Class / Patent application number | Description | Number of patent applications / Date published |
074490040 | Including flaccid drive element | 79 |
20080229862 | WIRE DRIVE MECHANISM, ROBOT ARM MECHANISM, AND ROBOT - A wire driving mechanism is provided with a pulley rotated around a rotation axis, a pulley which is disposed on the same plane as the rotation axis in a direction perpendicular to the rotation axis and rotated around a rotation axis, and a wire wound around on the peripheral surface of the pulley in a predetermined direction, and at the same time, wound around on the peripheral surface of the pulley in the opposite direction to the winding direction on the pulley. Thus, a drive force is transmitted from the pulley to the pulley through the wire. | 09-25-2008 |
20090320638 | DRIVING APPARATUS AND ROBOT HAVING THE SAME - A driving apparatus includes a driving unit, a driven unit separated from the driving unit at a separation space so as not to contact the driving unit, and rotated by rotary force generated from the driving unit, a cable connecting the driving unit and the driven unit, and to transmit the rotary force to the driven unit, and pressure units provided in the separation space, and to pressurize the cable in a direction of approaching opposite portions of the cable to each other to generate a tensile strength of the cable. Since the cable transmitting the rotary force of the driving unit to the driven unit has sufficient tensile strength, preventing the generation of slip of the cable from the driving unit and the driven unit is possible, and thus to allow the rotary force to be transmitted to the driven unit without a loss. | 12-31-2009 |
20100011899 | HUMANOID ROBOT - Disclosed is a humanoid robot capable of improving power transmission efficiency of a wire and movement displacement of a wrist joint by modifying the structure of the wrist joint serving as a passage for wires. The humanoid robot includes a robot hand including a power transmission device for transferring gripping force to finger members. The power transmission device includes connection members connecting an actuator to finger joints and guide members for guiding the connection members. The guide members include a first guide member coupled to a robot arm and a second guide member coupled to a hand body. The connection members are alternately wound around the first and second guide members. The gripping force is enhanced whereby a length of the connection members provided between the first and second guide members is constantly maintained even if the second guide member is shifted from the first guide member. | 01-21-2010 |
20100126297 | Microrobots with large actuation volumes, and controllers, systems, and methods - Robots, and atomic force microscopes including robots, that utilize in-plane actuators to provide large out-of-plane working volumes and forces. | 05-27-2010 |
20100162846 | Robot joint driving apparatus and robot having the same - Disclosed are a robot joint driving apparatus and a robot having the same, capable of minimizing tension of a wire applied to a movable member by installing an idle pulley in a power transmission structure using a ball screw apparatus and the wire. The robot joint driving apparatus includes a reversible drive motor, a pair of movable members performing a linear movement according to rotation of the reversible drive motor, a wire connected to the movable members from both directions of the movable members, an idle pulley rotatably installed at one side of the wire, a joint part rotatably installed at an opposite side of the wire, and an adjustment unit to adjust tension of the wire. | 07-01-2010 |
20100170361 | Transmission with adjustment member for varying tension force - A transmission apparatus includes a drive member, a driven member, and an at least partially flexible transmission coupled to the drive member and the driven member. The flexible transmission is configured to cause movement of the driven member in response to movement of the drive member. The flexible transmission includes a first tension element having a first portion coupled to the drive member, a second portion coupled to the driven member, and an intermediate portion between the first portion and the second portion. The transmission apparatus also includes an adjustment member that engages the intermediate portion of the first tension element. The adjustment member is configured to be adjusted to vary a tension force applied to the first tension element. | 07-08-2010 |
20100170362 | Transmission with first and second transmission elements - A transmission includes a first component, a second component, and first and second transmission elements. The first component has a drive member and a portion configured to be actuated to inhibit movement of the drive member. The first and second transmission elements are each coupled to the drive member and the second component and configured to cause movement of at least one of the first component and the second component in response to movement of the drive member. At least one of the first and second transmission elements includes a first plurality of transmission sub-elements. | 07-08-2010 |
