A method for operating a vacuum handling apparatus, in particular for a human-machine-collaboration system, a vacuum gripper can be connected to a primary vacuum system to generate a vacuum, the method includes the following steps applying the vacuum gripper to a workpiece and building up a vacuum in the vacuum gripper by means of the primary vacuum system; holding the workpiece during its handling by means of the vacuum prevailing in the vacuum gripper, and monitoring at least one state variable during the handling; and generating an auxiliary vacuum in the vacuum gripper by a self-sufficient, secondary auxiliary vacuum system if the monitored state variable deviates from a target state.

A robot skin apparatus includes polymer membranes encapsulating a pressure sensor. The sensor includes piezo-sensitive material in contact with a pair of electrodes in spaced relationship to form a circuit. The apparatus may include a flexible substrate, with the electrodes thereon. The piezo-sensitive material may be piezoresistive film. The electrodes may be symmetrically patterned on the substrate to form a substantially circular peripheral boundary. The apparatus may include pressure sensors on opposite sides of a plane for temperature compensation, a plurality of pressure sensors arrayed on the substrate, and a data acquisition system. A method of fabricating the apparatus includes a wet lithography process for patterning the piezoresistive film. A system includes a pair of gripper fingers, an actuator connected to the fingers, a robot skin apparatus positioned on one of the fingers, and an electronic unit for receiving data from the robot skin and controlling the fingers.

A tool changer device for a robotic arm comprising a robot adapter (1) particularly adapted to be connected to a robotic arm (5) and to a tool (6). The robot adapter (1) comprises a pneumatic cylinder (117) inside which a piston (116) is slidably arranged for activating a coupling and uncoupling mechanism (120) of the robotic arm (5) to the tool (6). On one of the walls of the robot adapter (1) at least four through conduits (24, 25, 26, 27) are arranged, one end of which opens into the pneumatic cylinder (117) and another end of which opens outside of the pneumatic cylinder (117). The device further comprises a first differential pressure sensor (18) connected to at least two of the through conduits (24, 25), and a second differential pressure sensor (19) connected to another two of the through conduits (26, 27).

A method for operating a vacuum handling apparatus, in particular for a human-machine-collaboration system, a vacuum gripper can be connected to a primary vacuum system to generate a vacuum, the method includes the following steps applying the vacuum gripper to a workpiece and building up a vacuum in the vacuum gripper by means of the primary vacuum system; holding the workpiece during its handling by means of the vacuum prevailing in the vacuum gripper, and monitoring at least one state variable during the handling; and generating an auxiliary vacuum in the vacuum gripper by a self-sufficient, secondary auxiliary vacuum system if the monitored state variable deviates from a target state.

Provided is a robot system with improved safety and workability. A robot system includes: a movable machine control part, controlling operation of a movable mechanical part operating in a first mode and a second mode; a teaching content registration part, registering teaching content input by applying an operating force to the movable mechanical part; a first sensor, monitoring a first monitoring area set around the movable mechanical part; and an operating mode switch part, switching between a first mode in which the operation of the movable mechanical part is decelerated or stopped when intrusion of an object into the first monitoring area is detected and a second mode in which the teaching content can be accepted and executed while contact of a user with the movable mechanical part is being detected.

A computer controlled robot system for positioning a patient for radiation therapy or other medical procedures and the like. The robot is mounted at the top of a vertical shaft extending from the treatment room floor and includes horizontal arms arranged to maximize the available work envelope and eliminate dead spots in the envelope that the robot cannot reach. A double redundant coupling system for coupling devices to the robot is provided. A vision based docking system is employed for automatically coupling devices to the robot. Various enhanced safety features are provided, including device specific collision avoidance.

This invention relates to a method for detecting faults in the operating states of a surgical robotic system, wherein the surgical robotic system including a master computer, a master embedded computer and a plurality of slave embedded computers is provided; the master computer controls the master embedded computer and the slave embedded computers via the LAN router; the master embedded computer communicates with the slave embedded computers via the LAN router and a first communication bus. In the present invention, the master computer, the master embedded computer and the slave embedded computers can detect faults interactively. Safety and reliability of the operation of the surgical robotic system can be improved without increasing any additional detection components, and communication burden of the system can be effectively reduced. The present invention can be widely applied to a minimally invasive surgical robotic system.

A control device for controlling a robot that performs a task has an independent mode that causes the robot to work separately and a collaborative mode that causes the robot to work in collaboration with a worker. The control device causes the robot to operate in the independent mode or the collaborative mode. The control device is configured to determine whether a first predetermined condition is satisfied, based on a position of the worker, and to switch from the independent mode to the collaborative mode when the first predetermined condition is satisfied during the independent mode. The control device is configured to determine whether a second predetermined condition is satisfied, based on the position of the worker, and to switch from the collaborative mode to the independent mode when the second predetermined condition is satisfied during the collaborative mode.

An electronic circuit for a surgical robotic system includes a central power node, a first voltage bus that electrically couples a first power source to the node, a second voltage bus that electrically couples a second power source to the node, and several robotic arms, each arm is electrically coupled to the node via an output circuit breaker and is arranged to draw power from the node. Each bus is arranged to provide power from a respective power source to the node and each bus has an input circuit breaker that is arranged to limit a first output current flow from the node and into the bus. Each breaker that is arranged to limit a second output current flow from the node and into a respective arm. A breaker is arranged to open in response to a fault occurring within the respective arm, while the other breakers remain closed.

A multi-axis manipulator in the form of a robotic arm includes a safety disc (41) and safety collar (42) at one or more of the pivoting joints (14, 17, 19, 21, 23) thereof. The disc and collar define a small running clearance in normal use, but make contact in the event of excessive wear or failure of the rotary bearing at the respective joint. An inspection window (48) permits the running clearance to be checked, and the collar may comprise a caliper brake.