A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.

Improved actuator and retraction mechanisms for force feedback exoskeletons are described. An actuator assembly for a force-feedback exoskeleton comprising: a rotating body coupled to a tendon and to a spring, said spring configured to produce a torque on the rotating body; and a second body having a surface configured to apply a variable force to a surface of the rotating body by means of a membrane enclosing a volume fluidically coupled to at least one control valve and to a pressurized fluid source, wherein the volume enclosed by the membrane comprises: a first pressure state in which the rotating body contacts the second body; and a second pressure state in which the rotating body does not contact the second body.

An alignment device has a support base attached to a conveying device, and a mounting plate to which a gripping member is attached, and the mounting plate is transferably abutted on a fastening holder that is fixed to the support base. A movable ring fixed to the mounting plate has a sliding part that is transferably engaged with the fastening holder. A first holding mechanism arranged between the fastening holder and the mounting plate locks the mounting plate to the fastening holder. A second holding mechanism provided between the fastening holder and the movable ring cancels a first-direction force of the mounting plate.

A fluid activated continuous roll joint apparatus for use in various robotic applications. The continuous roll joint apparatus can include an outer housing, a plurality of collapsible hoses, and a rotor assembly. The outer housing can include a cylindrical inner cavity. The plurality of collapsible hoses can be disposed around a perimeter of at least a portion of the cylindrical inner cavity. The rotor assembly can include a plurality of rollers distributed radially around a rotor frame, where each roller of the plurality of rollers can be positioned to engage (pinch) a collapsible hose of the plurality of collapsible hoses. In an example, the continuous roll joint is activated when fluid is pumped through the plurality of collapsible hoses. Which rotates the rotor through inaction between the collapsible hoses and the rollers.

Improved actuator and retraction mechanisms for force feedback exoskeletons are described. An actuator assembly for a force-feedback exoskeleton comprising: a rotating body coupled to a tendon and to a spring, said spring configured to produce a torque on the rotating body; and a second body having a surface configured to apply a variable force to a surface of the rotating body by means of a membrane enclosing a volume fluidically coupled to at least one control valve and to a pressurized fluid source, wherein the volume enclosed by the membrane comprises: a first pressure state in which the rotating body contacts the second body; and a second pressure state in which the rotating body does not contact the second body.

A robotic joint has a first portion that includes a first actuator and a second actuator, a first spherical linkage having a first end mechanically coupled to the first actuator and a second end mechanically coupled to a second portion of the robotic joint, and a second spherical linkage having a third end mechanically coupled to the second actuator and a fourth end mechanically coupled to the second portion. The first and second spherical linkages are segments of a spherical shell. The first and second actuators are operable in combination to control movement of the second portion relative to the first portion with two degrees of freedom. Each actuator causes a first respective movement in the same direction as each other to control a flexion or an extension, and a second respective movement in opposite directions to each other to control an abduction or an adduction.

A robotic joint has a first portion that includes a first actuator and a second actuator, a first spherical linkage having a first end mechanically coupled to the first actuator and a second end mechanically coupled to a second portion of the robotic joint, and a second spherical linkage having a third end mechanically coupled to the second actuator and a fourth end mechanically coupled to the second portion. The first and second spherical linkages are segments of a spherical shell. The first and second actuators are operable in combination to control movement of the second portion relative to the first portion with two degrees of freedom. Each actuator causes a first respective movement in the same direction as each other to control a flexion or an extension, and a second respective movement in opposite directions to each other to control an abduction or an adduction.

A robotic joint has a first portion that includes a first actuator and a second actuator, a first spherical linkage having a first end mechanically coupled to the first actuator and a second end mechanically coupled to a second portion of the robotic joint, and a second spherical linkage having a third end mechanically coupled to the second actuator and a fourth end mechanically coupled to the second portion. The first and second spherical linkages are segments of a spherical shell. The first and second actuators are operable in combination to control movement of the second portion relative to the first portion with two degrees of freedom. Each actuator causes a first respective movement in the same direction as each other to control a flexion or an extension, and a second respective movement in opposite directions to each other to control an abduction or an adduction.

An in-pipe robot is provided with a rotary actuator 30 that rotates the drilling blade 21 in the circumferential direction of an existing pipe. A wheel body 50 provided with a traveling wheel 52 on both sides and a wheel body 70 provided with a traveling wheel 72 on both sides are supported between side frames 43 of a chassis via pins 54 and 74. The other ends of both the wheel bodies are rotatably coupled around an axle 63 of an intermediate wheel 65 as a pivot. When both the wheel bodies rotate, the intermediate wheels and the rotary actuator move above a horizontal line passing through the pin center. Each pin is disposed at the midpoint of a line connecting the center of the traveling wheel and the center of the intermediate wheel so that the rotation axis v1 of the rotary actuator coincides with the pipe center axis of the existing pipe.

A robotic joint system is provided that facilitates efficient movement of a ground-contacting robotic system, such as during a gait cycle. The robotic joint system can comprise a first support member, a second support member, and a joint assembly rotatably coupling the first support member to the second support member about an axis of rotation. The joint assembly can comprise a passive actuation system coupled between the first and second support members. The passive actuation system can comprise a passive actuator operable to store energy and to release energy to apply a torque to the joint assembly and the first and second support members, and a length adapter coupled to the passive actuator operable to selectively direct the output of the stored energy of the passive actuator.