A robot includes: a first member; a second member that is rotationally driven around a first axis with respect to the first member; a third member that is rotationally driven around a second axis with respect to the second member, the second axis being located at an interval from the first axis; a single axis torque detection unit that detects only at least one of torque around the first axis and torque around the second axis; and a force sensor that is provided between the first member and a surface to be installed, or in the first member, the second member or the third member, and is capable of detecting force in a direction intersecting with both the first axis and the second axis.

A method of controlling a robotic arm in a surgical system comprises manually applying a force to a body of the robotic arm. Force information is received from ae force sensor on the robotic arm and a controller determines, using the force information, whether the force is a gesture force input. If the force is determined to be a gesture force input, the controller initiates electromechanical movement of the manipulator arm to a draping configuration, instrument attachment configuration, storage configuration, or home configuration.

The robot includes a first arm member rotatable about a first axis line which extends in an up-and-down direction with respect to a base member, a second arm member supported by the first arm member so as to be swingable about a second axis line which extends in a horizontal direction, and a third arm member supported by a distal end side of the second arm member so as to be swingable about a third axis line which extends in a horizontal direction, and the first arm member is provided with a first attaching surface which is a surface substantially perpendicular to the second axis line, and to which the second arm member can be attached, and a second attaching surface which faces in a direction opposite from the first attaching surface, and to which the second arm member can be attached.

A joint structure of a manipulator includes: swiveling members that are coupled so as to be able to swivel via a rolling contact; shafts that constitute bending joints between the swiveling members and that are parallel to each other; pulleys that are rotatably supported about the shafts; and a connector attached to the shafts so as to be able to swivel about longitudinal axes of the shafts. The connector includes supports that are disposed on axial ends of the shafts so as to sandwich the pulleys therebetween in a direction of the longitudinal axis, and a beam that extends in between the supports to couple the supports to each other.

In one aspect, a translational parallel manipulator is provided and includes a fixed platform including three guide members. The three guide members include first ends and second ends, and the first ends of the three guide members are all coupled to each other and the second ends of the three guide members are all spaced-apart from each other. The manipulator also includes a movable platform spaced-apart from the fixed platform and three serial subchains coupled between the three guide members and the movable platform. In one aspect, a translational parallel manipulator is provided and includes a fixed platform, a movable platform spaced-apart from the fixed platform, and a plurality of subchains coupled between the fixed platform and the movable platform. At least one of the plurality of subchains includes no more than four one degree-of-freedom joints.

Medical instrument (60, 160, 260, 360) comprising at least one first, second and third joint member (71, 72, 73), at least two pairs of tendons (90, 190, 191, 192) connected with the same joint member and adapted to move said third member (73) with respect to said second member (72), pulling it; and wherein each of said joint member (71, 72, 73) comprises a main structural body comprising in a single piece one or more convex contact surfaces (40, 80, 86, 140, 180), all said convex contact surfaces (40, 80, 86, 140, 180) defining with their prolongations thereof at least partially a single convex volume for each joint member; and wherein the main portion of each tendon is in contact with said jointed device (70, 170, 270) only on said convex contact surfaces; and wherein at least two tendons of said at least two pairs of tendons (90, 190, 191, 192) are in contact with a same convex contact surface.

An assembly of links and motorized joint unit of a mechanism comprises one or more pairs of links, each said link having a tubular body, at least one end of each of the tubular body being an open end having at least one connector. A motorized joint unit has a first portion received in the open end of the tubular body of a first of the links, the motorized joint unit secured to the at least one connector of the first of the links, a second portion rotatable relative to the first portion by actuation of the motorized joint unit, the second portion received in the open end of the tubular body of a second of the links, the motorized joint unit secured to the at least one connector of the second of the links. A protective sleeve has a tubular body rotatably mounted over the at least one connector of each of the first and the second link, the protective sleeve concealing the connectors and a joint between the pair of links.

A robotic arm comprising an operation end, a base, a sensor unit and a control unit is provided. The operation end is connected to the base, and the operation end is configured to reach an operational area. The sensor unit provides a sensor signal according to the force applied by or the motion of an operator. When the operation end reaches the operational area, the control unit sets a fixed position on the robotic arm between the base and the operation end. When the sensor signal from the operator fulfills a default condition, the control unit moves the robotic arm away from the operator, without moving the fixed position on the robotic arm.

A robot arm includes a distal end unit having a gripping part and a first supporting part that supports the gripping part, a first drive unit that, with an axis along a direction in which the gripping part and the first supporting part are arranged as a first axis, pivots the gripping part about a first pivot axis along the first axis relative to the first supporting part, a second supporting part that supports the first supporting part, and a second drive unit that, with an axis orthogonal to the first axis as a second axis, pivots the distal end unit about a second pivot axis along the second axis relative to the second supporting part, wherein the first drive unit includes a piezoelectric motor, and the second pivot axis crosses the distal end unit.

The present application relates to the technical field of robot joints, and discloses a robot dual-joint unit, and a legged robot and a cooperative manipulator using the same. The robot dual-joint unit includes a first joint consisting of a first motor and reducer assembly, a second joint consisting of a second motor assembly and a second reducer; a first output connecting rod is fixedly provided on an output shaft of the first motor and reducer assembly, the second reducer is provided in the first output connecting rod, and the second motor assembly drives the second reducer through a transmission rod. In the present application, a fixed end of the second motor assembly is fixed with a fixed end of the first motor and reducer assembly, rather than a fixed end of a second motor of a conventional robot joint series structure is fixed on an output end of a first motor and reducer assembly, such that the output inertia of two output shafts of the robot dual-joint is smaller, and a power cable leading to the second motor assembly of the second joint is omitted.