To provide a positional relationship acquiring apparatus that can acquire the positional relationship between a plurality of rotation shafts that are driven by a plurality of motors, without a user manually performing setting or the like.

A positional relationship acquiring apparatus includes: a motor control unit that controls a plurality of motors of a robot that has a plurality of rotation shafts that are respectively driven by the plurality of motors; a receiving unit that receives angular velocities that have been acquired by a plurality of angular velocity sensors that are respectively provided for the plurality of rotation shafts; and a positional relationship acquiring unit that acquires a positional relationship between the plurality of rotation shafts, using the angular velocities acquired by the plurality of angular velocity sensors and received by the receiving unit when the plurality of rotation shafts have been rotated by the motor control unit one by one.

A method for examining a robot apparatus which includes a driving source configured to drive a joint, the position and orientation of which are controlled based on trajectory data determined in advance for a normal motion. The examination method includes generating examination motion data for driving a joint as an examination target under a driving speed that causes the examination target joint to resonate and causing the examination target joint to pass through a path based on the trajectory data. A resonance amplitude of the joint is acquired based on the examination motion data.