A robotic system includes a robotic arm and a movable hardstop disposed proximate to the robotic arm. The movable hardstop is separated from the robotic arm by at least one clearance in a first operating condition. The movable hardstop physically contacts the robotic arm in a second operating condition. The robotic system also includes one or more controllers configured to control movement of the robotic arm and movement of the movable hardstop such that the first operating condition is maintained or such that, if the second operating condition occurs, the hardtop blocks movement of the robotic arm.

A rotation position detector includes a motor having a drive shaft extending along a first axis, a drive-side pulley that is connected to the drive shaft, a holder that holds a treatment tool to be inserted into a patient during surgery, the holder rotating in association with the drive-side pulley, a driven-side pulley that rotates around the first axis, a diameter of the drive-side pulley being smaller than a diameter of the driven-side pulley, a transmission belt that transmits a rotational drive of the drive-side pulley to the driven-side pulley, a rotary encoder that is provided on the first axis and detects a rotation angle of the driven-side pulley, and a controller that calculates a rotation position of the holder based on the rotation angle and based a pulley ratio of the drive-side pulley to the driven-side pulley, and controls the motor based on the rotation position.

A system for transporting fiber ends can comprise a fiber supply assembly that supplies fiber along a first axis. A plurality of eyeboards can be positioned along the first axis. Each eyeboard can define a plurality of openings therethrough. Each opening of the plurality of openings can be configured to receive therethrough a fiber from the fiber supply assembly. A track can extend along the first axis. The track can pass proximate to each eyeboard of the at least one eyeboard. A carriage can be movable along the track. The carriage can define at least one fiber attachment element. An actuator can be configured to move the carriage along the track.

An exoskeleton system that includes at least one actuator unit having an upper arm and a lower arm that are rotatably coupled via a joint and a fluidic actuator that extends between the upper arm and the lower arm.

An example rotational joint assembly for a robotic medical system, the rotational joint assembly comprising at least one arm segment and a rotational joint provided at one end of the arm segment. The rotational joint is to allow the arm segment to rotate about a rotational axis. The rotational joint comprising a brake to lock rotation of the arm segment at the rotational joint and an actuator to selectively engage or disengage the brake. The actuator comprising a cam having two stable regions separated by two transition regions, the two stable regions comprising a first stable region corresponding to engagement of the brake and a second stable region corresponding to disengagement of the brake.

A linear robot according to the present disclosure includes a main body unit including a main body base part seated on a ground surface, and main body sidewall parts protruding in an upward direction by a predetermined thickness from two opposite sides of the main body base part, the main body unit having an internal space defined by the main body base part and the main body sidewall parts; a transfer block unit partially accommodated in the internal space of the main body unit, configured to linearly move in one direction, and having an upper portion on which a transfer target object is seated, the transfer block unit being configured to transfer the transfer target object from a first position to a second position; and a pair of guide rail units disposed between the main body unit and the transfer block unit, coupled to the main body unit, and configured to guide the transfer block unit, in which the main body sidewall parts each have a guide rail unit accommodation groove recessed by a predetermined length in a direction perpendicular to the upward direction, and at least a part of a surface of the guide rail unit accommodation groove has an uneven machined surface.

This application describes multi-stage stop devices for robotic arms. During a first stage, rotational motion of a link of a robotic arm compresses a compressible member of the multi-stage stop device to absorb and dissipate at least some of the force generated by the collision. A second stage provides a hard stop the stops any further rotation. The multi-stage stop devices described herein can include a collapsing pin configured to compress a compressible member during the first stage. After the pin has collapsed a rigid sidewall provides a hard stop preventing further rotation during the second stage.

A mechanical stopper device having a desirable stopper function while having a simple structure, and a multi-joint robot having the mechanical stopper device. A mechanical stopper is constituted by an elastically deformable body arranged on a second arm, and a contacting member arranged on a first arm so that the deformable body comes into contact with the contacting member when the second arm is rotated by a predetermined angle. The spring pin has a slit extending in the longitudinal direction thereof, and the extending direction of the slit when the pin is inserted into a hole intersects with a contact direction of the spring pin against the contacting member.

A control device (120) according to the present application includes a limitation portion that is provided in a joint portion, which joins two or more links, of a robot and that physically limits motion of the links, and a control unit (122f) that limits movable ranges of the links by controlling the limitation portion corresponding to a predetermined joint portion on the basis of a task executed by the robot. With this configuration, it becomes possible to secure safety of when the robot executes a task.

A servo motor includes a housing, a rotor, a stator, a planetary reduction mechanism, a first Hall magnet, Hall switches, a second Hall magnet, and a position sensor; the rotor, stator, the planetary reduction mechanism, and the position senor are arranged in the housing. The rotor has a rotor support and a rotor shaft; the planetary reduction mechanism includes a sun gear, a planetary carrier, and planetary gears; a reduction ratio of the planetary reduction mechanism is N:1, where N is a positive integer; the first Hall magnet is arranged on the planetary carrier; the Hall switches correspond to the first Hall magnet and are arranged in the housing at even intervals around a rotation axis of the rotor shaft. The number of Hall switches is N; the second Hall magnet is arranged on the rotor; and the position sensor is opposite the second Hall magnet.