20100242659 | MANIPULATOR MECHANISM - A manipulator mechanism according to the present invention comprises an arm | 09-30-2010 |
20110056321 | ROBOT JOINT DRIVING METHOD, COMPUTER-READABLE MEDIUM, DEVICE ASSEMBLY AND ROBOT HAVING THE SAME - Disclosed herein are a robot joint driving method, computer-readable medium, and device assembly which conducts motions similar to those of humans, and a robot having the same. These motions are achieved by arranging joint driving devices suited to characteristics of respective joints. The robot joint driving device assembly includes a tendon-type joint driving device using a wire, and a harmonic drive-type joint driving device using a gear reduction method. The tendon-type joint driving device is used to drive a rotary joint requiring high back-drivability, and the harmonic drive-type joint driving device is used to drive a rotary joint requiring high rigidity and high precision. | 03-10-2011 |
20110067518 | ROBOT ACTUATOR AND HUMANOID ROBOT HAVING THE SAME - Disclosed herein are a robot actuator and a humanoid robot having the same. The robot actuator includes a rotation driving source, a ball screw member including a ball screw part connected to the rotation driving source and a nut part connected to the ball screw part, a guide member separated in parallel from the ball screw part, a slider member movably supported by the guide member, and a connection member connecting the slider member and the nut part to move the slider member in connection with movement of the nut part, and the connection member is relatively movably connected to at least one of the nut part and the slider member. Therefore, efficiency in force reflection and back-drivability of the actuator is improved. | 03-24-2011 |
20110067519 | ROBOT WITH A DEPLOYMENT APPARATUS FOR AN ARM COMPRISING A PLURALITY OF LINKS - A robotic arm deployment apparatus is provided for a tip following robotic arm, of the type comprising a plurality of controllable segments ( | 03-24-2011 |
20110088500 | MANIPULATOR - A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom. | 04-21-2011 |
20110120254 | PARALLEL ROBOT - A parallel robot includes a base, a movable platform, a plurality of control arms, a rotation arm, a plurality of first actuators, and a second actuator. The control arms rotatably interconnect to the base and the movable platform, respectively. Opposite ends of the rotation arm are universally rotatably connected to the base and the movable platform, respectively. The first actuators move the control arms, respectively. The second actuator rotates the rotation arm around a central axis. Each control arm comprises a first transmission member and a transmission cable. The first transmission member comprises a fan-shaped transmission portion. Each first actuator comprises a transmission shaft to engage the first transmission member of the control arm. The transmission cable coils around the transmission shaft for at least one winding, then criss-crosses, and winds on the fan-shaped transmission portion. | 05-26-2011 |
20110132129 | ROBOT ARM ASSEMBLY - A robot arm assembly includes a first link, a second link, and a joint rotatably connecting the first link and the second link. The joint includes an actuator mounted on the first link, a harmonic drive including a wave generator, a flex spline fitting over the wave generator, and a circular spline engaging the flex spline, and a belt drive between the actuator and the harmonic drive. The flex spline is fixed to the first link, the circular spline is fixed to the second link, and the belt drive transmits the rotational movement from the actuator to the wave generator. | 06-09-2011 |
20110146441 | Release Mechanism For Robotic Arms - A robotic arm arrangement including an arm having control cables extending from the base of the arm, and coupling members for coupling the cables to actuators for linear actuation of the cables. The coupling members extend radially outwardly around the arm to enable quick release and replacement of the arm. | 06-23-2011 |
20110154935 | ROBOT ARM ASSEMBLY - A robot arm assembly includes a support arm, a lower arm rotatably connected to the support arm, an upper arm rotatably connected to the lower arm, a first driver for driving the lower arm, a first transmission transferring power from the first driver to the lower arm, a second driver for driving the upper arm, and a second transmission transferring power from the second driver to the upper arm. The first and second drivers are mounted on the support arm. The second transmission includes a belt assembly, a beveled gear assembly driven by the belt assembly, and a speed reducer coupled to the upper arm. | 06-30-2011 |
20110154936 | PARALLEL ROBOT - A parallel robot includes a base, a movable platform, a first kinematic chain and a second kinematic chain. The first and the second kinematic chains are connected to the fixed platform and the movable platform respectively, and move on the same plane. Each of the first and second kinematic chains includes a linear driving mechanism mounted on the base and a parallel four-bar linkage driven by the linear driving mechanism and hinged on the movable platform. | 06-30-2011 |
