A medical apparatus for performing electroacupuncture for treatment of traumatic brain injury and cerebral thrombosis is disclosed. The device comprising a 6-DOF (Degree of freedom) Robotic arm, a multi-functional tool tip, an acupuncture friendly MRI helmet and a Magnetic resonance imaging (MRI). The Acupuncture Robot is able to operate with certain needles automatically by inserting a needle, turning, or shaking in certain frequency ranges and apply electrical stimulation to enhance the effects.

A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.

Apparatus and methods for adaptively retooling robots include programmable adapters for detachably connecting at least one robotic peripheral to a robot, providing peripheral information associated with the robotic peripheral, and causing the robot to adaptively reconfigure based on the peripheral information.

An interchangeable tool including a finger of a shape suitable for various components is mechanically detachably mounted to a robot arm. This eliminates the need for seeking the origin of the actuator for each interchange. By interchanging fingers themselves, the entire end effector can be reduced in size and weight.

Provided is an attaching/detaching structure that operates reliably with simple operation. The attaching/detaching structure attaches/detaches a second connecting member (4) to/from a first connecting member (3). An operation chamber (8) formed in a base member (5) of the second connecting member (4) is connected to the outside of the base member (5) via an insertion hole (7) opened to a seating surface (6) of the first connecting member (3). Two clamp arms (10) and (11) are provided in the operation chamber (8) so as to be symmetrical around an axial center of the operation chamber (8). An engaging portion (16, 17) is formed at one end (10b, 11b) in longitudinal direction of each of the clamp arms (10, 11). An engaging member (32) protruding from the second connecting member (4) can be inserted into the insertion hole (7). A lock portion (34) in which the engaging portions (16, 17) can be engaged is formed in the engaging member (32).

A robot hand includes: a first movable member including a first pushing surface pushed against a first surface of a workpiece and a second pushing surface pushed against a second surface of the workpiece, intersecting the first surface, supported in a manner capable of moving in a first direction perpendicular to the first pushing surface, a second movable member supported by the first movable member in a manner capable of relatively moving in a second direction intersecting a movement direction of the first movable member, a third pushing surface pushed against a third surface facing the second surface, an actuator for pressing the first and the second movable members in the first direction, and a pressing force conversion mechanism converting a part of the pressing force generated by the actuator into a pressing force in a direction of moving the second movable member relative to the first movable member.

A robot hand includes: a first movable member including a first pushing surface pushed against a first surface of a workpiece and a second pushing surface pushed against a second surface of the workpiece, intersecting the first surface, supported in a manner capable of moving in a first direction perpendicular to the first pushing surface, a second movable member supported by the first movable member in a manner capable of relatively moving in a second direction intersecting a movement direction of the first movable member, a third pushing surface pushed against a third surface facing the second surface, an actuator for pressing the first and the second movable members in the first direction, and a pressing force conversion mechanism converting a part of the pressing force generated by the actuator into a pressing force in a direction of moving the second movable member relative to the first movable member.

This electric apparatus mounting device includes: a robot side contact jig which is provided to an end effector mounted to an arm of a robot and which has a robot side contact; and an electric apparatus side contact jig which is detachably provided to an electric apparatus and which has an electric apparatus side contact electrically connected with the electric apparatus. The robot side contact jig and the electric apparatus side contact jig are configured such that the robot side contact and the electric apparatus side contact are in a connection state in a state that the electric apparatus is held by the end effector. Thus, a work for conveying and mounting an electric apparatus such as a motor to a given position using a robot can be performed without hindrance.

A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.

The system comprising containment equipment is intended for the aseptic transfer of a powder, namely for emptying a container filled with powder into a collection container and/or for filling a container with powder from a storage container. The containment equipment has a working chamber surrounded by a housing. A robot is installed in the containment equipment, having an arm arrangement that moves over a pivot range. If there is a collection container it has an inlet leading from the working chamber, and if there is a storage container it has an outlet leading off into the working chamber. The container can be closed at least with a first closure element. A transfer head is mounted at the inlet into the collection container and/or at the outlet of the storage container, each protruding into the working chamber. The passive part forms the double flap together with an active part contained in the transfer head.