A compliance compensator apparatus provides a mechanically compliant coupling between, e.g., a robot arm or robotic tool and a mechanical load. The compliance compensator apparatus comprise a base component and a compliance component attached to the base component and independently moveable in several aspects. The compliance component may move, with respect to the base component, axially, transversely, rotationally, and skew, in response to mechanical force from an engaged load. When the load is disengaged, the compliance compensator apparatus returns to a reset position wherein the compliance component is spaced apart from, but parallel to, the base component.

An assist device is connected to a moving body that performs a reciprocating swing motion. The assist device includes a first output portion configured to swing around a swing center as a center of a swing motion; a variable rigidity device including an elastic body configured to accumulate energy and release the energy in accordance with a first swinging angle as a swinging angle of the first output portion, and a rigidity varying unit configured to change an apparent rigidity of the elastic body seen from the first output portion; a first angle detecting portion configured to detect the first swinging angle; and a control device configured to adjust the apparent rigidity of the elastic body seen from the first output portion by controlling the rigidity varying unit in accordance with the first swinging angle detected by the first angle detecting portion.

Tools, assemblies, surgical systems enable impacting a prosthesis into a surgical site. The tool has an impactor head with a surface to receive an impact force that is manually imparted by a user. A tool shaft has a distal portion and a proximal portion fixed to the impactor head. The tool shaft can be supported by a robotically manipulated tool guide for alignment of the tool shaft relative to the surgical site. A compliance mechanism of the tool has a proximal body coupled to the distal portion of the tool shaft and a distal body supported by the proximal body. The distal body is adapted to releasably attach directly to the prosthesis. The distal body is moveable relative to the proximal body for providing compliant motion of the distal body and prosthesis relative to the tool shaft in response to the impact force that is manually imparted by the user.

A transfer unit of a test handler includes a base frame, a floating assembly, and an arm part. The base frame includes an inserted portion having a penetration hole. The inserted portion including an upper inserted portion disposed near an upper surface of the inserted portion, a lower portion disposed near a lower portion of the inserted portion and a middle inserted portion disposed between the upper inserted portion and the lower inserted portion. The floating assembly is inserted in the penetration hole of the base frame. The floating assembly includes a floating part, an elastic element, and a coupling element. The floating assembly moves back and forth, to left and right sides, and up and down, or flows within a predetermined angle range in the penetration hole.

According to one embodiment, a transfer apparatus includes a base, a first linear motion member, a second linear motion member, a moving conveyor, an extraction arm, and a holding part. The first linear motion member is supported by the base and is movable in a first direction. The second linear motion member is supported by the first liner motion member and is movable in a second direction crossing the first direction. The moving conveyor is supported by the second linear motion member and includes a belt for conveying an article. The extraction arm is provided on a side of the moving conveyor, extracts the article and places the article on the belt. The holding part is provided at an end of the extraction arm and holds the article.

An articulated compliance mechanism for use with a support structure includes a carriage and a pair of parallel four-bar linkage arrangements. The arrangements collectively have a first set of links configured to rigidly connect to the support structure, a second set of links rotatably coupled to the carriage a distance from the first set of links, and a third set of links rotatably coupled to and spanning the distance. The compliance mechanism supports and provides the carriage, e.g., a rectangular shaped frame, with a stable equilibrium point using a gravitational restoring force, and provides the carriage with a passive translational degree of freedom along a horizontal axis in response to an input force from an operator. An additional compliance mechanism may be serially connected to provide a passive translational degree of freedom along a vertical axis. A system includes the compliance mechanism and support structure.

An extended-reach assist device for an assembly task includes a base mechanism and a compliant end-effector. The articulated base mechanism provides one or more passive degrees of freedom. The end-effector is connected to the base mechanism, and has one or more active or passive degrees of freedom collectively configured to react to contact forces with the assist device when completing the dexterous assembly task. A weight of the end-effector is supported by the base mechanism. The end-effector may be optionally configured as a passive device configured to produce a remote center of compliance or as a robot mechanism. A mechanism may actively or passively augment a force applied by the operator. A sensor may detect a signature indicative of successful task completion, e.g., an acoustic, visual, or audio sensor.

A compliant end effector includes a robot mounting bracket and a component support member. The component support member includes a side surface and a top surface. A component clamping system includes a first clamp member operable to move toward the side surface of the component support member and a second clamp member operable to move toward the top surface of the component support member. A controller is operatively connected to the clamping system. The controller is configured to engage the first and second clamp members as the component gripping and manipulating system is in a set position and release the first clamp member and the second clamp member allowing a portion of a component held by the component clamping system to move with one or more degrees of freedom when the component gripping and manipulating system is moving to the set position.

A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.

Robotic arms with orientation and grapple mechanisms for payload manipulation are provided. A robotic arm includes a mechanical arm assembly having booms connected by actively driven joints to provide pitch and yaw control at the shoulder, elbow and wrist of the arm. To reduce mass and complexity, according to various embodiments, force moment sensors and/or actuators for active roll and/or yaw control at the end of the arm may be omitted. The orienting mechanism provides the grapple mechanism with passive pitch and yaw control to pivot the grapple mechanism to grasp a payload without having to actively position the end effector to align with an axis of the payload. This enables soft capture of the payload by the grapple mechanism. Prior to lifting the payload, the grapple fixture is rigidized by fully retracting the grapple mechanism.