A system, method, and apparatus are provided for generating a dynamic, autonomous, machine-learning, and modifiable therapeutic massage plan. A system, method, and apparatus are provided for determining and executing the motion planning for directing one or more robotic arms to execute a sequence of motions while maintaining contact between their end effectors and a subject.

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°.

An object processing system is disclosed that includes a plurality of track sections, and a plurality of remotely actuatable carriers for controlled movement along at least portions of the plurality of track sections, wherein each of the remotely controllable carriers is adapted to support and transport an object processing bin.

Provided is a magnetic gear which has a large transmission torque, stability, and a simple structure. A magnetic gear (30) includes: a first magnetic pole array (34) that includes first N poles (35) and first S poles (36) alternately arranged on an outer peripheral inclined surface (32) of a rotary disc (31); a second magnetic pole array (37) that includes second N poles (38) and second S poles (39) alternately arranged on the outer peripheral inclined surface (32), one of the second N poles (38) is positioned at a location corresponding to an intermediate position between a corresponding one of the first N poles (35) and a corresponding one of the second S poles (36) that are adjacent to each other.

A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

A joint structure of a robot according to an embodiment may include first link member, a second link member, a first movable link and a second movable link, disposed so as to intersect with each other and configured to rotatably couple the first link member to the second link member, and a linear-movement actuator connected at a base-end part thereof to the first link member, and connected at a tip-end part thereof to the first movable link. The second link member relatively pivots to the first link member by the linear-movement actuator advancing and retreating.

The substrate transfer apparatus includes a planar motor provided in a transfer chamber and having coils arranged therein; a transfer unit movable on the planar motor; and a control unit configured to control an energization of the coils. The transfer unit includes two bases having magnets arranged thereon and configured to be movable on the planar motor, a substrate support member configured to support a substrate, and a link mechanism configured to connect the two bases and the substrate support member to each other.

A powered user interface for a robotic surgical system includes a handle on a linkage having a plurality of joints, a base, and actuators. The interface operates in accordance with a first mode of operation in which a plurality of its actuators are operated to constrain predetermined ones of the joints to permit motion of the handle in only 4DOF with respect to the base, and a second mode of operation in which the actuators permit motion of the handle in at least 6DOF with respect to the base.

A robot controlling device capable of preventing a rapid change in posture of a robotic arm due to a singular point. The robot controlling device brings a third rotational axis to on a circumference of a circle which is on a first rotational axis with a radius at a difference between a distance from the first rotational axis to a second rotational axis and a distance from the second rotational axis to the third rotational axis while changing posture of a horizontal robot to be holdable of a workpiece in an accommodating device, and moves the third rotational axis across a line connecting the first rotational axis and the second rotational axis, and moves the second rotational axis and the third rotational axis divided at the second straight line, connecting a center point of the workpiece accommodated in the accommodating device and the first rotational axis.

An operating device configured to operate in a work space, the operating device including: a robot arm, which includes a succession of arm elements mounted on one another in a rotatable way about respective axes of rotation and which carries an operating unit on its end; and at least one presence sensor prearranged for detecting the presence of an operator. The device includes a positioning system, including a support by which the at least one presence sensor is carried and which is mounted on an arm element of the robot arm, according to a pre-set orientation and in such a way as to be orientable with respect to the arm element, and wherein the positioning system further includes a positioning unit prearranged for rotating the support with respect to the arm element, as a result of a movement of the robot arm, so as to keep the pre-set orientation of the support unchanged.