A surgical instrument for use with a robotic manipulator includes an end effector assembly having one or two end effector members, each having a distal treatment end, a proximal end, and a tendon pass-through. Each end effector member is sandwiched between a corresponding pair of pulley members that, when assembled define an annular tendon pathway that is between the pulley members and that is aligned with the pass-through. For each end effector member, a tendon having a distal loop portion ends through the tendon pass-through, with its legs passing proximally from the pass-through, extending in opposite directions around the tendon pathway and proximally through the instrument's shaft.

A diagnostic device is to be used for a link actuation device. A distal end side link hub to be coupled to a proximal end side link hub via three or more link mechanisms such that posture of the distal end side link hub is changeable. Each of the three or more link mechanisms is to be associated with a respective one of actuators. A predetermined action is to be carried out under a predetermined condition by driving each of the actuators. A preload applicator is to cause a preload to be applied to the link actuation device. A torque detector is to detect a drive torque of each of the actuators while a preload is being applied. A determiner is to determine whether or not the torque that is detected by the torque detector lies within a predetermined range. A notifier is to notify the determination result.

A rehabilitation system for rehabilitation of a subject including at least one end-effector for interacting with the subject, the end-effector having at least two degrees of freedom of motion, at least one actuator for actuating the at least one end-effector, at least one sensor for measuring at least the position and the speed of the at least one end-effector; at least one sensor for measuring the interaction force between the subject and the end-effector; a memory including at least two initial coefficients and a session including at least one exercise including at least one reference trajectory to be carried out by the subject through actuation of the end effector; and an actuator controlling unit. The memory delivers the initial coefficients and the session, the sensors deliver measurement signals to the controlling unit, and the controlling unit provides a force-controlled feedback based on the initial coefficients.

A robot system includes a robot, a moving body, a determination circuit, a calculation circuit, and a control circuit. The robot includes a mount and a first arm. The determination circuit is configured to determine a lastly moved part of the robot which is lastly moved to make the robot take an operation posture. The calculation circuit is configured to calculate, based on the lastly moved part, an angle between a travel direction of the moving body and an orientation axis of the first arm when the robot in the operation posture is viewed along a height axis of the robot. The control circuit is configured to control the robot to work on a workpiece keeping the robot in the operation posture with the calculated angle while controlling the moving body to move in the travel direction.

Systems, methods, and software are provided for automated item restocking using gantry robots and establishing safety barriers for retail work operation spaces in retail store environments. Robot controllers in communication with the gantry robots and barrier robots direct the autonomous movements thereof for transferring items between customer-accessible point of sale locations and customer-inaccessible storage, and for alternately restricting and enabling access to work operation spaces, respectively.

A method of maneuvering a robot includes driving the robot across a surface and turning the robot by shifting a center of mass of the robot toward a turn direction, thereby leaning the robot into the turning direction. The robot includes an inverted pendulum body, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg prismatically coupled to the inverted pendulum body, and a drive wheel rotatably coupled to the at least one leg. The inverted pendulum body has first and second end portions and defines a forward drive direction. The method also includes turning the robot by at least one of moving the counter-balance body relative to the inverted pendulum body or altering a height of the at least one leg with respect to the surface.

A robot includes an inverted pendulum body having first and second end portions, a counter-balance body disposed on the inverted pendulum body and configured to move relative to the inverted pendulum body, at least one leg having first and second ends, and a drive wheel rotatably coupled to the second end of the at least one leg. The first end of the at least one leg is prismatically coupled to the second end portion of the inverted pendulum body.

Disclosed is a system, method and/or computer readable medium for controlling an exoskeleton associated with a user. The exoskeleton includes a body portion secured to an abdominal section of the user and a limb structure secured to one or more thighs of the user. The limb structure is pivotally connected to the body portion to facilitate rotation of the limb structure about a pivot axis. One or more sensors, associated with the exoskeleton, receive input data related to a movement of the user. Also included is a processor to automatically analyze the input data using one or more algorithms to generate output data having a torque based on the movement of the user. A drive force transmission mechanism associated with the body portion and the limb structure of the exoskeleton is provided to receive the output data from the processor and generate the torque to move the limb structure about the pivot axis.

A reactive media system of includes a motion control system. The motion control system includes an animated figure having a figure portion. The motion control system also includes a set of trackers coupled to a first surface of the figure portion. Each tracker of the set of trackers is configured to emit a respective sensor signal. The reactive media system also includes a media control system. The media control system includes a tracking camera configured to receive the respective sensor signals from the set of trackers. The tracking camera is also configured to determine a current position of the set of trackers relative to one another, relative to the tracking camera, or both based on receipt of the respective sensor signals. The tracking camera is also configured to generate state signals indicative of a current position and a current orientation of the figure portion based on the current position of the set of trackers. The media control system also includes a media controller communicatively coupled to the tracking camera. The media controller is configured to generate first image data indicative of images to be projected onto at least a second surface of the figure portion having the current position and the current orientation. The second surface comprises an external surface and the second surface is different than the first surface. The media control system also includes a projector communicatively coupled to the media controller. The projector is configured to receive the data indicative of the images from the media controller. The projector is also configured to project the images onto the second surface of the figure portion having the current position and the current orientation.

A method of processing objects using a programmable motion device is disclosed. The method includes the steps of perceiving identifying indicia representative of an identity of a plurality of objects and directing the plurality of objects toward an input area from at least one input conveyance system, acquiring an object from the plurality of objects at the input area using an end effector of the programmable motion device, and moving the acquired object toward an identified processing location using the programmable motion device. The identified processing location is associated with the identifying indicia and the identified processing location is provided as one of a plurality of processing locations along a first direction. The step of moving the acquired object includes moving the programmable motion device along a second direction that is substantially parallel with the first direction.