Examples of a self-supported device for guiding motions of a target joint of a target body are disclosed. The device comprises a motion generator, a motion transfer system, a target body interfacing system, a load bearing system and a controller. The load bearing system comprises a plate connected to the motion transfer system and a network of joints and links configured to constrain the plate to rotate in three dimensions about a center of rotation of the load bearing system. A position of the center of rotation of the load bearing system being adjustable by adjusting a connection point between the links. The plate of the load bearing system is connected to an adjustable target body interfacing system that is configured to be mounted to the target body. The center of rotation of the load bearing system coincides (or nearly coincides) with a center of rotation of the target joint of the target body.

This disclosure provides systems and methods for robotic task planning when a complex task instruction is provided in natural language. Conventionally robotic task planning relies on a single task or multiple independent or serialized tasks in the task instruction. Alternatively, constraints on space of linguistic variations, ambiguity and complexity of the language may be imposed. In the present disclosure, firstly dependencies between multiple tasks are identified. The tasks are then ordered such that a dependent task is always scheduled for planning after a task it is dependent upon. Moreover, repeated tasks are masked. Thus, resolving task dependencies and ordering dependencies, a complex instruction with multiple interdependent tasks in natural language facilitates generation of a viable task execution plan. Systems and methods of the present disclosure finds application in human-robot interactions.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

An end effector (400) for a robotic arm, the end effector (400) comprising: two pipe engaging jaws (404), each jaw comprising an inner contour configured for engaging a pipe section, wherein at least one jaw (404) is a fixed jaw; wherein the end effector (400) is configured to restrict radial movement of the pipe section while permitting axial movement.

A method for detecting contact of a swinging leg of a robot with ground includes: obtaining a torque on each joint of the swinging leg when the robot is in a swing phase; estimating a force on a foot of the swinging leg by using a force Jacobian matrix based on the torque on each joint of the swinging leg, and calculating a rate of change of force of the foot in a vertical direction according to the force on the foot; and determining that the swinging leg has contacted the ground in response to a preset consecutive number of values of the rate of change of force being greater than a preset threshold.

Remote control robot system includes a master device, slave arm having plurality of control modes including automatic and manual mode, control device configured to operate slave arm, an entering-person sensing device configured to detect entering person into operational area of slave arm, entering-person identifying information acquisition device configured to acquire entering-person identifying information for identifying whether entering person is operator who carries master device, and operation regulating device configured to regulate operation of slave arm based on information acquired from entering-person sensing device and information acquisition device. In automatic mode, operation regulating device regulates operation of slave arm when entering person is detected. In manual mode, operation regulating device allows operation of slave arm to continue when entering person is detected and entering person is operator, and regulates operation of the slave arm when entering person is other than operator.

In a teaching method for a transfer mechanism that transfers a substrate to a mounting table, the method includes: transferring an inspection substrate having a plurality of imaging devices on an outer peripheral edge thereof to a transfer position where the substrate is transferred between the transfer mechanism and the mounting table; imaging a part of the mounting table which includes an outer periphery of the mounting table at the transfer position by the imaging devices; calculating a central position of the mounting table based on the image obtained by the imaging devices; and correcting the transfer position based on the central position of the mounting table which is calculated in the calculating and a central position of the inspection substrate at the transfer position.

It is possible to effectively prevent lowering of work efficiency while stabilizing an operation of a robot or the like. A torque estimation system estimates friction torque of a rotation mechanism. The torque estimation system inclues angular velocity detecting means for detecting an angular velocity of the rotation mechanism, and limit value setting means for setting an upper limit value and a lower limit value according to the angular velocity of the rotation mechanism detected by the angular velocity detection means, the upper limit value and the lower limit value limiting an upper limit and a lower limit, respectively, of the friction torque of the estimated friction torque.

The application provides a device, method and system for registration. The registration device includes a fixing member; a frame connected to the fixing member, at least one trackable element mounted on the frame; and a collection device connected to the fixing member, wherein the collection device is configured to simultaneously collect multiple point data from an object to be registered. The registration method includes obtaining simultaneously, by a registration device, a point cloud data from a surface of a cartilage of an object to be registered; and performing surface fitting based on the point cloud data to obtain a fitted surface of the cartilage of the object to be registered. The registration system includes the registration device; a first point cloud data acquisition module, configured to receive the point cloud data from the collection device; and a surface fitting module, configured for surface fitting with the point cloud data.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing transformation mode switching in a robotics control system. One of the methods includes receiving data representing a state machine that defines one or more portions of a robotics task; executing a first control loop corresponding to a first node of the state machine, wherein executing the first control loop comprises providing commands to the robotic components computed from a first coordinate transformation process; determining, based on one or more status messages, that an exit condition for the first node has been satisfied; performing a mode switch between the first coordinate transformation process and a different second coordinate transformation process; and executing a second control loop corresponding to a second node of the state machine, wherein executing the second control loop comprises providing commands to the robotic components computed from the second coordinate transformation process.