A roll joint is provided. The roll joint may comprise: a first body; a second body disposed opposite to and spaced apart from the first body; a connection body which is disposed between the first body and the second body and is not in contact with the first body and the second body; and a connection wire member which connects the first body, the second body, and the connection body to one another so as to make a tensegrity structure.

A robotic surgical instrument, comprising: a shaft; an end effector element; an articulation at a distal end of the shaft for articulating the end effector element, the articulation comprising a first joint permitting the end effector to adopt a range of configurations relative to the longitudinal axis of the shaft, the first joint being driveable by a first pair of driving elements; and an instrument interface at a proximal end of the shaft, comprising: a chassis formed from the securement of a first chassis portion to a second chassis portion, wherein the first pair of driving elements are secured relative to the chassis, the chassis portions being configured to be secured together by sliding the chassis portions relative to each other in a longitudinal direction parallel to the longitudinal axis of the shaft.

A robot joint device including first and second plates positioned in parallel, links each having a first end connected to the first plate and a second end connected to the second plate, connecting members configured to connect the two first and second ends of each of the links and the first and second plates, respectively, so that angles and rotations of the links are adjustable relative to the first and second plates, a rotary shaft having two ends penetrating the first and second plates and rotatably installed, a gear reduction unit installed in the first plate and connected to the first end of the rotary shaft, and a pulley connected to the second end of the rotary shaft and configured to transmit driving power to the rotary shaft may be provided.

An arm device comprising a universal joint, which universal joint comprises a first wrist joint, a second wrist joint and a first elbow joint wherein: each wrist joint comprises a first part, a second part and a slipring, which slipring comprises a rotor coupled to the first part and a stator coupled to the second part, which rotor is coaxially engageable with the stator and infinitely rotatable relative to the stator such that: the first part of the first wrist joint is infinitely rotatable relative to the second part of the first wrist joint about a first axis, and the first part of the second wrist joint is infinitely rotatable relative to the second part of the second wrist joint about a second axis; the first elbow joint comprises a first portion and a second portion, which first portion is rotatably engageable with the second portion about a third axis; the first wrist joint is coupled to the first elbow joint; and first elbow joint is coupled to the second wrist joint.

A floor reaction force to a foot of a legged mobile robot is detected with a suitable degree of accuracy, by use of a strain sensor having comparatively low sensitivity. The foot includes an upper frame connected to a movable leg, a lower frame which is disposed under the upper frame and contacts with a walking surface, a strain generating member which is connected to the upper frame and the lower frame at different positions from each other in top plan view and undergoes bending deformation according to a change in distance or inclination between the instep member and the sole member, and a plurality of strain sensors disposed at positions different from each other on the strain generating member.

A robotic device includes one or more actuators to position an end effector in a plurality of degrees of freedom. A navigation system tracks an actual position of the end effector. A controller identifies a condition wherein the actual position of the end effector contacts a virtual constraint. The controller determines that an anticipated movement of the end effector from an actual position to the home position would cause a collision between the end effector and a virtual constraint and computes a target position of the end effector that avoids the collision. The target position is spaced from the actual position and computed with respect to the virtual constraint. The one or more actuators are controlled to move the end effector from the actual position to target position along the virtual constraint.

A robot includes elbows connecting forearms rotatably to upper arms with two rotational degrees of freedom. The elbow includes: an elbow joint connecting the forearm and the upper arm with two rotational degrees of freedom; an elbow drive main link; an elbow drive auxiliary link; a forearm-side main link attaching unit attached with one end of the elbow drive main link with two rotational degrees of freedom, and provided in the forearm; an elbow-drive-main-link-side auxiliary link attaching unit attached with one end of the elbow drive auxiliary link with two rotational degrees of freedom, and provided on the elbow drive main link; and two linear actuators for moving two upper-arm-side link attaching units each attached with the other end of either the elbow drive main link or the elbow drive auxiliary link with two rotational degrees of freedom, and provided so as to be movable along the upper arm.

A first hollow part having a center axis coincident with a first axis of a wrist structure is formed in a forearm. A through passage, which communicates with the first hollow part is formed in a first wrist element. A second hollow part having a center axis coincident with a third axis is formed in a third wrist element. An umbilical member is inserted through the first hollow part, the through passage, and the second hollow part. A brake device is eliminated from at least one of a motor for a second wrist and a motor for a third wrist.

A wrist device includes a first element coupled to an arm to be rotatable about a fifth axis, and a second element coupled to the first element to be rotatable about a sixth axis. There is a fifth motor to rotationally drive the first element, and a sixth motor to rotationally drive the second element. A fifth transmission mechanism transmits a driving force of the fifth motor to the first element and a sixth transmission mechanism transmits a driving force of the sixth motor to the second element. The sixth transmission mechanism includes a first gear rotatably supported by the arm and a second gear rotatably supported by the first element and to mesh with the first gear, and reduces a rotation speed of a driving force in a component group including the first driving gear and components after the first driving gear.

Disclosed herein are systems and methods directed to an industrial robot that can perform mobile manipulation (e.g., dexterous mobile manipulation). A robotic arm may be capable of precise control when reaching into tight spaces, may be robust to impacts and collisions, and/or may limit the mass of the robotic arm to reduce the load on the battery and increase runtime. A robotic arm may include differently configured proximal joints and/or distal joints. Proximal joints may be designed to promote modularity and may include separate functional units, such as modular actuators, encoder, bearings, and/or clutches. Distal joints may be designed to promote integration and may include offset actuators to enable a through-bore for the internal routing of vacuum, power, and signal connections.