A method and apparatus for transporting single and multiple reaction vessels. At least one reaction vessel is provided and at least one tray includes at least two seats for the at least one reaction vessel, and at least one gripper. One of the reaction vessel or the tray is engaged with the gripper at a first position. The gripped element is transported to a second position wherein the gripper is released. A gripping collar is provided both on the reaction vessel and the tray for the gripper to engage. At one transport stage one of the reaction vessel or the tray is engaged with the gripper at a first position by pushing the gripper from above to engage with the gripping collar and in a second stage the transported element is disengaged from the gripper by moving the gripper sideways in relation to the center axis of the gripping collar.

Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.

Exemplary embodiments relate to improvements in robotic systems to reduce biological or chemical harborage points on the systems. For example, in exemplary embodiments, robotic actuators, hubs, or entire robotic systems may be configured to allow crevices along joints or near fasteners to be reduced or eliminated, hard corners to be replaced with rounded edges, certain components or harborage points to be eliminated, shapes to be reconfigured to be smoother or flat, and/or or surfaces to be reconfigurable for simpler cleaning.

The invention relates to a method for monitoring a functional state of a pressure-driven actuator which comprises an actuator compartment defined at least in portions by a flexibly deformable wall, the actuator being actuated by applying pressure to the actuator compartment by means of an operating pressure supply, a work process being carried out to actuate the actuator, which process is accompanied by the actuator transitioning from a starting configuration to an end configuration. The pressure the pressure applied to the actuator compartment is measured depending on time by means of a sensor apparatus during the transition from the starting configuration to the end configuration. The invention also relates to a pressure-driven actuator.

A method of automatically orienting symmetric and asymmetric produce items, such as apples for example, is provided. Individual items of produce are manipulated by a programmable manipulator within the view of one or more depth imaging cameras. Digital three dimensional characterizations of the surface of the produce items are generated by the depth imaging camera or cameras and are utilized by a computer connected to the depth imaging camera or cameras to locate the stem and blossom of each produce item. Asymmetric produce items, such as apples with dropped shoulders as well as symmetric produce items can be properly oriented and processed automatically.

Aspects described herein include an end effector capable of prehending items using impactive and astrictive forces. The end effector includes an interface system having a deformable mounting plate and a pliable body member attached to the mounting plate. The end effector further includes a linkage system between a plurality of actuators and the interface system. The linkage system connects to lateral portions of the mounting plate.

In a medical gripping tool with several branches, one branch includes a first flexurally elastic spar, a second flexurally elastic spar, of which the distal end is connected to the distal end of the first flexurally elastic spar, a rib, which is spaced apart from the proximal ends and from the distal ends of the flexurally elastic spars, and a linear guide for coupling the second flexurally elastic spar to the rib, in such a way that a linear movement of the second flexurally elastic spar relative to the rib is possible.

In a medical gripping tool with several branches, one branch includes a first flexurally elastic spar, a second flexurally elastic spar, of which the distal end is connected to the distal end of the first flexurally elastic spar, a rib, which is spaced apart from the proximal ends and from the distal ends of the flexurally elastic spars, and a linear guide for coupling the second flexurally elastic spar to the rib, in such a way that a linear movement of the second flexurally elastic spar relative to the rib is possible.

A mechanical finger has a base adapted to be connected to an actuator for being displaced in at least one degree of actuation, and has two or more phalanges. A first phalanx is rotationally connected at a proximal end to the base, and a second phalanx is rotationally connected at a proximal end to a distal end of the first phalanx. A transmission linkage providing at least one rotational degree of freedom (DOF) between the base and a distal-most one of the phalanges. Passive rotational DOF joints are between the phalanges, between the base and the first phalanx, and in the transmission linkage, whereby the mechanical finger has a passive state of actuation in which the base, the at least two phalanges and the transmission linkage remain in a constant orientation relative to one another through displacement of the base caused by the actuator absent a contact of one of the phalanges with an object, and a grasping state of actuation in which a contact of at least one of the phalanges with an object causes a variation of the orientation of at least one of the phalanges relative to the base through displacement of the base caused by the actuator.

An automated feeding, sorting, and packaging system includes a first conveyor belt and a second conveyor belt adjacent to the first conveyor belt. The second conveyor belt moves slightly faster than the first conveyor belt. A rotating size separation tool has slits or pockets, and is located between the first and second conveyor belt. The automated feeding, sorting, and packaging system also includes a backlit conveyor belt. A vision guided robot is arranged adjacent to the backlit conveyor belt. The vision guided robot is provided with a robotic gripper and a vision sensor. At least one scales is arranged adjacent to the vision guided robot. An arrangement of temporary storage bins is arranged adjacent to the vision guided robot. The automated feeding, sorting, and packaging system also includes a container handling system. A computer-based control system is connected to the vision guided robot and to the at least one scales.