A substrate treatment apparatus includes a transport part to transport a transparent rectangular substrate, a substrate support part to support the substrate, light generators to irradiate two different lights onto the moving substrate, and sense the irradiated lights, and a controller to determine a posture of the substrate with reference to the sensed lights and control the transport part such that the substrate is seated on the substrate support part in a default posture that is preset. The controller determines the posture of the transparent rectangular substrate with respect to the default posture using a time difference between a time point at which a first light of the two different lights is not transmitted through an edge of the transparent rectangular substrate and a time point at which a second light of the two different lights is not transmitted through the edge of the transparent rectangular substrate.

A substrate treatment apparatus includes a transport part to transport a transparent rectangular substrate, a substrate support part to support the substrate, light generators to irradiate two different lights onto the moving substrate, and sense the irradiated lights, and a controller to determine a posture of the substrate with reference to the sensed lights and control the transport part such that the substrate is seated on the substrate support part in a default posture that is preset. The controller determines the posture of the transparent rectangular substrate with respect to the default posture using a time difference between a time point at which a first light of the two different lights is not transmitted through an edge of the transparent rectangular substrate and a time point at which a second light of the two different lights is not transmitted through the edge of the transparent rectangular substrate.

A vehicle or another object is grasped by a robotic arm of a handling system and caused to undergo one or more movements or manipulations resulting in a change of position, orientation, velocity or acceleration of the vehicle. Sensors provided in the robotic arm capture data representative of forces or torques imparted upon the robotic arm by the vehicle during or after the movement, or power or energy levels of vibration resulting from the movement. A signature representative of an inertial or vibratory response of the vehicle to the movement is derived based on the data. The signature may be compared to a baseline signature similarly derived for a vehicle that is known to be structurally and aerodynamically sound. If the signature is sufficiently similar to the baseline signature, the vehicle may also be determined to be structurally and aerodynamically sound.

A method for detecting at least one characteristic parameter of a closure element (12) closing an opening. By means of a handling device (10), a movement is imposed on the closure element (12), wherein at least the interacting force between the closure element and the handing device during the movement is determined by means of a first sensor (20) integrated in the handling device, and position changes of the closure element during the movement sequence are detected by means of a second sensor (26).

A desktop horizontal joint robot, including: a lift apparatus and a fixation apparatus. The lift apparatus includes: a base, a casing supported on the base, a slider seat liftably arranged within the casing, and a lift driving mechanism configured to move the slider seat. The fixation apparatus includes: a fixation seat in fixed connection with the slider seat, a first rotational shaft rotatably supported at the fixation seat, and a first shaft driving assembly configured to rotate the first rotational shaft. An optical length encoder is arranged within the casing and configured to detect a linear displacement of the slider seat. The fixation apparatus further include a first optical angle encoder configured to detect a rotation angle of the first rotational shaft. The desktop horizontal joint robot features non-wear, high reliability, and long service life.

A robot 1 having a first assembly 4, 5 and a second assembly 3, 6, wherein a bearing arrangement 24, 25, 52, 53, by which the second assembly 3, 6 can be moved relative to the first assembly 4,5 is provided in the first assembly 4,5. The bearing arrangement 24, 25, 52, 53 comprises a first fastening element 26, 27, 54, 55, and the second assembly 3, 6 comprises a second fastening element 30, 31, 60, 61, wherein the first fastening element 26, 27, 54, 55 and the second fastening element 30, 31, 60, 61 are connected to one another, and wherein the first fastening element 26, 27, 54, 55 and the second fastening element 30, 31, 60, 61 are designed to be complementary, at least in sections. A method for mounting two assemblies 2, 3, 4, 5, 6, in particular two robotic arms, of a robot is also disclosed.

Manipulator devices are used for computer-assisted tele-operated surgery. In some embodiments, the manipulator devices described herein include an arm with a proximal end that is configured to releasably couple with a set-up structure of a computer-assisted tele-operated surgery system. A first ring is rotatably coupled to a distal end portion the arm and is rotatably driven by a first gear motor within the arm. A second ring that is concentric with the first ring is also rotatably coupled to the distal end portion of the arm. Rotations of the second ring are driven by a second gear motor within the arm. An instrument actuator coupling is pivotably coupled to the second ring. The instrument actuator coupling is configured to releasably couple with a computer-assisted tele-operated surgical instrument actuator, and defines a surgical instrument insertion axis.

Manipulator devices are used for computer-assisted tele-operated surgery. In some embodiments, the manipulator devices described herein include an arm with a proximal end that is configured to releasably couple with a set-up structure of a computer-assisted tele-operated surgery system. A first ring is rotatably coupled to a distal end portion the arm and is rotatably driven by a first gear motor within the arm. A second ring that is concentric with the first ring is also rotatably coupled to the distal end portion of the arm. Rotations of the second ring are driven by a second gear motor within the arm. An instrument actuator coupling is pivotably coupled to the second ring. The instrument actuator coupling is configured to releasably couple with a computer-assisted tele-operated surgical instrument actuator, and defines a surgical instrument insertion axis.

A rotary module includes a first outer tube, a first member in which a function of the channel is maintained when a first outer tube rotates relative to a first inner tube, the channel coupling an outside of the first outer tube and an inside of the first inner tube, and a second member in which electrical coupling between the first terminal provided on an inner circumference surface of a second outer tube and the second terminal provided on an outer circumference surface of a second inner tube is maintained when the second outer tube rotates relative to the second inner tube, wherein the first outer tube and the second outer tube are fixed, the first inner tube and the second inner tube are fixed, and the first member and the second member are arranged along the same axis as each other.

A device for ensuring safe operation of a robot used for cosmetics applications, including the retrofitting of robots not originally design for such applications. In some embodiments, the robot is used for the automatic placement of eyelash extensions onto the natural eyelashes of a subject. In some embodiments, a safety barrier is provided by a physical barrier or light curtain. In other embodiments, readily deformable end effectors are used.