A system and method for a planar positioning system for an output member, the system having a pair of x-coordinate linear carriages and a pair of y-coordinate linear carriages. The system has a guide mechanism for the pair of x-coordinate linear carriages and the pair of y-coordinate linear carriages. The system has a plurality of movement and constraining cables extending from the pair of x-coordinate linear carriages and the pair of y-coordinate linear carriages to the output member for driving the output, wherein the pair of x-coordinate linear carriages and the output member move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member move in sync in the y-direction. A restraint mechanism restrains the output member in an additional degree of freedom besides the x- and y-directions. The restraint can be a cable uptake and release device.

A mounting apparatus incorporates a dedicated physical feature configured for attachment of a tensioning tool, for tensioning of a drive belt having one of its belt pulleys carried by the mounting apparatus. In an example embodiment, the mounting apparatus comprises a body member, e.g., a mounting plate, for a pulley assembly. The body member incorporates a dedicated physical feature that is configured for engagement with a tensioning tool, for pulling the body member in a tensioning direction relative to the involved belt. The mounting apparatus comprises, for an example, an interior component of a robot, and is mounted within an interior volume of a segment of the robot, for tensioning of a drive belt carried within the interior volume.

A robotic hand includes a baseplate, a finger having multiple phalanges that are rotatably coupled to one another, a first of the phalanges having a first end rotatably coupled to the baseplate and a second end and a second of the phalanges rotatably coupled to the second end about an axis of rotation, an actuating mechanism mounted on the baseplate, the actuating mechanism configured to actuate rotation of the plurality of phalanges, and a tendon having opposite ends that are respectively attached to the second of the phalanges and the baseplate. The second of the phalanges has an engagement portion arranged around the axis of rotation, and the tendon is wrapped around a portion of the engagement portion to generate a force acting on the second end of the first of the phalanges, causing the first of the phalanges to rotate from a flexed state to an extended state.

A power transmission system for driving a robot joint includes a driving part including a first driving unit and a second driving unit, a first force transmission part including a first sheath formed to have a predetermined length, flexibility, and a hollow shape and a first wire which is inserted into the first sheath and of which one end is fixed to a joint of a robot and the other end is connected to the first driving unit, and a second force transmission part including a second sheath formed to have a predetermined length, flexibility, and a hollow shape and a second wire which is inserted into the second sheath and of which one end is fixed to the joint of the robot and the other end is connected to the second driving unit.

Embodiments relate to a wearable robot hand device removable from a hand structure, including: at least one of first and second exglove modules as one or more exglove modules attached to the hand structure, the first exglove module being attached to a surface of the hand structure and the second exglove module being attached onto a exglove of the first exglove module.

Implementations relate to a counterbalance mechanism including a force transformation mechanism that provides a drive ratio. In some implementations, a counterbalance apparatus includes a spring, a first tension element, a second tension element, a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, and a plurality of counterbalance pulleys coupled to the second tension element. At least one of the counterbalance pulleys is coupled to a load that is moveable with reference to a mechanical ground, and a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element. The force transformation mechanism includes a plurality of elements and the modification of the force is based on a drive ratio of the elements of the force transformation mechanism.

An end-effector may include a base, a plurality of underactuated fingers coupled to the base; and an adhesion gripper coupled to the base. An end-effector may include a base, an actuator, a first underactuated finger comprising a proximal link and a distal link, the proximal link including a distal end, a guide for a first tendon spaced a first distance away from the distal end of the proximal link and the distal link including a lever arm disposed on a proximal side to the distal pad and which extends in a volar direction from a first axis, and a node disposed on the lever arm sized and shaped to receive a first tendon. The end-effector may include a first revolute joint compliant in a first direction disposed between the base and the proximal link; and a second revolute joint compliant in the first direction disposed between the proximal link and the distal link.

A capacitive sensor for characterizing force or torque includes a first plurality of non-patterned conductive regions and a first plurality of patterned conductive regions, and a second plurality of non-patterned conductive regions and a second plurality of patterned conductive regions. The first and second pluralities of non-patterned conductive regions are facing and the first and second pluralities of patterned conductive regions are facing.

In one variation, a pulley arrangement includes a base pulley portion rotatable within a driving plane, an adjustable pulley portion coupled to the base pulley portion wherein the adjustable pulley portion is rotatable relative to the base pulley portion within the driving plane, and a driving member including an end coupled to the adjustable pulley portion wherein at least a portion of the driving member is wrapped at least partially around the adjustable pulley portion. In another variation, a pulley arrangement includes a base pulley portion rotatable around an axis, an adjustable pulley portion coupled to the base pulley portion and movable in a first direction parallel to the axis, and a sliding block engaged with the adjustable pulley portion, wherein the sliding block moves in a second direction different from the first direction, in response to compression of the adjustable pulley portion against the base pulley portion.

A theta robot with integrated preload system in one embodiment includes a cable-operated drive mechanism including a rotatable pulley drum, motor drive operably coupled to the drum by drive cable, and follower piston cylinder operably coupled to the drum by a follower cable. The piston cylinder may be under vacuum and operably applies a tensile load and resistance on the pulley drum via the follower cable which eliminates clearance between meshed driving and driven components of the drive mechanism. When the motor drive feeds out drive cable, the pulley drum rotates in a first rotational direction, and when the motor drive retracts drive cable, the pulley drum rotates in an opposite second rotational direction. The vacuum piston cylinder operates to keep the drive cable in a taut condition when the motor drive feeds out the drive cable. The theta robot has broad applicability to numerous workpiece fabrication processes including semiconductors.