A control system (10) according to the present invention includes a robot arm (11) provided in a manner capable of moving in a given space, a motor (14) for operating the robot arm (11), a torque adjustment device (16) for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor (14) to the robot arm (11), and a control device (19) for performing operation control of the robot arm (11). The robot arm (11) is provided with a gravity-compensating mechanism (12) for cancelling an effect of gravity due to the robot arm (11), and the control device (19) commands adjustment of the transmitted torque at the torque adjustment device (16), without taking into account the effect of the gravity of the robot arm (11).

An actuator (1) is described having a first part (4), a second part (2), and a body portion (3) between the first and second parts, wherein the body portion includes at least one chamber (14) configured to be pressurised and the body portion has a longitudinal axis; and a plurality of cables (6,7,8,9), wherein each of the plurality of cables is arranged in a respective at least partial spiral with respect to the longitudinal axis of the body portion (3); and wherein the plurality of cables are arranged such that the application of a selected force to at least one of the cables causes a desired movement of the first part relative to the second part.

Safety is one of the most important factors in the robot interaction with unknown and dynamic environments. Recent studies have shown that the use of compliant components as a solution to the safety issue, especially in the physical human-robot interaction. To overcome performance degradation caused by including compliant elements into the systems, variable stiffness approaches have been introduced at the cost of an extra actuator. A variable stiffness gripper is presented. Embodiments of the disclosed gripper may have, for example, with two parallel fingers (jaws). Compliance of the system may be generated by using magnets as the nonlinear springs. Based on the presented design, the position and stiffness level of the fingers can be adjusted simultaneously by changing the air gap between the magnets.

A power transmission system 10 includes: a variable torque limiter 16 configured to allow a torque limit value to be variable, the torque limit value being an upper limit value of transmitted power from an input unit 21 to an output unit 22; an input-side displacement sensor 17A configured to detect a displacement state of the input unit 21; an output-side displacement sensor 17B configured to detect a displacement state of the output unit 22; and a control device 19 configured to perform transmission control of the power based on detection results of the respective sensors. The control device 19 includes a safety measure control function 25, a teaching control function 26, and an operation control function 27. The safety measure control function 25 interrupts transmission of the power when the transmitted power exceeds the limit value. The teaching control function 26 interrupts transmission of the power in teaching.

In one embodiment, a mechanically over-damped actuator includes an output link comprising a lever and a torsion spring associated with the lever, wherein the lever has an initial equilibrium position and is pivotable about a pivot axis, wherein the spring opposes pivoting of the lever away from its initial equilibrium position such that the spring tends to return the lever to the equilibrium position.

The present disclosure provides a biologically-inspired robotic device comprising: a first member; a second member pivotably connected to the first member; one or more actuators; and a coupler/decoupler mechanism (CDC) selectively coupling or decoupling of the one or more actuators to the second member, such that, when the one or more actuators are coupled to the second member, the one or more actuators act to pivot the second member relative to the first member.

The invention relates to a device (10) for pivoting an arm (2) relative a joint (1). The device comprises at least one artificial tendon (20, 21) attached to a distal end (3) of the arm and a driving mechanism (30), the driving mechanism being connected to and adapted to pull the tendon and the distal end of the arm, and a method of operating the device.

A tensioning set comprises an output member. A magnetorheological fluid clutch apparatus is configured to receive a degree of actuation (DOA) and connected to the output member, the magnetorheological fluid clutch apparatus being actuatable to selectively transmit the received DOA through the output member by controlled slippage. A tensioning member is connected to the output member so as to be pulled by the output member upon actuation of the magnetorheological fluid clutch apparatus, a free end of the tensioning member adapted to exert a pulling action transmitted to an output when being pulled by the output member. The tensioning set, or a comparable compressing set, may be used in systems and robotic arms. A method for controlling movements of an output driven by the tensioning set or compressing set is also provided.

A humanoid robot foot (10) comprises: a foot base (12), at least one leaf spring (14) acting as a flexible toe of the foot, said at least one leaf spring (14) having a rear portion (14a) rigidly connected to a flat surface (12b) of the foot base (12), a front portion (14b) projecting from the foot base (12) and an intermediate portion (14c) which is not rigidly connected to the foot base (12) and is therefore freely deflectable, along with the front portion (14b), as a result of the application of an external force on the front portion (14b), and a stiffness adjustment device (26) for actively changing the stiffness (K) of said at least one leaf spring (14). The stiffness adjustment device (26) comprises a roller assembly (28), which is held in contact with the intermediate portion (14c) of said at least one leaf spring (14) and is movable relative to said at least one leaf spring (14) along a longitudinal axis (x) of said at least one leaf spring (14), and an actuation unit (34) arranged to move the roller assembly (28), and hence the point of contact (P) of the roller assembly (28) with said at least one leaf spring (14), thereby varying the length (l) of the cantilevered portion of said at least one leaf spring (14), and hence the stiffness (K) of said at least one leaf spring (14).

Disclosed is a transcranial magnetic stimulation treatment apparatus applicable to the technical field of medical devices, comprising a TMS coil, a support, a mechanical arm, a controller, and a positioning device. The positioning device detects the position of a human head and the TMS coil and sends positional information to the controller; the controller controls six driving mechanisms of the mechanical arm to rotate to a corresponding angle. Because the mechanical arm has six degrees of freedom, the TMS coil is capable of stimulating each cerebral region of the brain, and the positioning device is capable of detecting an accurate position of the human head, thereby controlling the mechanical arm to accurately position the TMS coil on the human head, and to reduce manual operation.