The invention relates to an improved robotic arm apparatus and associated method which improves a robot configured in a delta arrangement. The robotic arm apparatus is arranged with three substantially identical movable arm assemblies connected together with three linear actuators in a triangular configuration such that each end of each linear actuator has at least one translational degree of freedom.

A robotic apparatus including a plurality of rigid body sections that move relative to each other by one or more multi-degree of freedom joints. The robotic apparatus can traverse a fixed frame by attaching its distal ends to the frame and moving the rigid body sections relative to each other.

A lab automation robot is provided including a stationary base, a swiveling tower rotatably mounted to the stationary base about a first vertical axis, an arm vertically translatably mounted to the tower, an articulating forearm coupled to the arm at an elbow joint and pivotal relative thereto about a second vertical axis, and a wrist assembly including a multi-axis gripper operatively coupled to the forearm at a wrist joint and rotatable relative thereto about a third vertical axis. The gripper is further rotatable relative to at least the forearm about a first horizontal axis and about a second horizontal axis.

Systems and methods for identifying surgery tools of a robotic surgery system in surgery video based on robot kinematics are described. Kinematic data describing a position of a first robotic surgery arm including a surgery tool is used to determine a nominal position of the first robotic surgery arm. A search area within image data obtained during a robotic surgery from an endoscope attached to a second robotic surgery arm is determined based on the kinematic data and a nominal position of the surgery tool. The surgery tool is identified within the search area of the image data using an object detection technique.

Mechanisms or apparatus convert a number of inputs via a number of input members into a number of output movements of an output structure, providing control in three degrees-of-freedom (DOF), for example control over roll, pitch and yaw of the output structure. Inputs may be rotations about a common axis of rotation, for example via a first ring, a second ring, and one or more plates, concentrically array. Rotation of the first ring may control a first DOF, rotation of the first ring may control a second DOF, and rotation of the plate may control all three DOF. Three concentrically arrayed tubular shafts may be employed, providing a through-passage or cable fluid conduit run to accommodate wires, optical fibers, fluid carrying conduits. Such may be particularly advantageous when employed as part of a robot, or other device with a tool or sensor or transducer located at or proximate a distal end thereof.

A first transmission path includes a joint rotation member (13A) provided in a joint (J1) of an arm (Ar) and rotatable around a first axial line (Ax1), and a connection shaft portion (14A) that transmits rotation of an electric motor (11A) to the joint rotation member (13A). A second transmission path includes a joint gear (13B) provided in the joint (J1) of the arm (Ar) and rotatable around the first axial line (Ax1), and a connection shaft portion (14B) that transmits rotation of another electric motor (11B) to the joint gear (13B). Both of the connection shaft portion (14A) and the connection shaft portion (14B) are rotatable around the first axial line (Ax1), and the connection shaft portion (14B) is disposed on the inner side of the connection shaft portion (14A). The joint gear (13B) is kept in engagement with a joint gear (15B) rotatable around a second axial line (Ax2) intersecting with the first axial line (Ax1). According to this structure, two movements of the arm (Ar) are permitted, and besides the exercise performance of the arm (Ar) can be improved.

A support arm device includes a first drive part that is fixed to a base part and cause a first drive shaft to perform shaft rotation, a second drive part that is fixed to the base part and cause a second drive shaft to perform shaft rotation, and an arm part including at least one parallel link and that supports a predetermined tool. The arm part is caused to change an attitude to cause the predetermined tool to perform a predetermined rotational motion by the first drive part and the second drive part being driven.

A method for operating a hand-held spray device, wherein in a first step a target orientation of the spray nozzle relative to the operator control unit is defined, and wherein during operation a rotation of the spray device, brought about by manual movement of the spray, through a z swinging angle, about a z axis which is orthogonal with respect to the longitudinal axis and/or through a y swinging angle about a y axis which is orthogonal with respect to the longitudinal axis and orthogonal with respect to the z axis, by a single sensor and wherein the z swinging angle and/or the y swinging angle engage as interference variables in a closed-loop control circuit and make available closed-loop control variables in such a way that the spray nozzle retains its target orientation by means of closed-loop control of the swinging mechanism.

A robot apparatus may include a first arm assembly configured to rotate about a first rotational axis. The first arm assembly may include a first end effector and a second end effector spaced by a first end effector pitch. A second arm assembly may be configured to rotate about the first rotational axis. The second arm assembly may include a third end effector and a fourth end effector spaced by a second end effector pitch, wherein the second end effector pitch is different than the first end effector pitch. Other apparatus, electronic device processing systems, and methods are disclosed.

The invention concerns an exoskeleton structure (1) comprising:a back assembly (2) intended to be attached on the back of a user,an arm assembly (3) intended to be attached to an arm of the user,a shoulder connection device (4) connecting the back assembly (2) to the arm assembly (3), the shoulder connection device (4) comprising a first pivot (10), a second pivot (12) and a third pivot (14), allowing a rotation of the arm assembly (3) with respect to the back assembly (2) about a first axis of rotation (X1), a second axis of rotation (X2) and a third axis of rotation (X3), wherein the second pivot (12) is designed such that the second axis of rotation (X2) forms a non-zero angle with an abduction/adduction axis of the shoulder of the user and a non-zero angle with a flexion/extension axis of the shoulder of the user when the user is standing with arms relaxed along the body.