20110167945 | ROBOT JOINT DRIVING APPARATUS, ROBOT HAVING THE SAME AND CABLE LINKAGE METHOD OF ROBOT JOINT DRIVING APPARATUS - A robot joint driving apparatus has an improved structure, a robot having the same, and a cable linkage method of the robot joint driving apparatus. In the robot joint driving apparatus, lines of a cable to drive a robot joint unit are connected plural times in parallel, thereby increasing torsional stiffness of the robot joint unit. Further, a cable fixing unit is provided on an output pulley, thereby preventing slippage of the cable on the output pulley. Moreover, the overall size of the robot joint driving apparatus is reduced due to an improved power transmission structure from a driving motor to the output pulley. | 07-14-2011 |
20110167946 | ROBOT JOINT DRIVING APPARATUS AND ROBOT HAVING THE SAME - A robot joint driving apparatus is smoothly operated without generation of backlash. A robot includes the robot joint driving apparatus. The robot joint driving apparatus includes an internal gear having a ring shape, a main pulley arranged at the center of the internal gear and connected to a power source, first and second pinion gears provided at both sides of the main pulley and engaged with the internal gear, first and second pulleys respectively fastened to the first and second pinion gears, first and second belts respectively connecting the main pulley and the first and second pulleys, and tension adjustment units to adjust tensions of the first and second belts. | 07-14-2011 |
20110214524 | Biomimetic Mechanical Joint - A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members. | 09-08-2011 |
20110277579 | Cable Re-ordering Device - A cable guide re-orders a plurality of cables. A first guide plate has a plurality of first guide holes that receive a plurality of cables in a first order. A second guide plate has a plurality of second guide holes that receive the plurality of cables in a different second order. An intermediate guide plate is located between the first and second guide plates. The intermediate guide plate has a plurality of intermediate guide holes. Each of the intermediate guide holes receives one of the plurality of cables and causes a change of direction in the cable to facilitate the change from the first to the second order. The intermediate guide plate may further include cable passages to allow some cables to pass through without changing direction. There may be more than one intermediate guide plate. The cables may change from a generally linear to a generally circular arrangement. | 11-17-2011 |
20110277580 | Force Transmission for Robotic Surgical Instrument - A force transmission transmits a force received by an input gimbal plate having two degrees of freedom to an output gimbal plate. The input gimbal plate is coupled to a first end of least three lever arms supported by a pivot. The output gimbal plate is coupled to a second end of the lever arms. The output gimbal plate may be coupled to the lever arms by flexible cables. The cables may be substantially contained within a tube. The output gimbal plate may be substantially smaller than the input gimbal plate. The force transmission may include a secondary output gimbal plate coupled to secondary levers that are coupled to the lever arms. The secondary levers may be third class levers. The secondary output gimbal plate may move proportionately to movement of the output gimbal plate. The force transmission may control a surgical end effector in a robotic surgical instrument. | 11-17-2011 |
20110314949 | ROBOT - A robot includes a first rotation member, a second rotation member, a driver, a cable assembly, a transmission assembly, and a guide member. The second rotation member is rotatably connected to the first rotation member, and capable of rotating about a rotation axis. The driver is configured to drive the second rotation member. The cable assembly includes a plurality of cables with at least one cable connecting to the driver. The transmission assembly is configured to transmit rotation from the driver to the second rotation member. The guide member is fixed to the first rotation member, and defines a guide hole extending along the rotation axis, through which the cable assembly passes. The second rotation member and the driver are disposed at distances deviating from the rotation axis. | 12-29-2011 |
20120031219 | Remote-controlled actuator - A remote controlled actuator includes a spindle ( | 02-09-2012 |
20120067158 | FLEXIBLE TOOL - A flexible tool comprises stiffening means switchable in use from a first state of relatively low stiffness to a second state of relatively high stiffness, and subsequently switchable from the second state back to the first state. | 03-22-2012 |
20120144950 | SELECTIVELY RIGIDIZABLE AND ACTIVELY STEERABLE ARTICULATABLE DEVICE - A selectively rigidizable and actively steerable device is described. In one aspect, an articulatable device is described that includes a flexible inner tube having a first lumen, a flexible outer tube that receives the inner tube, and a multiplicity of overlapping, rigidizable scale-like strips. Each scale-like strip is coupled with the inner tube and positioned between the inner and outer tubes. Of particular note, the overlapping strips are actuatable between a non-rigidized state in which overlapping strips are slideable relative to one another and a rigidized state in which overlapping strips are not slideable relative to one another. | 06-14-2012 |
