A variable stiffness joint and method to alter the stiffness of the joint with multiple stiffness levels is described wherein a plurality of stiffness bits (m) are used for enabling 2 m stiffness level variations for the joint. Each stiffness bit comprises an elastic element in mechanical connection with a clutch (21, 22, 23). The joint revolves with zero stiffness level when all the clutches (21, 22, 23) are disengaged whereas a clutch (21, 22, 23) involves one of the elastic elements which alter the stiffness of the joint. Engaging other clutches (21, 22, 23) involve more elastic elements for altering the joint stiffness and the resultant joint stiffness is determined by adding the stiffness values of all the involved springs (6, 7, 8).

A robot arm comprising a first arm segment and a second arm segment coupled to each other by a first revolute joint having a first rotation axis and a second revolute joint having a second rotation axis non-parallel to the first rotation axis, and a joint mechanism for articulating the first arm segment relative to the second arm segment about the first and second rotation axes, the joint mechanism comprising: a first driven gear disposed about an axle coincident with the first rotation axis, the axle being fast with a first arm segment of the robot arm; a second driven gear disposed about the second rotation axis and fast with a second arm segment of the robot arm and fast with the first driven gear about the first rotation axis; a first drive gear configured to drive the first driven gear to rotate about the axle, the first drive gear being arranged to engage the first driven gear; a second drive gear for driving the second driven gear to rotate about the second rotation axis; and an intermediary gear arrangement arranged to engage the second drive gear and the second driven gear and being disposed about the first rotation axis, whereby rotation of the intermediary gear arrangement relative to the first arm segment about the first rotation axis can be driven.

A device for transmission of rotary motion and transfer of a fluid medium, comprising a planetary gear train for transmission of rotary motion about a main axis which has at least one reduction stage which is provided with a sun gear, which rotates about the main axis, and a toothed ring gear which are mutually concentric and between which at least two planetary gears are engaged which are supported in rotation at least about the respective longitudinal axes which are parallel to the main axis by a planetary gear carrier; such planetary gear train is provided with a driving input sun gear and with an output ring gear and with an output planetary gear carrier, of which one can move in rotation about the main axis with respect to the other; and a rotary joint which extends externally to the planetary gear train for transfer of the fluid medium.

A robotic device may include a spine defining a yaw axis. The robotic device may also include an arm joint rotatably connected to the spine at a first position along the yaw axis and configured to rotate about the yaw axis. The robotic device may further include an actuator including a ring that defines a bore. The spine may be fixedly connected to the ring at a second position along the yaw axis and may extend through the bore. The actuator may be connected to the arm joint and configured to rotate the arm joint about the yaw axis without rotating the spine.

A robot including a robot mechanism including joints and drive units, a control unit controlling the drive units so that an inspection operation to inspect one target drive unit among the drive units is executed by the robot mechanism, and a notification unit notifying maintenance information of the target drive unit based on a current value of a motor of the target drive unit during the inspection operation, or on information associated with the current value, and the inspection operation includes transmitting, to the motor of the target drive unit, control command to rotate a joint as much as a predetermined rotation angle, and thereby moving a tip of the robot mechanism or a tool at the tip, close to an object at a predetermined position from a predetermined start position, to press the object, and separating the tip of the robot mechanism or the tool away from the object.

A driving force transmission device includes an input section and an output section with rotation axes nonparallel to each other to avoid backlash. A driving force transmission device (1) includes a first rotator (2), a second rotator (3), and spheres (5A, 5B, 5C). The first rotator (2) performs one of an input operation and an output operation of a driving force and includes a concave surface (7). The second rotator (3) performs the other of the input operation and the output operation of the driving force and includes a convex surface (13) fitted into the concave surface (7). The spheres (5A, 5B, 5C) are between the concave surface (7) and the convex surface (13). The concave surface (7) has holes (32A, 32B, 32C) in which the respective spheres (5A, 5B, 5C) are received. The convex (13) surface has a groove (29, 30) that receives parts of the spheres (5A, 5B, 5C) protruding from the holes (32A, 32B, 32C).

An electric prosthetic limb is provided with: a below-knee side member; an above-knee side member; a knee joint mechanism that connects the below-knee side member and the above-knee side member in a manner such that an angle formed therebetween is variable; and an extendable device that is capable of extending and contracting to change the angle formed between the below-knee side member and the above-knee side member. The extendable device is provided with a motor and a transmission transmitting power from the motor. The transmission is provided with: a first transmission mechanism that transmits the power from the motor at a first transmission gear ratio; and a second transmission mechanism that transmits the power from the motor at a second transmission gear ratio different from the first transmission gear ratio.

A servo and a robot are provided. The servo comprises an upper cover, a middle cover, a lower cover, a direct-current motor, and a set of gears meshing with each other. The servo comprises a body, and a cylindrical structure having a cylindrical cavity. The servo is in the shape of a hinge as a whole. The direct-current motor is flat, and a side surface of a body of the direct-current motor is exposed outside the middle cover.

A system and methods are disclosed for precision placement or insertion of an object using robotic manipulation. A robotic tool includes at least three members, including a first member and a second member that grip the object between opposing faces and a third member that exerts a force on a proximate end of the object to push the object out of the robotic tool. A series of maneuvers is performed with the robotic tool in order to place the object on a surface or insert the object in a hole. The maneuvers include positioning the object against the surface, rotating the object around a contact point between the object and the surface, rotating the robotic tool around a contact point between the object and either the first or second member of the robotic tool, sliding the object horizontally along a surface, and tucking the object into a final desired position.

A robot joint device including first and second plates positioned in parallel, links each having a first end connected to the first plate and a second end connected to the second plate, connecting members configured to connect the two first and second ends of each of the links and the first and second plates, respectively, so that angles and rotations of the links are adjustable relative to the first and second plates, a rotary shaft having two ends penetrating the first and second plates and rotatably installed, a gear reduction unit installed in the first plate and connected to the first end of the rotary shaft, and a pulley connected to the second end of the rotary shaft and configured to transmit driving power to the rotary shaft may be provided.