A robotic surgical assembly includes a slave manipulator connected to a surgical instrument. A jointed subassembly includes at least a first, second and third links. The first and second links are associated in a first joint providing a degree of freedom between the first link and the second link. The second and third links are associated in a second joint providing a degree of freedom between the second link and the third link. The surgical instrument includes a tendon for moving a degree of freedom; the tendon including a tendon distal portion secured to the third link. The first link and/or the second link includes a tendon contact surface on which the tendon slides remaining in contact with the tendon contact surface, defining one or more sliding paths on the tendon contact surface. The sum of all sliding paths defines a total winding angle of at least 120°.

A joint structure for a robot includes a first link and a second link rotatably coupled to each other through a joint part and a linear-motion actuator coupling the first link to the second link at a part separated from the joint part. The linear-motion actuator has a casing, and a pair of first shaft parts integrally formed with an outer surface of the casing. The first link is supported by the first shaft part so as to be pivotable with respect to the linear-motion actuator. The first link relatively pivots to the second link by the linear-motion actuator reciprocating.

A substrate transport apparatus including; a frame, a substrate transport arm connected to the frame, the substrate transport arm having an end effector, and a drive section having at least one motor coupled to the substrate transport arm, wherein the at least one motor defines a kinematic portion of the drive section configured to effect kinematic motion of the substrate transport arm, and the drive section includes an accessory portion adjacent the kinematic portion, wherein the accessory portion has another motor, different and distinct from the at least one motor, the another motor of the accessory portion is operably coupled to and configured to drive one or more accessory device independent of the kinematic motion of the substrate transport arm.

The present disclosure relates to robot technology, which provides a gait control method, device, and terminal device for a biped robot. The method includes: planning an initial position of an ankle joint of the biped robot and a rotation angle of a sole of the biped robot to rotate around one of a toe and a heel of the biped robot; planning a body pose of the biped robot; calculating a target position of the ankle joint based on the initial position of the ankle joint and the rotation angle of the sole; obtaining a joint angle of each of a plurality of joints of the biped robot by performing an operation on the body pose and the target position of the ankle joint utilizing an inverse kinematics algorithm; and adjusting a gait of the biped robot based on the joint angle of each of the joints.

Systems and methods for collision detection and avoidance are provided. In one aspect, a robotic medical system including a first set of links, a second set of links, a console configured to receive input commanding motion of the first set of links and the second set of links, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to access the model of the first set of links and the second set of links, control movement of the first set of links and the second set of links based on the input received by the console, determine a distance between the first set of links and the second set of links based on the model, and prevent a collision between the first set of links and the second set of links based on the determined distance.

A surgical robot includes: a plurality of manipulator arms; a platform to which the plurality of manipulator arms are coupled; a positioner configured to change the position and posture of the platform; a controller configured to control the positioner; and a user interface. The user interface includes: first manipulation tools each configured to receive an input of manipulation which selects one of a plurality of operating modes for changing the position and posture of the platform; and a single second manipulation tool configured to receive an input of manipulation information regarding the position and posture. The controller generates a command regarding the position and posture of the platform based on the acquired manipulation information and the selected operating mode and operates the positioner based on the generated command.

A wearable muscular strength assisting apparatus includes a base configured to be positioned on a wearer and extending vertically, a link unit, which is configured to be positioned so as to be laterally spaced apart from the base and is configured to be connected to the wearer's upper arm, front arm or hand, a first connector, which is rotatably coupled at one end thereof to the base and extends laterally and which is rotatably coupled at a remaining end thereof to the link unit so as to connect the link unit to the base, and a second connector, which is rotatably coupled at one end thereof to the base, and extends laterally and which is rotatably coupled at a remaining end thereof to the link unit so as to connect the link unit to the base.

The invention relates to a robot with a base (3), a pivoting arm (4) which is articulated to the base (3) and which is pivotable about a rotational axis (13), wherein at the free end of the pivot arm (4) a pivotable mounting for a possible support arm (5) may be provided, and at least one drive unit (6, 7) for driving the pivot arm (4) and the possible support arm (5). According to the invention, a first drive unit (6) is coupled to a first four-bar linkage (8), a second four-bar linkage (9) is coupled to the first four-bar linkage (8) in such a way that the pivot arm (4) can be pivoted by the first drive unit (6).

In the link operating device, a distal-end-side link hub is connected to a proximal-end-side link hub so as to be changeable in position relative thereto via at least three link mechanisms. Each link mechanism includes a proximal-side end link member, a distal-side end link member, and a center link member. Position-controlling actuators and speed reduction mechanisms are provided to two or more of the link mechanisms. The proximal-side end link member includes a bent portion and a pair of rotational connection bodies disposed at one end of the bent portion. The speed reduction mechanism is disposed between the pair of rotational connection bodies, and includes an output shaft fixed to one of the rotational connection bodies, and an input shaft rotatably supported by the other one of the rotational connection bodies.

A device capable of simulating a limb of a humanoid robot includes a vertically arranged guiding rail, a lower block fixed to the lower end of die guiding rail, an upper block slidably connected to rail, a lower linkage bar rotatably coupled to the lower block, an upper linkage bar rotatably coupled to the upper block, a joint module located between and rotatably coupled to the lower linkage bar and the upper linkage bar, a sensor configured to measure a force exerted on the joint; and a data processing module electrically connected to the sensor and configured to receive data from the sensor to determine a value of the force.