20120152051 | EXTERNALLY ACTUATED FIGURE - A system for externally actuating an animatronic figure. The system including a first robotic mechanism configured as a remote center mechanism for rotating a first rod about a first remote center point. The first rod is attached to a first driven part of the figure with the first remote center point spaced apart from the figure. The system includes a second robotic mechanism rotating a second rod about a second remote center point. The second rod is attached to the second driven part of the animatronic figure, and the second remote center point is spaced apart from the animatronic figure. The system includes a third robotic mechanism rotating a third rod about a remote center point, with the third rod attached to a third driven part of the figure, and the three robotic mechanisms are concurrently operable via a computer-based controller to provide the figure with twenty-one degrees of freedom. | 06-21-2012 |
20120160050 | REMOTE-CONTROLLED ACTUATOR AND PLASTIC FORMING METHOD FOR ATTITUDE ALTERING MEMBER - A remote controlled actuator includes an elongated guide section ( | 06-28-2012 |
20120174694 | METHOD AND APPARATUS FOR REDUCING AT LEAST ONE FRICTION FORCE OPPOSING AN AXIAL FORCE EXERTED THROUGH AN ACTUATOR ELEMENT - Actuator elements such as cables or push rods in an instrument are used for manipulating an end effector or distal end of the instrument. Each actuator element extends within a tubular housing and either the tubular housing is axially rotated about the actuator element or the actuator element is axially rotated within the tubular housing to reduce at least one force opposing an axial force exerted through or movement of the actuator element. | 07-12-2012 |
20120186383 | Orientation Controller, Mechanical Arm, Gripper and Components Thereof - Disclosed are an orientation controller based on a parallelogram linkage, a mechanical arm, an anthropomorphic gripper and components thereof such as mechanical digits suitable for use, for example, in the field of keyhole surgery. | 07-26-2012 |
20120210818 | Fluid-Operated Manipulator - The invention concerns a fluidically operable manipulator made up of several manipulator segments stacked along an extension curve, each comprising at least one connecting plate and at least two fluidically separated fluid chambers spaced apart on the connecting plate at right-angles to the extension curve, wherein each of the fluid chambers has at least one elastically deformable wall section which is designed to make possible, on pressurisation of the respective fluid chamber with a fluid, a change in volume of the fluid chamber for a linear movement substantially parallel to the extension curve, and wherein a main extension surface of the connecting plate is provided for an arrangement at least substantially at right-angles to the extension curve, wherein the two or more fluid chambers are made integral with the connecting plate or plates. | 08-23-2012 |
20120216648 | ARTICULATED ROBOT WRIST - Disclosed herein are embodiments of an articulated robot wrist. One embodiment comprises a first body comprising first and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a second body comprising first and second ends, the first end being rotatably mounted on said second end of said first body around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, the first end being rotatably mounted on said second end of said second body around a third axis inclined with respect to said second axis. The first and third axes form an angle substantially of 90° with respect to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other. | 08-30-2012 |
20120291583 | ENDOSCOPE-LIKE ADJUSTABLE STRUCTURE - A flexible and steerable structure for non-destructive inspection, the structure including a longitudinal body and at least one actuator enabling the curvature of at least a portion of the longitudinal body to be modified, the actuator being carried by a support associated with the longitudinal body and including a distal portion that is spaced apart or that is spaceable apart from the longitudinal body and that is connected to a portion of the longitudinal body by a traction line. | 11-22-2012 |
20130042715 | LOW-STROKE ACTUATION FOR A SERIAL ROBOT - A serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and a distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal and/or distal joints by the first and/or second actuators. A robotic hand having the above robot is also disclosed, as is a robotic system having a torso, arm, and the above-described hand. | 02-21-2013 |
