A method of operating a robot manipulator, the method including: specifying a maximum permissible force to be exerted on an object by the robot manipulator, specifying a target position of a reference point of the robot manipulator, determining a current position of the reference point, performing an impedance regulation, which determines a current reference force of an artificial spring component based on a spring stiffness and based on a difference between the current position and the target position of the reference point of the robot manipulator, and controlling the robot manipulator to execute an emergency control program if the current reference force exceeds the maximum permissible force.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

A monitoring device of a robot system includes: an external force detecting portion configured to detect external force acting on a robot; an area determining portion configured to determine whether or not a predetermined portion of the robot is located within a predetermined area; a force monitoring portion configured to detect collision of the robot based on a first monitoring criterion including at least monitoring of the external force acting on the robot, and when the area determining portion determines that the predetermined portion of the robot is not located within the predetermined area, detect the collision based on a second monitoring criterion not including the monitoring of the external force; and a stop signal generating portion configured to, when the force monitoring portion detects the collision, generate a stop signal of the robot 2 and supply the stop signal to the control device.

A monitoring device of a robot system includes: an external force detecting portion configured to detect external force acting on a robot; an area determining portion configured to determine whether or not a predetermined portion of the robot is located within a predetermined area; a force monitoring portion configured to detect collision of the robot based on a first monitoring criterion including at least monitoring of the external force acting on the robot, and when the area determining portion determines that the predetermined portion of the robot is not located within the predetermined area, detect the collision based on a second monitoring criterion not including the monitoring of the external force; and a stop signal generating portion configured to, when the force monitoring portion detects the collision, generate a stop signal of the robot 2 and supply the stop signal to the control device.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

It is proposed a design and control of series elastic holonomic mobile platform, aimed to administer therapeutic table-top exercises to patients who have suffered injuries that affect the function of their upper extremities. The proposed mobile platform is a low-cost, portable, easy-to-use rehabilitation device for home use. It consists of four actuated Mecanum wheels and a compliant, low-cost, multi degree-of freedom Series Elastic Element as its force sensing unit. Thanks to its series elastic actuation, it is highly backdriveable and can provide assistance/resistance to patients, while performing omni-directional movements on plane. The device helps improving accuracy and effectiveness of repetitive movement therapies completed at home, while also providing quantitative measures of patient progress.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.