An actuation system for actuating concentric tubes of a concentric-tube robot. The actuation system is configured to actuate the concentric tubes from radially to one side of the concentric tubes.

A tensegrity robot includes multiple tensile members connected to multiple structural members to form a spatially defined structure. Each structural member is connected to one or more other structural members by tensile members therebetween. The robot further includes multiple actuators operatively connected to the tensile members and the structural members, and multiple controllers configured to communicate with each of the actuators. The controllers direct control of at least one of tension or length of the tensile members by the actuators to cause a change in at least one of the size, shape or center of gravity of the spatially defined structure to effect robotic actions. At least two tensile members are connected to an actuator such that at least one of tension or length in both of the tensile members are changed in coordination by the actuator.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An example computer-implemented method for evaluating calibrations of a surgical tool includes fixating a joint of the surgical tool at a first angle, the joint being driven by an actuator, measuring an actuator position corresponding to the first angle, accessing a calibrated offset corresponding to the first angle, determining an expected joint angle based on the measured actuator position and the calibrated offset, and reporting a first difference between the expected joint angle and the first angle.

Embodiments of the present disclosure provide methods for managing a robot system. In one method, orientations for links in the robot system may be obtained when the links are arranged in at least one posture, here each of the orientations indicates a direction pointed by one of the links. At least one image of an object placed in the robot system may be obtained from a vision device equipped on one of the links. Based on the orientations and the at least one image, a first mapping may be determined between a vision coordinate system of the vision device and a link coordination system of the link. Further, embodiments of present disclosure provide apparatuses, systems, and computer readable media for managing a robot system. The vision device may be calibrated by the first mapping and may be used to manage operations of the robot system.

A robot arm comprising a plurality of limbs articulated relative to each other, the robot arm extending from a base to a distal limb carrying a tool or an attachment point for a tool, the distal limb being attached by a revolute joint to a second limb, and the robot arm comprising a motor having a body and a drive shaft configured to drive rotation of the distal limb relative to the second limb about the revolute joint, wherein the body of the motor is fast with the distal limb.

In a soft actuator, a soft actuator assembly having the soft actuator, and a wearable robot having the soft actuator or the soft actuator assembly, the soft actuator includes a first spring bundle, a first conductive pad and a second conductive pad. The first spring bundle has a plurality of fine wires, and is configured to be capable of being changed between a contraction state and a relaxation state according to a change of temperature. The first conductive pad has a first connector electrically connected to a first end of the first spring bundle. The second conductive pad has a second connector electrically connected to a second end of the first spring bundle. The first connector is fixed between the first conductive pad and the first spring bundle, and the second connector is fixed between the second conductive pad and the first spring bundle.

A multi-axis robot includes: a robot main body including a head and a movement mechanism that three-dimensionally moves the head; and a work tool attached to the head. The work tool includes: a first link pivotally supported on the head; a second link pivotally supported on a distal end of the first link; a first change mechanism that changes an angle of the first link to a central axis of the head; and a second change mechanism that changes an angle of the second link to the first link.

A calibration device for a robot including a linear motion shaft moves a slider along one straight line with respect to a base, and an end shaft supported so as to be rotatable about a rotation axis with respect to the slider includes: a first calibration fixture fixed to the end shaft; and a second calibration fixture fixed to the base. The first calibration fixture includes a first calibration surface formed of a plane containing the rotation axis or a flat surface parallel to the plane, and a second calibration surface that does not change even when the first calibration fixture alone rotates about the rotation axis. The second calibration fixture detects a position of the first calibration surface when the first calibration fixture is rotated about the rotation axis and a position of the second calibration surface when the first calibration fixture is moved along the straight line.

A calibration device for a robot including a linear motion shaft moves a slider along one straight line with respect to a base, and an end shaft supported so as to be rotatable about a rotation axis with respect to the slider includes: a first calibration fixture fixed to the end shaft; and a second calibration fixture fixed to the base. The first calibration fixture includes a first calibration surface formed of a plane containing the rotation axis or a flat surface parallel to the plane, and a second calibration surface that does not change even when the first calibration fixture alone rotates about the rotation axis. The second calibration fixture detects a position of the first calibration surface when the first calibration fixture is rotated about the rotation axis and a position of the second calibration surface when the first calibration fixture is moved along the straight line.

A robot hand module includes a thumb module and a finger module each coupled to a palm part, wherein the thumb module or the finger module includes a phalangeal part movably coupled to the palm part and a cable part and a driving part each connected to the phalangeal part, wherein the driving part includes a driving part body extending in one direction and including a rotary shaft configured to rotate by receiving power, a drum member coupled to one side of the driving part body, connected to the rotary shaft, and having an outer periphery surrounded by the cable part, and a tensioner member spaced apart from the drum member in a direction in which the cable part extends outward, wherein the tensioner member is movable in the direction in which the cable part extends to adjust tension of the cable part.