20130055843 | LINK ACTUATION DEVICE - An output member is connected with an input member through three sets of link mechanisms for alteration in attitude. The link mechanism includes end portion link mechanisms on an input side and an output side, respectively, and an intermediate link member. The link mechanism is such that a geometric model of each of the link members expressed by lines represents such a shape as an input side portion and an output side portion relative to a center of the intermediate link member are symmetrical with each other. By actuating two or more sets of the link mechanisms by means of a link mechanism drive source, the attitude of the output member is controlled. Through the inside of an arrangement of the link mechanisms, a flexible wire is provided for transmitting a rotational force in a direction of arrangement of the input and output members. | 03-07-2013 |
20130061708 | ROBOT ARM MECHANISM - A robot arm mechanism includes a drive arm, a support arm, a transmission assembly and three tool portions. The support arm is rotatably connected to the drive arm. The three tool portions are rotatably mounted on the support arm. The transmission assembly includes a first bevel gear, a second bevel gear and a transmission belt. The first bevel gear is mounted on the drive arm, the second bevel gear is mounted on the support arm and engages with the first bevel gear. The transmission belt is driven by the second bevel gear and imparts rotary motion to the plurality of tool portions simultaneously. | 03-14-2013 |
20130081502 | ROBOT WITH REDUCER - A robot includes a base seat, a first arm fixed to the base seat, a second arm rotatably connected to the first arm, an output shaft rotatably connected to a distal end of the second arm, a first driving member, and a first transmission mechanism. The first transmission mechanism includes a first transmission belt and a reducer. The first driving member is located at one end of the first arm adjacent to the base seat, the reducer is located at the other end of the first arm away from the base seat, and connected to the second arm, the first driving member is capable of driving the reducer via the first transmission belt. | 04-04-2013 |
20130091974 | ARTICULATED INFLATABLE STRUCTURE AND ROBOT ARM COMPRISING SUCH A STRUCTURE - An articulated structure having a tubular inflatable casing that contains a fluid under pressure and that has a central axis along which there are defined at least one fixed-geometry segment and at least one variable-geometry segment, the arm including a deformation mechanism for deforming the variable-geometry segment, the casing and the deformation mechanism arranged so as to generate curvature of the variable-geometry segment in such a manner that the variable-geometry segment conserves a volume that is substantially constant. A robot arm including such a structure. | 04-18-2013 |
20130118288 | ROBOT ARM ASSEMBLY - A robot arm assembly includes a supporting arm, first and second mechanical arms, a first driving member, a second driving member, a first transmission mechanism between the first mechanical arm and the first driving member, and a second transmission mechanism between the second mechanical arm and the second driving member. The first driving member drives the first transmission mechanism to rotate the first mechanical arm. The second driving member drives the second transmission mechanism to rotate the second mechanical arm. The first driving member and the second driving member are both carried in the supporting arm and are arranged side by side. | 05-16-2013 |
20130180353 | ROBOT ARM HAVING A WEIGHT COMPENSATION MECHANISM - The robot arm having a weight compensation mechanism has a first rotation member and a second rotation member which are respectively capable of making two-DOF rotation, a first rotation of the first rotation member is yaw rotation, and a second rotation of the first rotation member is pitch rotation perpendicular to the first rotation, a third rotation and a fourth rotation of the second rotation member are respectively pitch rotation and roll rotation, and the robot arm comprises a single-DOF gravity compensator connected to the first rotation member or the second rotation member and offsetting the gravity caused by weight of the first rotation member or the second rotation member by using an elastic force of an elastic member. | 07-18-2013 |
20130199327 | LINK UNIT, ARM MODULE, AND SURGICAL APPARATUS INCLUDING THE SAME - A surgical apparatus having sufficient rigidity in a fixed mode and being freely operable in a steering mode includes one or more arm modules having at least one degree of freedom, each arm module including at least one steering cable to steer the arm module and a plurality of link units to form the at least one arm module, each link unit including a head disposed at an upper portion thereof and having a hemispherical shape, a seat formed at a lower portion thereof, and a sliding ball arranged at the seat, wherein the link units are arranged such that the head of one of the link units is seated on the seat of the other of the link units, and the head of one of the link units and the seat of the other of the link units are slid with respect to each other by the sliding ball. | 08-08-2013 |
20130239734 | ARTICULATING MECHANISM - An articulating mechanism is provided with at least one pair of spherical joints interconnected by a set of tension members. Each joint includes a ball member, a socket member configured to pivotably receive at least a portion of the ball member, and at least one tension member extending through both the ball and socket members parallel to and offset from a central longitudinal axis of the joint. | 09-19-2013 |
