A parallel kinematic system comprises mutually distinguishable markings which are attached in a marking region to the parallel kinematic system. The marking region is a region of the kinematic system that moves along with the pose of the kinematic system. The markings can be attached in a direction at a distance that ensures that n markings are always fully visible in the direction, and the pose of the parallel kinematic system can be determined based on an image that is captured by the camera and contains at least n markings in the direction. The markings can be attached in a direction at a distance that ensures that n or more markings are fully visible in the direction, the markings are attached in different planes, and the pose of the parallel kinematic system can be determined based on an image that is captured by the camera and contains at least any n markings in the direction.

A charging infrastructure including a charging station (1) for charging a vehicle (10) having a vehicle-side charging interface (20). The charging station (1) includes a robot (50) that carries a robot-side charging interface (100) for establishing a charging connection with the vehicle-side charging interface (20). The robot (50) includes a base frame (51), a movable carrier (60) carrying the robot-side charging interface (100), and at least three displacement assemblies (71-76) between the base frame (51) and the movable carrier (60) that form a mechanism to move the movable carrier (60) with at least three degrees of freedom with respect to the base frame (51). The displacement assemblies (71-76) include an actuator (80) and a compliance assembly (90) in series with the actuator (80) and the robot-side charging interface for resiliently absorbing or releasing a displacement between the actuator and the robot-side charging interface over a compliance stroke or displacement angle.

The present invention provides an oscillation device and a method for controlling oscillation devices, wherein are provided: a plurality of telescopic devices capable of extending and retracting and arranged between a first member and a second member that are arranged so as to be opposed; a guide device, disposed between the first member and the second member, for following the operation of the telescopic devices; and, a control unit for controlling the operation of the telescopic devices and the guide device. The telescopic devices each have a telescopic unit and a drive source for supplying power to the telescopic unit. The guide device has a guide unit and a brake device for stopping the operation of the guide unit. The control unit controls the brake device according to the operating state of the telescopic unit.

The present disclosure discloses a five-degree-of-freedom hybrid robot with rotational supports. A first and a second fixed shaft seats are rotatably connected to a first and a second rotational support through a hinge, respectively. One end of a first length adjustment device runs through the first rotational support, and the other end is fixedly connected to a moving platform. One end of each of the second and third length adjustment devices runs through the first rotational support and is then connected to the moving platform, respectively. Middle portions of the first, second and third length adjustment devices are each hinged onto the first rotational support. One end of a fourth length adjustment device runs through the second rotational support and is connected to the moving platform. Middle portion of the fourth length adjustment device is hinged onto the second rotational support.

Provided are an oscillating apparatus and a control method for an oscillating apparatus, wherein in the oscillating apparatus in which a plurality or expansion/contraction devices are disposed between a first member and a second member that are disposed to face eacrh other, each expansion/contraction device comprises a first expansion/contraction part that is expandable and contractible between the first member and the second member, a second expansion/contraction part that is expandable and contractible between the first member and the second member, and a common driving source that supplies power to the first expansion/contraction part and the second expansion/contraction part.

The invention relates to the improvement of exoskeletons and masters thereof and to their use in teleoperative applications in virtual worlds or the real world. Non-actuated exoskeletons can be used to transfer loads from the user, for example, heavy luggage, tools or also the body weight of the user, to the ground and to relieve the joint and muscle system of the user. This can increase the endurance and also effective strength of the user. Motor-driven, actuated exoskeletons can be used in different fields. They can be worn as a freely moveable robotic suit which comprises a built-in energy supply and electronic control. They can also be used to improve the force and endurance of a user whilst the user moves in an unlimited environment. Another use of the fixed exoskeleton is in the field of interaction with virtual worlds or for controlling real robots. In this instance, an exoskeleton can be used to establish a teleoperative connection between the user and the master (virtual avatar or real robot). The user users the exoskeleton to directly transfer control commands to the master. The elements of the user and the master then practically carry out the same movements synchronously. The aim of the invention is to improve exoskeletons and masters of the mentioned type and the associated control units. This can, in particular, be achieved by a favorable realization of rotational axes which define rotational movements of different elements which to a large extent perform a hip movement.

The invention relates to a charging infrastructure comprising a charging station (1) for charging a vehicle (10) having a vehicle-side charging interface (20), wherein the charging station (1) comprises a robot (50) that carries a robot-side charging interface (100) for establishing a charging connection with the vehicle-side charging interface (20), wherein the robot comprises a base frame (51), a movable carrier (60) carrying the robot-side charging interface, and at least three displacement assemblies (71-76) between the base frame and the movable carrier that form a mechanism to move the movable carrier with at least three degrees of freedom with respect to the base frame, wherein the displacement assemblies comprise an actuator (80) and a compliance assembly (90) in series with an actuator and the robot-side charging interface for resiliently absorbing or releasing a displacement between the actuator and the robot-side charging interface over a compliance stroke or angle.

A powered base assembly includes first and second structures that are operably interconnected by at least three legs that can include electrically-powered linear actuators. Each electrically powered actuator includes a housing and a rod associated with the housing. Each rod is connected to one of the first and second structures by a swivel joint having two degrees of freedom, and each housing is connected to the other of the first and second structure by a swivel joint having one degree of freedom. The linear actuators can be actuated to thereby change at least one of an angular position of the first structure relative to the second structure and a distance of the first structure, relative to the second structure. In this way, the base assembly may be used for leveling or moving a payload placed on the first structure; the payload weight is transferred linearly through the legs to the second structure. The configuration of the legs and the second structure enable to the second structure to be placed on a surface to support the base assembly while minimizing the bending moment on the second structure.

A surgical robotic arm includes a presurgical positioning assembly, a telecentric manipulating assembly and an executing assembly; the telecentric manipulating assembly includes a static platform, a first movable platform and a plurality of first telescopic elements disposed between the static platform and the first movable platform; the executing assembly has a preset telecentric fixed point; the plurality of first telescopic elements are capable of moving the first movable platform; a swing center of the executing assembly is the telecentric fixed point.

A parallel kinematic system comprises mutually distinguishable markings which are attached in a marking region to the parallel kinematic system. The marking region is a region of the kinematic system that moves along with the pose of the kinematic system. The markings can be attached in a direction at a distance that ensures that n markings are always fully visible in the direction, and the pose of the parallel kinematic system can be determined based on an image that is captured by the camera and contains at least n markings in the direction. The markings can be attached in a direction at a distance that ensures that n or more markings are fully visible in the direction, the markings are attached in different planes, and the pose of the parallel kinematic system can be determined based on an image that is captured by the camera and contains at least any n markings in the direction.