A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further 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 first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.

A method of operating a robotic control system comprising a master apparatus in communication with an input device having a handle and a slave system having a tool having an end effector whose position and orientation is determined in response to a position and orientation of the handle. The method involves producing a desired end effector position and a desired end effector orientation of the end effector, in response to a current position and a current orientation of the handle. The method further 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 first criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets a second criterion.

Method for producing a cushion with a casing made of an airtight casing material and a flexible, polydirectionally air-permeable filling body which is arranged in the casing and which is materially connected to the casing. The method includes at least the following steps: coating a first mold cavity of a molding tool with a curable, flowable and/or sprayable plastic material to form a first casing shell, coating a second mold cavity of the molding tool with the curable, flowable and/or sprayable plastic material to form a second casing shell, inserting a pre-produced filling body into the first casing shell located in the first mold cavity, and joining together of the first and second casing shells located in the first mold cavity and in the second mold cavity before the plastic material cures or fully reacts.

Method for producing a cushion with a casing made of an airtight casing material and a flexible, polydirectionally air-permeable filling body which is arranged in the casing and which is materially connected to the casing. The method includes at least the following steps: coating a first mold cavity of a molding tool with a curable, flowable and/or sprayable plastic material to form a first casing shell, coating a second mold cavity of the molding tool with the curable, flowable and/or sprayable plastic material to form a second casing shell, inserting a pre-produced filling body into the first casing shell located in the first mold cavity, and joining together of the first and second casing shells located in the first mold cavity and in the second mold cavity before the plastic material cures or fully reacts.

This application relates to a method of mitigating a collision of a slave robot for surgery. In one aspect, the method includes obtaining an external torque generated when the slave robot collides with another object or a person and obtaining a joint angle of the slave robot. The method may also include calculating a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated. The method may further include controlling the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle.

This application relates to a method of mitigating a collision of a slave robot for surgery. In one aspect, the method includes obtaining an external torque generated when the slave robot collides with another object or a person and obtaining a joint angle of the slave robot. The method may also include calculating a target joint angle for changing a position of the slave robot based on the obtained external torque and the obtained joint angle, such that the external torque is attenuated. The method may further include controlling the slave robot to change the position thereof from the obtained joint angle to the calculated target joint angle.

A robot control apparatus comprises a contact detection unit which judges whether or not a robot is in contact with an object other than the robot, and an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object and monitors operation of the robot. After the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being within a permissible range and inhibits operation of the robot falling outside the permissible range.

A robot control apparatus comprises a contact detection unit which judges whether or not a robot is in contact with an object other than the robot, and an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object and monitors operation of the robot. After the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being within a permissible range and inhibits operation of the robot falling outside the permissible range.

A motor according to the present invention includes an output axis, a brake for holding the output axis, a sensor for detecting an external torque applied to the output axis from outside, and a controller for decreasing or increasing the torque of the brake during operation of the brake in accordance with an increase or decrease in the external torque detected by the sensor.

A motor according to the present invention includes an output axis, a brake for holding the output axis, a sensor for detecting an external torque applied to the output axis from outside, and a controller for decreasing or increasing the torque of the brake during operation of the brake in accordance with an increase or decrease in the external torque detected by the sensor.