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.

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.

A robot hand module includes a thumb module, a plurality of finger modules, and a palm part to which the thumb module and the finger modules are coupled. The thumb module and the finger modules each include a phalangeal part movably coupled to the palm part, a cable part having a first side connected to the phalangeal part, and a driving part connected to a second side of the cable part and configured to operate the phalangeal part by extending the cable part to the outside or retracting the cable part, wherein each of the driving parts includes an inlet region from which the cable part is extended to the outside, and wherein an acute angle is defined between a first direction in which the inlet region is directed toward the outside and a second direction in which the driving parts are disposed.

An instrument system comprising a flexible shaft having proximal and distal portions, a backend mechanism coupled to the proximal portion, and a plurality of tendons including first and second tendons. The backend mechanism comprises a plurality of capstans including first and second capstans. Each capstan includes a bore for engagement with a drive shaft, and a capstan coupling member adapted to engage a drive shaft coupling member such that rotation of the drive shaft causes rotation of the capstan, and adapted to disengage from the drive shaft coupling member so rotation of the drive shaft does not cause rotation of the capstan. The first tendon is configured to wrap around the first capstan and the second tendon is configured to wrap around the second capstan. The first and second tendons are coupled to a member disposed at the distal portion and are configured to move the member in opposing directions.

A robot hand module includes a finger phalangeal part movably coupled to a palm part, a finger cable part having a first side connected to the finger phalangeal part, and a finger driving part connected to a second side of the finger cable part for operating the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part, wherein the finger phalangeal part includes finger link pails including a plurality of link members and a finger link driving part for transmitting power to the finger link parts in a rectilinear direction, and wherein when the finger link pails receive the power from the finger link driving part in the rectilinear direction, some of the link members rotate relative to remaining ones of the link members, such that the finger phalangeal part rotates relative to the palm part.

A tool assembly includes a first selectively flexible tool including a first plurality of sequentially arranged links moveable between a slacked position and a tensioned position; and a second selectively flexible tool including a second plurality of sequentially arranged links moveable between a slacked position and a tensioned position, the second plurality of sequentially arranged links moveable over or through the first plurality of sequentially arranged links.

A system comprises a medical instrument including a rotatable capstan. The rotatable capstan includes a first coupling feature and a drive system including a rotatable drive element. The rotatable drive element includes a second coupling feature. The first and second coupling features have an aligned engagement configuration in which rotation of the rotatable drive element induces rotation of the rotatable capstan and a non-aligned engagement configuration in which rotation of the rotatable drive element does not induce rotation of the rotatable capstan.

The inventive concept relates to a wearable hand robot mounted on a finger to bend the finger by an external force transmitted through a wire. The wearable hand robot is capable of preventing an injury to a user's hand by the wire, achieving simplification of the structure of a finger cap and an improvement in a wearing sensation, and stably moving the finger while having a tactile sensation.

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.