An arm rest apparatus, according to one embodiment, may comprise: a fixed part fixed to an external object; a horizontal movement module having one end rotatably connected to the fixed part and the other end having two-translational-degree-of-freedom movement with respect to the fixed part; and an arm support module installed to have two rotational degrees of freedom with respect to the other end of the horizontal movement module.

A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and a second kinematic chain from the second actuator to the end-effector platform, which gives a second degree of freedom for positioning the end-effector platform. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28). The fourth kinematic chain comprises an orientation linkage (52, 57, 59; 202, 204, 207, 209; 284, 286; 251, 256, 258) mounted to the inner arm-assemblage via at least one bearing (53, 55; 206), and an orientation transmission (64B, 64A, 216; 64C, 64D, 64E; 100, 64A; 281, 279, 275; 260, 262, 264, 266, 271, 270) mounted to the end-effector platform, wherein the orientation linkage comprises an end-effector rotation link (59; 209; 258; 281) and joints (58, 60; 208, 210; 257, 259; 257, 259; 282, 280) that provide at least two degrees of freedom for each end joint of the end-effector rotation link.

An arm-type support device includes a first frame, a second frame, a first arm member, a second arm member, and an actuator. The actuator includes a driving unit, an actuating rod, and a link member. The first arm member, the second arm member, the first frame, and the second frame form a parallel link. The first arm member is hollow and accommodates the actuator and the second arm member.

A device for moving a working tool including a support structure provided with a first and a second rectilinear guide, a first and a second support trolley, a first and a second support arm joined to each other and compass-articulated and pivoted respectively on the first and second trolley. The first support arm includes a first element and a second element that are parallel to each other and of equal length, each having a first end rotatably hinged on a respective first and second part projecting from the first trolley and a second end rotatably hinged on connecting brackets between the second ends, in such a way that the connection axis between the first ends and the connection axis of the second ends are parallel to the aforementioned longitudinal axis in any working condition.

A mechanical finger has a base adapted to be connected to an actuator for being displaced in at least one degree of actuation, and has two or more phalanges. A first phalanx is rotationally connected at a proximal end to the base, and a second phalanx is rotationally connected at a proximal end to a distal end of the first phalanx. A transmission linkage providing at least one rotational degree of freedom (DOF) between the base and a distal-most one of the phalanges. Passive rotational DOF joints are between the phalanges, between the base and the first phalanx, and in the transmission linkage, whereby the mechanical finger has a passive state of actuation in which the base, the at least two phalanges and the transmission linkage remain in a constant orientation relative to one another through displacement of the base caused by the actuator absent a contact of one of the phalanges with an object, and a grasping state of actuation in which a contact of at least one of the phalanges with an object causes a variation of the orientation of at least one of the phalanges relative to the base through displacement of the base caused by the actuator.

An embodiment of the present disclosure provides a manipulator for a finishing work, including: a base; an arm comprising a plurality of links, a plurality of joints connecting the plurality of links, and a plurality of actuators generating rotation of at least some of the plurality of joints; and a processor determining a driving torque of each of the plurality of actuators considering a self-weight effect of the manipulator and controlling the plurality of actuators based on the determined driving torque.

A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element.

An apparatus comprises a main arm having links extending from a ground end to an effector end and allowing movement of the effector end from a first position to a second position, the links including at least a base link adapted to be pivotally connected to a base, and a spacing link pivotally mounted to a free end of the base link and extending to the effector end. A first 4-bar parallelogram has pivot joints at its corners and including the base link of the main arm. A second 4-bar parallelogram has pivot joints at its corners and including the spacing link of the main arm and an effector link at the effector end adapted to support an object. A serial interconnection is between the first 4-bar parallelogram and the second 4-bar parallelogram constraining the effector link to maintaining a constant orientation in at least two rotational degrees of freedom relative to the base.

The invention relates to a curved spherical scissors linkage mechanism (1) comprising at least four linkage elements (2) each having a first end (3) and a second end (4); the linkage elements are arranged to form sides of one rhombus or parallelogram, or a series, such as a network, of joined rhombi or parallelograms. Each of the linkage elements is rotationally connected to one of the other linkage elements via a revolute joint (5) at or near the first end and is rotationally connected to another one of the other linkage elements via another revolute joint at or near the second end. The linkage elements are shaped, dimensioned and arranged so that the axes of all the revolute joints coincide at one common remote centre of motion (RCM). Furthermore, the mechanism is grounded or connected or connectable to a first external member (7) at a proximal end and is rotationally connected or connectable to a second external member (9) at an opposite distal end. Hereby a spherical linkage mechanism with three DOFs is obtained. The spherical scissors linkage mechanism may further comprise a motion controlling mechanism at the proximal and/or at the distal end. It further comprises actuator means as control means.

A catching mechanism includes an end effector and a return mechanism coupled to the end effector. The catching mechanism has a defined field of motion that permits the end effector to move in at least one dimension. The return mechanism is configured to return the catching mechanism to a predetermined starting position in which the catching mechanism is not being moved by a force away from the predetermined starting position.