A supplementary metrology position coordinates determination system is provided for use with a robot. A first accuracy level defined as a robot accuracy (e.g., for controlling and sensing an end tool position of an end tool that is mounted proximate to a distal end of a movable arm configuration of the robot) is based on using position sensors (e.g., encoders) included in the robot. The supplementary metrology position coordinates determination system includes an imaging configuration, XY scale, image triggering portion and processing portion. One of the XY scale or imaging configuration is coupled to the movable arm configuration and the other is coupled to a stationary element (e.g., a frame above the robot). The imaging configuration acquires an image of the XY scale, which is utilized to determine metrology position coordinates that are indicative of the end tool position, with an accuracy level that is better than the robot accuracy.

A supplementary metrology position coordinates determination system is provided for use with an articulated robot. A first accuracy level defined as a robot accuracy (e.g., for controlling and sensing an end tool position of an end tool that is coupled to a robot arm portion that moves in an XY plane), is based on using position sensors (e.g., rotary encoders) included in the robot. The supplementary system includes an imaging configuration, XY scale, image triggering portion and processing portion. One of the XY scale or imaging configuration is coupled to the robot arm portion and the other is coupled to a stationary element (e.g., a frame located above the robot). The imaging configuration acquires an image of the XY scale, which is utilized to determine a relative position that is indicative of the end tool position, with an accuracy level that is better than the robot accuracy.

The articulated shaft structure includes: a first joint member; a second joint member supported rotatable about a first axis; a ring-like output hypoid gear fixed to the second joint member coaxially with the first axis; a gear assembly attached to the first joint member; and a motor, wherein the gear assembly includes a housing member, an input hypoid gear, and gears, the housing member including a second joining surface fixed to a first joining surface, the input hypoid gear being supported by the housing member rotatable about a second axis, the gears decelerating rotation of the motor and transmitting the rotation to the input hypoid gear, the first joining surface is parallel to the first axis, the second joining surface is perpendicular to the second axis, and the bolt is fastened radially outside of the gears of all kinds assumed to be used, the kinds being defined by reduction ratios.

Cable-actuated differential enabling N degrees of freedom provided by a plurality of pulleys and at least N+1 tensioning cables. The cable-actuated differential increases a dynamic force range by minimizing co-activation of the tensioning cables at any operating point. A cable-actuated differential having three cables provides motor based control of a 2 DOF joint that can be applied to robots or teleoperation. A cable-actuated mechanical differential having opposing bevel gears and a middle bevel gear meshed with the opposing gear allows an output connector to controllably and independently rotate about the x axis or y axis via three operational modes without backlash.

A manipulator with two degrees of freedom and a surgical robot pivot a lower arm support under the driving of a second transmission structure so that a telescopic motion will be achieved with respect to a remote-center-of-motion (RCM); pivot a middle arm support under the driving of a first transmission structure and pivot an instrument assembly in the same way under the action of a first flexible member so that a pivoting motion will be achieved around the RCM. Therefore, the manipulator with two degrees of freedom is achieved.

A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along the first one of the limbs on a first side of a plane containing the second rotation axis and extending through that plane to the second side of that plane; and an intermediate linkage that meshes with the second drive shaft on the second side of the plane and that couples the second shaft gear to the second drive gear.

The present invention discloses a gravity balancing device for a rehabilitation robot arm, and belongs to the field of rehabilitation robots. The gravity balancing device includes a shoulder joint connecting member, an upper arm connecting member and a gravity balancing assembly; the shoulder joint connecting member and the upper arm connecting member are pivotally connected according to the human body bionic structure to simulate the rotational movement of the upper arm of the human body around the shoulder joint; the gravity balancing assembly includes a plurality of springs, wire ropes and guide pulleys, the wire ropes connect the springs to the shoulder joint connecting member and the upper arm connecting member, the spring tension is used to balance the gravity of the arm, and the guide pulleys are used to change the force directions of the wire ropes, thereby saving space and making the device structure more compact. Further, by locking different guide pulleys, the arm gravity can be still balanced by the spring tension after switching of the rehabilitation robot between the left and right hand training modes, thereby ensuring that the robot can still work normally after the training mode is switched.

A passive joint device for supporting a rotation-side member rotatably about a horizontal axis in a vertical direction with respect to a fixed-side member, includes: a cylindrical cam member having a pair of cam surfaces symmetrically arranged about a horizontal axis, a pedestal slidably disposed along the horizontal axis fixed to the rotation-side member, the pedestal having a pair of cam followers that contact with each of the pair of cam surfaces, a spring disposed inside the horizontal axis and biasing the pedestal toward the fixed-side member along the horizontal axis, wherein the spring force causes the pair of cam followers to come into contact with the pair of cam surfaces, and provide upward rotational force to the rotation-side member to reduce the downward rotational force of the rotation-side member.

The invention relates to a transmission, to a transmission housing, to a driving member mounted rotatably in the transmission housing, to an output member mounted rotatably in the transmission housing and to at least one speed-changing transmission stage which couples the output member to the driving member and has a torque-supporting member, wherein the driving member together with the output member and the torque-supporting member forms a preassembled assembly in which the torque-supporting member is mounted rotatably on the transmission housing by means of a transmission-stage rolling bearing device and has a toothing which is in engagement with a driving pinion mounted rotatably in the transmission housing. The invention also relates to an electric driving device and to an industrial robot having at least one such transmission.

Prosthetic devices and, more particularly, modular myoelectric prosthesis components and related methods, are described. In one embodiment, a hand for a prosthetic limb may comprise a rotor-motor; a transmission, comprising a differential roller screw; a linkage coupled to the transmission; and at least one finger coupled to the linkage. In one embodiment, a component part of a wrist of a prosthetic limb may comprise an exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission. In one embodiment, an elbow for a prosthetic limb may comprise an exterior-rotor motor, and a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw.