A robot in accordance with at least some embodiments of the present technology is configured for bimanual manipulation of objects. The robot includes a body and two arms individually defining an arm length and including an end effector, an end effector joint proximally adjacent to the end effector along a kinematic chain corresponding to the arm, and a gripper proximal to the end effector along the arm length. The end effector joint is configured to rotate the end effector relative to the gripper. The robot is configured to move at least a portion of a bottom surface of an object away from a support surface by applying force to the object via frictional interfaces between convex gripping surfaces of the grippers and side surfaces of the object. This creates a gap into which paddles of the end effectors can be inserted to support the object from below.

Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

An apparatus for translating movement of a rotating shaft to rotational movement in two dimensions of a lever arm including a first frame and a second frame, a first shaft rotatably connected to the first frame and arranged for rotation about a first axis of rotation, a lever having a fulcrum, wherein the fulcrum is arranged within the second frame and arranged for pivoting about a second axis of rotation, wherein the second axis of rotation is co-planar with the first axis of rotation, wherein the second frame is rotatably connected to the first frame, the second frame arranged for rotation with respect to the first frame about a third axis of rotation, wherein the third axis of rotation is arranged perpendicularly and spaced apart from the first axis of rotation, wherein the first, second, and third axes have single point of intersection.

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.

The present disclosure provides a cutting device. The cutting device includes a shaft, two or more gussets, two or more radial cutting members, and a circumferential cutting member. The shaft extends from a first end to a second end. The two or more gussets include at least a first gusset and a second gusset extending radially away from the shaft. The two or more radial cutting members include at least a first radial cutting member axially supported by the first gusset and a second radial cutting member axially supported by the second gusset. The circumferential cutting member is axially supported by each of the first gusset and the second gusset.

A robotic trolley collection system and methods for automatically collecting baggage/luggage trolleys are provided. The system includes a differential-driven mobile base; a manipulator mounted on the differential-driven mobile base for forking a trolley, having a structure same as a head portion of the trolley; a sensory and measurement assembly for providing sensing and measurement dataflow; and a main processing case for processing the sensing and measurement dataflow provided by the sensory and measurement assembly and for controlling the differential-driven mobile base, the manipulator, and the sensory and measurement assembly. The method includes localizing and mapping the robotic trolley collection system; detecting an idle trolley to be collected and estimating pose of the idle trolley; visually servoing control of the robotic trolley collection system; and issuing motion control commands to the robotic trolley collection system for automatically collecting the idle trolley.

A device for assisting surgery includes means for offsetting a rotation of a first type and a second type, a mechanism for transmitting a rotation of a third type, and a mechanism for transforming the rotation of a third type into a translation. An elastic element is connected at one end to the mechanism for transmitting the rotation of a third type. The mechanism for transmitting the rotation of a third type is connected to a rotary motor, the rotation of the motor in a first direction causing the lowering of a tool and an elongation of the elastic element, the rotation of the motor in a second direction causing the raising of the tool and a contraction of the elastic element, and, when the tool is lowered and the rotary motor is not exerting any torque, the elastic element returns to an initial shape causing the raising of the tool.

A medical system includes a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and joints between the distal portion and the base. A processor coupled to the manipulator arm performs operations including calculating a first movement of the joints in a null-space of a Jacobian of the manipulator arm, the first movement being calculated in accordance with a first objective for arm-to-patient collision avoidance. The operations further include calculating a second movement of the joints in the null-space, the second movement being calculated in accordance with a second objective for arm-to-arm collision avoidance, and combining at least the first and second movements into a combined movement in a manner allowing the first objective to overpower the second objective, and driving the joints to effect the combined movement.

A driving device includes a corrector, an actuator, and a position sensor. The actuator includes a nut connected to a movable part, a ball screw shaft onto which the nut is screwed, and a pulse motor that drives to rotate the ball screw shaft. The corrector includes a correction amount map in which a position correction amount for calibrating a predictable error is mapped for each position of the movable part. The corrector estimates an ideal movement position to which the movable part moves based on a command signal and refers to the correction amount map to calculate the position correction amount corresponding to a present position detected by the position sensor. The corrector generates a correction signal by correcting the command signal so as to reduce the difference between a corrected present position obtained by correcting the present position by the position correction amount and the ideal movement position.

A circumferential welding method is a method for circumferentially welding at least one of a V-shaped groove and an I-shaped groove by, using a vertical articulated robot, moving a welding torch with the welding torch directed downward. The circumferential welding is performed by moving the welding torch so as to draw a circular trajectory while adjusting a rotation angle of the welding torch in such a manner that a rotation center of a wrist of a robot main body of the vertical articulated robot is located at all times on a side where the robot main body is installed relative to the welding torch.