An extendable mechanical grabber is presented for grabbing objects at a distance. The grabber has two extension portions that slide relative to one another through a mechanical engagement. A trigger on the first extension portion is mounted in a handle. The trigger pulls a cable that passes to an activator on a grabber head mounted on the second extension portion. The cable passes from the trigger, through a pulley connected to the activator, through a second pulley mounted at on the second extension portion, and back to a terminal attachment on an end of the first extension portion opposite the handle.

The present disclosure describes methods, systems, apparatuses, and devices for facilitating actuating robots and automatic machines. Specifically, the present invention provides a capstan actuator with composite control coil. Further, the disclosed system may allow for multi-jointed robots, or other multiple degrees of freedom machines, to be constructed in a novel manner that allows for a single prime mover to supply motive power to many other degrees of freedom with very good control fidelity.

A foldable elongate grabber tool includes a proximal section and a distal section that are foldable relative to each other between a folded position and an extended position. An actuation member is attached to the proximal section and actuates a cable coupled to engagement members disposed at the distal section. A hinge mechanism connects the proximal and distal sections. The hinge mechanism automatically locks the proximal and distal sections relative to each other when they reach the extended position. The proximal and distal sections are biased to open automatically from the folded position to the extended position. A hinge pin is biased toward a locked position, and is blocked from moving to the locked position until the proximal and distal sections reach the extended position.

This application relates to an actuation system for assistive wearable devices such as exoskeletons designed to actuate a joint of a wearer of the device. The actuation system includes a differential pulley drum having a first drum portion and a second drum portion, the first drum portion and the second drum portion having different radii. The differential pulley drum is located at a first end of the actuator. The actuation system further includes a motor coupled to the differential pulley drum and configured to rotate the differential pulley drum, a second pulley located at a second end of the actuator, a flexible sleeve that extends between the differential pulley drum and the second pulley, and a strand that extends from the differential pulley drum to the second pulley through the flexible sleeve.

A robot wrist structure includes: a case, a first motor, a second motor, a first transmission mechanism, a second transmission mechanism, a first driving bevel gear, a second driving bevel gear, a driven bevel gear, a retaining fame, and an output connecting member; wherein the first motor and the second motor are mounted on the case, the first driving bevel gear, the second driving bevel gear and the driven bevel gear are respectively rotatably mounted in the retaining frame, the first driving bevel gear and the second driving bevel gear are both in mesh with the driven bevel gear, the first motor is connected to the first driving bevel gear by the first transmission mechanism, the second motor is connected to the second driving bevel gear by the second transmission mechanism, and the output connecting member is fixedly connected to the driven bevel gear.

A robot wrist structure includes a first wrist element that is supported by a forearm in a rotatable manner about a first axis; a second wrist element that is supported by the first wrist element in a rotatable manner about a second axis that is orthogonal to the first axis; and a third wrist element that is supported by the second wrist element in a rotatable manner about a third axis that is orthogonal to the second axis and that is disposed in the same plane as the first axis. Further the second wrist element is provided with, at a position at which the second axis is included, a second axial hollow hole that passes therethrough in a direction along the second axis.

An object gripping mechanism is provided for use with a robotic arm. A robotic arm and method of manufacturing an object gripping mechanism are also provided. The object gripping mechanism includes an attachment modular configured to connect the object gripping mechanism to the robotic arm. The object gripping mechanism also includes a plurality of retractable arms each pivotably connected with the attachment modular. The object gripping mechanism also includes one or more movement mechanisms collectively configured to pivot the plurality of retractable arms to a desired position. The object gripping mechanism further includes a drive mechanism positioned within each of the plurality of retractable arms and configured to pivot the object engagement feature using a gear and timing belt configuration.

A control system for a continuum robot including at least one curvable unit driven by a wire and configured to be curvable, and a driving unit driving the wire includes: a position control unit performing control so that an error between a target displacement of push-pull driving of the wire by the driving unit and a displacement of a wire holding mechanism holding the wire obtained from a continuum robot is compensated; a force control unit performing control so that an error between a target generated force corresponding to a target tension of the wire output from the position control unit and a generated force corresponding to a tension of the wire obtained from the continuum robot is compensated; and wherein a first loop control system including the force control unit and a second loop control system including the position control unit.

An extendable mechanical grabber is presented for grabbing objects at a distance. The grabber has two extension portions that slide relative to one another through a mechanical engagement. A trigger on the first extension portion is mounted in a handle. The trigger pulls a cable that passes to an activator on a grabber head mounted on the second extension portion. The cable passes from the trigger, through a pulley connected to the activator, through a second pulley mounted at on the second extension portion, and back to a terminal attachment on an end of the first extension portion opposite the handle.

Various embodiments of the present disclosure are directed to, for example, a linear manipulator for a programmable stage installation. In one embodiment, the linear manipulator includes a body having an internal longitudinal channel extending parallel to an axis between two channel points, a power conductor positioned inside the channel, a drag band extending parallel to the axis, a motor that drives the drag band, and a wagon. The body further including a longitudinal opening extending between the two channel points, and a pair of rails connected to the body and extending parallel to the axis. The wagon including a pair of rail grippers for slidably engaging the pair of rails, a band connector connected to the drag band, and a power connector. The wagon attaches to equipment to be displaced along the linear manipulator and the power connector connects the equipment with the power conductor.