20130239735 | Multi-Ply Strap Drive Trains for Robotic Arms - In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link. | 09-19-2013 |
20130305867 | Tension Stiffened and Tendon Actuated Manipulator and a Hinge for Use Therein - A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge. | 11-21-2013 |
20130312564 | ARM UNIT AND ROBOT HAVING THE SAME - An arm unit having an improved configuration to simply change stiffness according to varying situations and a robot having the same are provided. The robot includes an arm unit, and a drive unit to drive the arm unit. The arm unit includes a plurality of links to come into rolling contact with one another via at least two regions thereof, and a plurality of wires penetrating the plurality of links to connect the links to one another. | 11-28-2013 |
20130312565 | MANIPULATOR MECHANISM - A manipulator mechanism according to the present invention comprises an arm | 11-28-2013 |
20130319159 | SYSTEM FOR RELEASABLY ATTACHING A DISPOSABLE DEVICE TO A DURABLE DEVICE - A system for releasably attaching a steerable disposable multi-linked device to a durable device may include a disposable portion and a durable portion. The disposable portion may include a connecting member connected to the disposable portion and the durable portion and a steerable multi-linked device. The steerable multi-linked device may include a first link, a plurality of intermediate links, a second link movably coupled to a second one of the intermediate links, and a cable which passes through the first link and intermediate links and extends beyond a first end of the first link. A first one of the intermediate links may be movably coupled to the first link. The durable portion may include an axial member which defines an opening therethrough and a feeder mechanism. | 12-05-2013 |
20130340559 | ARTICULATING MECHANISMS WITH ACTUATABLE ELEMENTS ACTUATABLE - The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue. | 12-26-2013 |
20140020499 | Method and Apparatus for Lining Pipe with Multiple Convoluted Bends and Varied Orientations with a Structural Membrane - The invention provides an improved method and robotic apparatus for applying a structural membrane lining in conduits. The remotely controlled robot comprises a series of segment blocks maintained in alignment by flexible linear rods supported in spherical swivel bushings. The rods allow for articulation as the robot negotiates bends. Segment blocks include radial guide finger pinions and guide fingers for concentric positioning. Fingers are of engineered plastics and brass to provide ballast weight for perpendicular alignment and contain high frequency air turbine vibrators. Steering vertebrae are included to maintain concentricity of the lining dissipation cup through bends. Also included are electric servo motors controlling cables and take up wheels controlling the angle of the segment blocks. The device includes a flexible motor shaft rotating through a second segment block attached to a flexible shaft connected to a rotating shaft operating a liner dissipation component mounted to the first segment block. | 01-23-2014 |
20140026704 | REMOTE-CONTROLLED ACTUATOR - A remote controlled actuator includes a spindle for holding a tool, a spindle guide section of an elongated configuration, a distal end member rotatably supporting the spindle, and a drive unit housing connected to a base end of the spindle guide section. The distal end member is fitted to the spindle guide section for alteration in attitude. The spindle guide section includes an outer shell pipe, a rotary shaft, and guide pipe. Within the guide pipe, an attitude altering member is inserted to alter the attitude of the distal end member. A connection device detachably connects the spindle guide section with the drive unit housing. | 01-30-2014 |
20140083230 | ROBOT HAVING SOFT ARMS FOR LOCOMOTION AND GRIP PURPOSES - A robot having an overall structure inspired by the | 03-27-2014 |
20140116182 | ROBOT ARM ASSEMBLY - A robot arm assembly includes a first robot arm, a second robot arm, a third robot arm, a connecting base, a first driving assembly, a second driving assembly, a third driving assembly, and a cable receiving tube. The connecting base includes a housing and a protection cover. A sidewall of the housing defines an opening. The protection cover covers the opening and is mounted on the housing. An end of the housing defines a cable inlet. The first driving assembly rotates the first robot arm. The second driving assembly rotates the second robot arm. The third driving assembly rotates the third robot arm. The cable receiving tube is received in the first robot arm, the second robot arm, and the third robot arm. | 05-01-2014 |
20140165772 | INSERTION INSTRUMENT - Contact between a face to be pressed and a cam face in an interaxial direction T of two inner guide sheaths is set so that a contact width H therebetween is shorter than an interaxial distance L, and so that the contact position is located between axes of the two inner guide sheaths. As a result, even in a case where external diameters of two inner guide sheaths that form a pair are slightly different to each other, a braking member can be tilted to cause a contact face to simultaneously come in contact with the respective inner guide sheaths, and a pressing force from an eccentric cam can be transmitted equally to the respective inner guide sheaths. | 06-19-2014 |
