The present invention relates to a robot device comprising a chain comprising a plurality of fixedly connected links and a mobile actuator movable thereon configured to change a position of a link relative to a position of an adjacent link; wherein said mobile actuator comprises at least a first motor to drive it along said chain of connected links; and wherein said mobile actuator is engageable with a position-determining element in said link.

In order to prevent swiveling of unintended joint pieces and enhance positioning and motion reproducibility of a distal end portion, a bending mechanism includes: a plurality of joint pieces connected in series along the longitudinal axis; a plurality of elongated tension-transmissions that transmit tensions for individually driving the joint pieces; and at least one guide having guide channels that movably support the tension-transmissions in the longitudinal direction thereof and that guide the tension-transmissions along curved paths extending around the longitudinal axis.

A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

A wire-driven manipulator including a driver, a first deforming section including a first distal member, a plurality of first guide members, and a plurality of first wires, and a second deforming section provided between the first deforming section and the driver with the second deforming section including a second distal member, a plurality of second guide members, and a plurality of second wires. The plurality of first wires are fixed to the first distal member, and at least one of the plurality of first wires is further fixed to the plurality of first guide members and other wires of the plurality of the first wires are slidable with respect to the plurality of first guide members. The plurality of second wires are fixed to the second distal member, and at least one of the plurality of second wires is further fixed to the plurality of second guide members and the other wires of the plurality of the first wires are slidable with respect to the plurality of second guide members. In addition, the length of the first deforming section is shorter than the length of the second deforming section.

An articulating joint comprising a multi-cluster joint where every consecutive pair of links is interfaced by a gimbal, which offers rotation about two orthogonal axes within the same plane. Thus, the articulating joint comprises an alternating sequence of links and gimbals. Furthermore, there may be multiple cables attached to one or more of the links. As these cables are selectively pulled and released, one can achieve any desired articulation of the articulating joint. There may be a transmission member extending through the links and gimbals, parallel to the central longitudinal axis of the joint in its nominal non-articulated condition. This transmission member may be either a tension member that is pulled on (e.g. a cable or flexible pull rod) and that loads the articulating joint in compression, or the transmission member may be a flexible push rod that loads the articulating joint in tension.

A device sized and shaped for insertion into a body includes at least one mechanical limb including a support segment, a first flexible section extending from the support segment and terminating in a coupling section, and a second flexible section extending from the coupling section and terminating in a tool or an connector for a tool. One or more of the flexible sections is bendable by at least 120°. A long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis. A long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

Mobile robot for inspecting a turbomachine comprising at least a measuring device and a body including an assembly of at least three rigid segments each having two opposite longitudinal ends, the longitudinal ends of each segment being equipped with a hinge including a ball joint, each ball joint comprising a motorized wheel mounted therearound, the measuring device being mounted on a ball joint located at one end of the body.

A continuum robot having at least two independently manipulateable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates control algorithms that enable the continuum robot to operate and advance into the passage, as well as the systems and procedures associated with the continuum robot and said functionality.

A control system for a continuum robot includes a kinematics calculation unit configured to calculate a length of a wire in a bendable portion. The kinematics calculation unit includes a wire length calculation unit configured to calculate, for each of a plurality of minute sections obtained by dividing the bendable portion in a longitudinal direction thereof, a length of the wire in the minute section based on a bending angle, a turning angle, and a torsional angle of the minute section, and an addition unit configured to add the lengths of the wire in the plurality of minute sections obtained by the wire length calculation unit to calculate the length of the wire in the bendable portion.

A robotic system for fueling or charging a vehicle having a vehicle connector, the robotic system including a robotic arm having a plurality of sequentially arranged articulated links and at least one group of operating cables extending from a proximal end of the arm to terminate at a control link, for controlling the position of that link, the cables each having a path comprising a passage in each successive more proximal link for closely receiving the cable, a flexible conduit operably connected with the robotic arm for delivering a fluid or an electrical current, respectively, to a vehicle, the conduit being connected to a source at a first end and a delivery connector at a second end, and a control system for operating the robotic arm and the hose or cable, wherein the control system directs the robotic arm to engage the vehicle connector with the delivery connector and, upon engagement of the vehicle connector and delivery connector, the control system relaxes the robotic arm to an under-constrained condition.