A method of calibrating an impedance control of a robot manipulator, the method including: deflecting a reference point of the robot manipulator from a zero position to a deflected position, wherein the robot manipulator applies a counterforce dependent on a spring constant of the impedance control and on a first determined deflection, wherein the first determined deflection is determined based on joint angles detected by joint angle sensors of the robot manipulator; detecting a second determined deflection by an external position measuring unit; and adapting the spring constant of the impedance control in such a way that the counterforce applied by the robot manipulator corresponds to a predetermined counterforce of the robot manipulator based on the second determined deflection.

A joint actuator of a robot including a driving device, a driving shaft, a reducer, a torsion sensor, and a dual encoder is provided. The driving shaft is connected to the driving device. The driving device is configured to drive the driving shaft to rotate. The reducer includes a motive power input component and a motive power output component. The motive power input component and the motive power output component are sleeved on the driving shaft. The motive power input component is disposed between the driving shaft and the motive power output component. The torsion sensor is connected to the motive power output component of the reducer. The dual encoder is connected to the driving device and the driving shaft. The driving device is located between the dual encoder and the reducer.

An encoder apparatus includes a detection unit, a scale disposed to oppose the detection unit and relatively rotatable with respect to the detection unit, and a processor configured to process an output signal output from the detection unit to obtain a relative position of the scale with respect to a standard position and thus detect an absolute position of the scale. The processor is configured to execute a setting process in which a position where a deviation amount of the scale in a predetermined direction with respect to a rotation axis is equal to or smaller than a threshold value is set as the standard position, the deviation amount changing in accordance with relative rotation of the scale with respect to the detection unit.

An autonomous mobile robot that is equipped with functionalities to assist the elderly and disabled patients to live at home in a way that is acceptable and desirable for the patients and caregivers is described. The robot provides safety monitoring, cognitive and communication support to patients. mobility to ensure availability, and a scalable platform. The robot is able to detect when the robot has toppled over and automatically execute operations that restore the robot to a full upright position.

A method including: locating a shaft of a rotor relative to a stator of a motor, locating a robot arm mount on the shaft, temporarily stationarily fixing the robot arm mount relative to the stator at a predetermined rotational location relative to the stator, and while the robot arm mount is temporarily stationarily fixed relative to the stator at the predetermined rotational location, stationarily fixing the robot arm mount to the shaft by a connection, where the connection allows the robot arm mount to be stationarily fixed to the shaft at one of a plurality of angular orientations.

An electronic device may receive log information regarding a motion of a wearable device from the wearable device, determine a value of at least one of one or more mobile parameters to be applied to a robot parameter algorithm for calculating a value of a robot parameter used to control the wearable device based on the log information, and determine the value of the robot parameter based on the robot parameter algorithm and the determined value of at least one of the mobile parameters.

Provided is a primary-and-secondary robot system including: a primary robot whose posture is changed by external force applied by a user; a secondary robot whose posture is controlled to be the same as the posture of the primary robot; and a control unit that is configured to control the primary robot and the secondary robot, the control unit causing the posture of the primary robot to be the same as the posture of the secondary robot, and limiting an acceleration rate of a movement of the primary robot to a limited acceleration rate or lower in causing the posture of the primary robot to be the same as the posture of the secondary robot.

A robot teleoperation control device includes a first acquisition unit that acquires operator state information of a state of an operator who operates a robot, an intention estimation unit that estimates an intention of the operator to cause the robot to perform a motion on the basis of the operator state information, a second acquisition unit that acquires at least one of geometric information and dynamic information of the object, an operation method determination unit that determines a method of operating the object based on the estimated motion intention of the operator, and a control amount determination unit that determines a method of operating the robot and force during operation from the information acquired by the second acquisition unit and information determined by the operation method determination unit and reflects the result in a control instruction.

A method includes grasping a user input device in communication with a surgical tool of a robotic surgical system, the surgical tool including an end effector with opposing jaws, squeezing the user input device and thereby actuating a motor that closes the jaws and clamps down on tissue at a surgical site, and calculating with a computer system in communication with the surgical tool work completed by the motor to close the jaws and clamp down on the tissue. The computer system generates one or more effort indicators when the work completed by the motor meets or exceeds one or more predetermined work increments corresponding to operation of the motor, and communicates the one or more effort indicators to an operator.

A substrate transport device includes an arm, an end effector coupled to the arm, a driver configured to lift the arm so that the end effector receives a substrate, and a controller configured to control an output of the driver to set a lifting speed of the arm. A difference in height between the end effector and the arm is a position difference. A period from when the end effector contacts the substrate until the end effector completes reception of the substrate is a transition period. The controller sets an upper limit value of the lifting speed that decreases an amplitude of one of acceleration or jerk of the position difference in the transition period as compared to before the transition period to an upper limit value of the lifting speed for the transition period.