Rotatable joints may include one or more braking assemblies. The one or more braking assemblies may control a degree of movement of the rotatable joint to provide a range of damping. In some instances, the braking assemblies may include brake band(s) that tighten and loosen around a hub, or other rotatable member of the rotatable joint. The amount of braking, or tautness of the brake band(s), may be variably controlled to arrest the hub by different amounts. In some instances, the tightening of the brake band(s) around the hub may be controlled using linear actuator(s) and/or magnetic element(s). Implementing braking assemblies having controlled actuation may improve control of rotatable joints without adding cost, complexity, weight, or bulk.

A method of actuating an actuation element to transmit force along an instrument shaft, comprising driving rotational movement of a worm drive of a force transmission mechanism at a proximal end portion of the instrument shaft; converting the rotational movement of the worm drive into linear translational movement of a linkage of the force transmission mechanism, the linkage engaged with the worm drive; and converting the linear translational movement of the linkage to linear translational movement of the actuation element.

A medical instrument comprises a shaft, a movable component coupled to the shaft, a first actuation element coupled to the instrument shaft, a second actuation element coupled to the movable component, and a transmission assembly movably coupled to the instrument shaft. The transmission assembly comprises: a first drive member comprising a drum which is rotatable to drive translation of the instrument shaft relative to the transmission assembly by actuating the first and second actuation elements which are wound around the drum; a second drive member comprising a first rotatable drive shaft which is rotatable to actuate the second actuation element; and a third drive member comprising a second rotatable drive shaft and a bearing coupled to the second rotatable drive shaft. The second actuation element is routed over the bearing between the rotatable drum and the first rotatable drive shaft.

A steerable instrument includes a shaft comprising an articulable segment; a force transmission mechanism at the proximal end portion of the shaft, the force transmission mechanism comprising one or more rotatable drive components having axes of rotation spaced from the longitudinal axis of the shaft, the one or more rotatable drive components configured to be rotatably driven by respective drive input torques; one or more push-pull actuation elements configured to translate to transmit compressive forces to the articulable segment; and a rotatable coupler mechanism coupling one of the one or more rotatable drive components to the one or more push-pull actuation elements, the rotatable coupler mechanism configured to rotate about the longitudinal axis of the shaft in response to rotation of the one of the one or more rotatable drive components to cause translation of the one or more push-pull actuation elements.

The invention relates to a robot leg comprising at least two joints, each joint connecting two segments one to another, with each joint comprising a cam, the robot leg further comprising at least one actuator and a common tendon interconnecting each cam.

The innovation of the robotic compliant actuator derives from the utilization of the series elastic actuation principle, coupled with the fundamentals in compliant mechanics. This actuator constitutes a dynamic and adaptable actuation framework wherein an elastic component is sequentially integrated with a motor and gearbox, resulting in compelling force-regulating attributes. This actuation concept has been specifically customized for robotic systems, particularly robot manipulators and legged robots, fundamentally transforming the manner in which robots engage with their surroundings, executing tasks demanding precision, adaptability, and safety. This compliant actuator introduces an ingeniously designed mechanical spring that assimilates a compliant mechanism within its elastic component, thereby endowing itself with additional benefits inherent to compliant mechanics. Additionally, another layer of compliant mechanism serves as an amplification means to detect spring displacement. This augmentation aptly exemplifies human-like force-regulation behavior, particularly in the realm of robotic applications.

A clutch adapted for an exoskeleton includes lower and upper base plates, a roller, a roller ratchet ring, a trigger, a pawl, a pawl spring, a trigger torsional spring, a trigger positioning shaft, and a pawl positioning shaft. Two ends of the trigger positioning shaft are respectively connected to the upper and lower base plates. The trigger and the trigger torsional spring are sleeved on the trigger positioning shaft. Two ends of the trigger torsional spring are respectively connected to the lower base plate and the trigger. Two ends of the pawl positioning shaft are connected to the lower and upper base plates. The pawl spring and the pawl are respectively sleeved on the pawl positioning shaft. Two ends of the roller are rotatably connected to the lower and upper base plates. The pawl is detachably connected to the roller ratchet ring. The trigger is movably connected to the pawl.

The present disclosure provides a master manipulator. The master manipulator may include an arm assembly including at least one arm joint mechanism and a wrist assembly movably connected with the arm assembly. The wrist assembly may allow an operator to perform a corresponding operation. The wrist assembly may include at least one wrist joint mechanism. The master manipulator may also include a support assembly configured to support at least one of the arm assembly and the wrist assembly.

Improvements in a palm seed pod puller that uses a lever arm operates through a pivoting fulcrum to increase the mechanical advantage of a user to pull the seed tassel more easily from the stalk with less effort. A spring directed cam applies force to clamp onto the seed tassel and can increase the gripping force as the stalk is being pulled. The cam rotates to increase the clamping force as the stalk is crushed and flattens. The cam allows the stalk to wrap around the cam to increase the contact surface for clamping. The support post is positioned within the tree and around the palm fronds where the end of the post rests against the tree to provide a base for the fulcrum and lever arm to apply forces in the opposite direction of the pulling forces on the seed tassel.

In accordance with an embodiment, the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces.