Apparatus and methods are described including a robotic system configured for performing intraocular surgery. During a training stage, a computer processor receives programming instructions for performing one or more steps of cataract surgery in an automated manner, based upon standard ranges of dimensions of respective portions of a human eye. During a subsequent stage, the computer processor drives the robotic system to perform the one or more steps of cataract surgery on an eye of a given patient, by receiving at least one image of the eye, determining one or more dimensions of the eye from the at least one image, and performing the one or more steps of cataract surgery based upon the programming instructions and the determined dimensions of the eye. Other applications are also described.

A manipulator arm for a robot, including a printed circuit board motor and a transmission, the printed circuit board motor including a multi-layer board having at least one first solenoid coil with flat coils lying vertically on top of each other, the flat coils being connected electrically in series or in parallel, two vertically adjacent coils being orthogonally offset to each other in each case such that, in a cross-section perpendicular to the surface of the multi-layer board, conducting track portions of the one flat coil are arranged in partial overlap vertically with two conducting track portions of the other flat coil. A robot having at least one manipulator arm of this type and the use of a printed circuit board motor in a manipulator arm of a robot are also provided.

An apparatus including a frame, an optical sensor connected to the frame, and an environment separation barrier. The frame is configured to be attached to a housing of a motor assembly proximate an aperture which extends through the housing. The optical sensor comprises a camera. The environment separation barrier is configured to be connected to the housing at the aperture, where the environment separation barrier is at least partially transparent and located relative to the camera to allow the camera to view an image inside the housing through the environment separation barrier and the aperture.

A linear robot according to the present disclosure includes a main body unit including a main body base part seated on a ground surface, and main body sidewall parts protruding in an upward direction by a predetermined thickness from two opposite sides of the main body base part, the main body unit having an internal space defined by the main body base part and the main body sidewall parts; a transfer block unit partially accommodated in the internal space of the main body unit, configured to linearly move in one direction, and having an upper portion on which a transfer target object is seated, the transfer block unit being configured to transfer the transfer target object from a first position to a second position; and a pair of guide rail units disposed between the main body unit and the transfer block unit, coupled to the main body unit, and configured to guide the transfer block unit, in which the main body sidewall parts each have a guide rail unit accommodation groove recessed by a predetermined length in a direction perpendicular to the upward direction, and at least a part of a surface of the guide rail unit accommodation groove has an uneven machined surface.

The present invention relates to the field of intelligent robots, and more particularly to a subunit module for constructing a modular robot. The subunit module includes a first housing and a second housing which are disposed oppositely. The first housing and the second housing are rotatable relative to each other. Each of the two housings is provided with a docking part. The docking part is used to mechanically and electrically connect other robot modules adjacent to it. The subunit module further includes a control circuit. The control circuit is used for communicating with other robot modules. The subunit module receives control signals from other robot modules to control the relative rotation of the first and second housings of the subunit module; and/or the subunit module receives an external force so that the first and second housings rotate relative to each other.

A grinding or polishing device and a method for treating a workpiece are provided. The grinding or polishing device includes a tool holder for holding a grinding or polishing tool and a mounting head for mounting the tool holder to a multi-axis manipulator. The tool holder is rotatable with respect to the mounting head about a pivot axis. The grinding or polishing device further includes a sensor for converting at least one parameter indicative of an angular position of the tool holder about the pivot axis into an output signal that can be used for determining a control signal for controlling the multi-axis manipulator.

The present invention provides a two-degree-of-freedom rope-driven finger force feedback device. The two-degree-of-freedom rope-driven finger force feedback device includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism, and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a sliding rail, and an inertial measurement unit (IMU) sensor. The thumb movement mechanism includes a long rotary disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, two links, a thumb brace, and a thumb fixing ring. The handle mechanism includes a cylindrical handle, a pressure sensor, a flexible fixing band, and a slider. Torque is driven between the rotary disc and the motor by using a rope. The handle mechanism is movable forward and backward and is capable of automatic restoration. By means of the present invention, the problems of the high costs of a conventional finger force feedback device and the unadjustable characteristic of the conventional finger force feedback device are overcome. The device can be tightly worn and has a self-adaptive degree of freedom. Rope driving can ensure a gentle, smooth, and real feedback force. By means of the mounted sensors, information such as a hand posture, a rotation angle and a grip force of a thumb and an index finger, and a contact force of a middle finger can be transmitted in real time.

A method of controlling a robot that performs work using an end effector on an object transported by a handler includes calculating a target position of the end effector based on a position of the object, calculating a tracking correction amount for correction of the target position in correspondence with a transport amount of the object, controlling the end effector to follow the object based on the target position and the tracking correction amount, acquiring an acting force acting on the end effector from the object using a force sensor, calculating a force control correction amount for correction of the target position to set the acting force to a target force, and controlling the acting force to be the predetermined target force by driving the manipulator based on the force control correction amount.

A robot system includes a robot having an arm pivoting about a pivot axis (first pivot axis), a motor (first motor) pivoting the arm, a shaft (spline shaft) coupled to the arm and moving in an axial direction of a linear motion axis parallel to the pivot axis, and an inertial sensor provided in the arm or shaft, and a control apparatus having a control unit controlling the motor, wherein the inertial sensor detects an angular velocity about a roll axis orthogonal to the pivot axis and the linear motion axis or an acceleration in a tangential direction of a circle around the roll axis, and the control unit controls the motor based on information representing a pivot direction of the arm about the roll axis when the arm stops or decelerates and output from the inertial sensor.

A gripping device includes: a gripping portion configured to be displaced between a closed position in which a workpiece is grasped and an open position in which the workpiece is released; a holding portion configured to hold the gripping portion; a shaft portion that extends from the holding portion; a support portion configured to support the shaft portion such that the gripping portion faces the workpiece; a driving unit configured to displace the gripping portion between the closed position and the open position; and a moving mechanism configured to move the support portion in an axial direction of the shaft portion, in which the support portion is configured to support the shaft portion such that when a load acts on the shaft portion in the axial direction, the shaft portion is slidable relative to the support portion.