20140190305 | INTRODUCING DEVICE SYSTEM - An introducing device system includes: an insertion portion; a bending portion which is provided at the insertion portion; an operation portion through which an input operation is performed for bending the bending portion; a pulling member connected to the bending portion and pulled in accordance with the operation through the operation portion; a detection section that detects a moving state of the pulling member; a driving unit that rotationally drives; a driving force transmitting unit including an inner circumferential surface configured to be able to contact an outer circumferential surface of the driving unit, and an outer circumference on which the pulling member is wound, the driving force transmitting unit being reduced in diameter in accordance with pulling of the pulling member; and a driving unit control section controls the driving unit when the moving state detected by the detection section is different from a state determined in advance. | 07-10-2014 |
20140196562 | ROBOT - A robot includes a first actuator, a first rotating body, a second actuator, and a second rotating body. The first actuator rotationally drives a second wrist that is connected to a first wrist. The first rotating body transmits a drive force of the first actuator to a second wrist. The second actuator rotationally drives a third wrist that is connected to the second wrist. The second rotating body transmits a drive force of the second actuator to the third wrist. The first rotating body and the second rotating body are arranged at positions where rotation axes of the first and second rotating bodies are parallel with each other and do not interfere with each other in such a manner that the position of the first rotating body is within a range of the second rotating body when viewed from a direction perpendicular to the rotation axis of the second rotating body. | 07-17-2014 |
20140260755 | MULTI-JOINTED ARM ASSEMBLY - A multi jointed robot arm includes at least first and second link members connected by a connection arrangement and at least a first control cable. First and second ends of the first control cable engage with first and second engagement point of the first link member and first and second attachment points of the second link member. The assembly further includes a first actuator configured to selectively tension the first and second ends of the first control cable such that the second link member pivots toward a first or second side, wherein the connection arrangement is arranged to pivot at a first pivot point located substantially along a notional line extending between the first and second attachment points, and to pivot at a second pivot point extending between the first and second engagement points. | 09-18-2014 |
20140290417 | METHOD AND APPARATUS FOR MOVING AND POSITIONING A GRIPPING UNIT, AND A ROBOT PROVIDED WITH GRIPPING UNIT - A method and apparatus for moving and positioning a gripping unit ( | 10-02-2014 |
20140318299 | STABILIZING APPARATUS FOR HIGHLY ARTICULATED PROBES WITH LINK ARRANGEMENT, METHODS OF FORMATION THEREOF, AND METHODS OF USE THEREOF - An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism. | 10-30-2014 |
20140331808 | ROBOTIC APPARATUS AND ASSOCIATED METHOD - A robotic positioning apparatus configured for moving an element from an initial position to a target position. The apparatus includes a moveable member attachable to an element to be moved; at least one tensile support member for supporting the movable member; and at least one tensile positioning member for repositioning the moveable member. The at least one tensile positioning member is configured to maintain the at least one tensile support member in tension. The at least one tensile support member is configured to maintain an inclination of at least a portion of the moveable member during repositioning. | 11-13-2014 |
20150101442 | METHOD, APPARATUS, AND A SYSTEM FOR FACILITATING BENDING OF AN INSTRUMENT IN A SURGICAL OR MEDICAL ROBOTIC ENVIRONMENT - An instrument that facilitates bending with large degrees of articulation while maintaining ease of manufacturing for medical and surgical applications is discussed. | 04-16-2015 |
20150107396 | ACTUATING MEMBER AND MEDICAL INSTRUMENT - An actuating member for causing a flexible elongated member for medical use to perform a predetermined curving motion includes a push-pull member including a first moving part and a second moving part which are configured to be movable relative to one another in an axial direction of the elongated member, the first moving part and the second moving part being pushable and pullable so as to cause the elongated member to curve in the axial direction of the elongated member; a curving motion restricting member which is configured to be movable in the axial direction of the elongated member, and which is configured to restrict curving of at least a portion of the elongated member; and an operation member configured to operate movements of the first moving part, the second moving part, and the curving motion restricting member. | 04-23-2015 |
