A vibrator includes a vibrating part including a pair of vibrating plates and a piezoelectric material provided between the pair of vibrating plates, a supporting part including a pair of supporting plates and an interplate portion provided between the pair of supporting plates, and a wire provided in the vibrating part and the supporting part, wherein the wire is exposed from the supporting part.

Routines and methods disclosed herein can increase a power efficiency of a prosthetic hand without drastically reducing the speed at which it operates. A prosthesis can implement an acceleration profile, which can reduce an energy consumption of a motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from an idle state to a non-idle state. A prosthesis can implement a deceleration profile, which can reduce the energy consumption of the motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from a non-idle state to an idle state.

A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.

An objective of the present invention is to reduce the downtime which occurs when changing a servo motor device. A servo motor device includes a motor section and a reduction gear configured to output a driving force by reducing a speed of rotation of the motor section, wherein a control device includes a detecting section configured to acquire detected information about operation of the motor section, and a computing section configured to generate an approximate curve based on a behavior for a time sequence of a parameter and to calculate predicted lifetime information of the servo motor device based on the approximate curve thus generated, wherein the parameter has been calculated by means of the detected information.

Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.

Provided is a robot which can improve accuracy of calibration of a rotation sensor for detecting a movement of an actuator included in the robot. The robot (1) includes a connection frame (63) that supports a rolling actuator (13). The connection frame (63) has a first attached portion (63g) attached to a rotation outputting section (12c) of an actuator (12) and a remaining portion (a first arm portion (63b), a supporting portion (63a), and a second arm portion (63c)) connected to the first attached portion (63g). A sensor rotation portion (16a) of a rotation sensor (16) is attached to the first attached portion (63g). The first attached portion (63g) and the rotation outputting section (12c) are rotatable over an angle greater than 360 degrees in a state in which the first attached portion (63g) is attached to the rotation outputting section (12c) and in which the remaining portion of the connection frame (63) is removed from the first attached portion (63g).

An electronic device is disclosed, including: a spherical housing, and a first driving device disposed in the spherical housing and configured to cause a rolling motion of the spherical housing, the first driving device including: first and second wheels contacting an inner spherical surface of the spherical housing, the first and second wheels respectively disposed at opposite sides of an axis of rotation, at least one motor configured to transmit power to the at least one of the first wheel and the second wheel, a balance weight, a first surface that is spaced apart from the axis of rotation in a direction of gravity by balancing of the balance weight, and facing the inner spherical surface, and at least one rolling element disposed between the inner spherical surface and the first surface.

A joint actuator of a robot including a driving device, a driving shaft, a reducer, a torsion sensor, and a dual encoder is provided. The driving shaft is connected to the driving device. The driving device is configured to drive the driving shaft to rotate. The reducer includes a motive power input component and a motive power output component. The motive power input component and the motive power output component are sleeved on the driving shaft. The motive power input component is disposed between the driving shaft and the motive power output component. The torsion sensor is connected to the motive power output component of the reducer. The dual encoder is connected to the driving device and the driving shaft. The driving device is located between the dual encoder and the reducer.

A robot controller includes an all-axes control part collectively calculating position command values for a plurality of axes based on a predetermined trajectory of the robot, and motor drive control parts for each axis. The motor drive control part includes a stopping position command calculation part which calculates a stopping position command value for each axis with a motor coordinate system as a reference. The motor drive control part switches the position command value transmitted from the all-axes control part to the stopping position command value for each axis when an emergency stop signal is inputted and, after that, returns from the stopping position command value for each axis to the position command value transmitted from the all-axes control part. The all-axes control part starts calculation for outputting an emergency stop position command value for stopping the robot on the predetermined trajectory when the emergency stop signal is inputted.

Aspects of the disclosure include a torque sensor arrangement configured to attach between a first part and a second part to sense torque therebetween, the torque sensor arrangement comprising an interface member having on its exterior an engagement configuration configured to rotationally engage the first part, a torsion member comprising a deflectable body attached at one end thereof to the interface member and comprising, at the other end of the deflectable body, an engagement configuration configured to fixedly engage the second part, and a deflection sensor attached to the deflectable body, wherein the interface member defines a rigid sleeve extending around the deflectable body and the torque sensor arrangement further comprises a bushing located between and in contact with both the sleeve and the deflectable body.