20150122071 | ACTUATOR AND MANIPULATOR INCLUDING THE SAME - Disclosed is a manipulator including a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section. | 05-07-2015 |
20150128749 | SUBSTRATE TRANSPORT APPARATUS - A substrate processing apparatus comprising a transport arm having serially connected arm links, at least one of the arm links having a predetermined arm link height, at least a first pulley and a second pulley, where the second pulley is fixed to an arm link of the serially connected arm links, and at least one torque transmission band extending longitudinally between and coupled to each of the first pulley and the second pulley, the at least one torque transmission band having a corresponding band height for the predetermined arm link height and a variable lateral thickness such that the at least one torque transmission band includes a segment of laterally increased cross section for the corresponding band height. | 05-14-2015 |
20150321343 | Adjustable Stiffness Morphable Manipulator - Compliant manipulators are provided, in which the manipulators include a plurality of slideably interlocked filaments each having a proximate end and a distal end. The interlocked filaments can be formed from a flexible material. The compliant manipulators can also include at least one filament-actuating device operatively connected to the respective distal ends of the plurality of slideably interlocked filaments. The at least one filament-actuating device can be manipulated directly or remotely to push and/or pull the respective filaments to impart a desired movement to the manipulator. The stiffness or flexibility of the manipulators can also be controlled to provide varying degrees of stiffness during use. | 11-12-2015 |
20150352728 | BENDABLE, TELESCOPIC, AND FLEXIBLE CONTINUUM MECHANICAL STRUCTURE - A bendable, telescopic, and flexible mechanical structure comprises: a distal-end structure body, a proximal-end structure body, and a middle connecting body. The distal-end structure body comprises a distal-end spacing disc, a distal-end locking disc and a structure bone. The proximal-end structure body comprises a proximal-end spacing disc, a proximal-end locking disc and the structure bone. The middle connecting body comprises pipe fixing plates and a pipe. The distal-end structure body is connected to the proximal-end structure body through the middle connecting body. One end of the structure bone is fixed on the proximal-end locking disc. Then, the structure bone passes through the proximal-end spacing disc, the middle connecting body and the distal-end spacing disc sequentially, and is fixed on the distal-end locking disc. | 12-10-2015 |
20150367508 | MANIPULATOR - A manipulator includes an elongated main unit, a bending portion, and a distal end portion that are disposed in this order from a basal end; a plurality of main bending mechanisms having main linear members that extend from the distal end portion to the main unit, main motive-power generating portions), and main motive-power transmitting portions that transmit motive powers generated by the main motive-power generating portions to the main linear members in the form of linear motions in the longitudinal direction; a plurality of auxiliary bending mechanisms that are provided so as to form pairs with the respective main bending mechanisms and parallel thereto and that exert a pressing force and a tensile force on the distal end portion; and switching portions that selectively actuate either the main bending mechanisms or the auxiliary bending mechanisms, which are paired. | 12-24-2015 |
20160016319 | CONTINUUM DEVICES AND CONTROL METHODS THEREOF - Continuum robots and similar devices and methods and systems for controlling such devices are provided. The devices can include rods comprising strips, that are pre-curved, or both. Also provided is a system and method for modeling and controlling the configuration and operation of such devices. | 01-21-2016 |
20160023358 | ROBOT - A robot includes a turnable base, a lower arm, an upper arm, first and second spaces, and first and second routing members. The turnable base is coupled to a base fixed to an installation surface, and is turnable about a first axis. The lower arm includes a first base end coupled to the turnable base and rotatable about a second axis approximately orthogonal to the first axis. The upper arm includes a second base end coupled to the lower arm and rotatable about a third axis approximately parallel to the second axis. The first and second spaces are disposed in the lower arm, and face each other and extend in a length direction of the lower arm. The first and second routing members are respectively routed in the first and second spaces, and each include at least two bent portions bent in the first and second spaces. | 01-28-2016 |
20160023360 | ROBOT - A robot includes a turnable base, a lower arm, an upper arm, a space, and a routing member. The turnable base is coupled to a base fixed to an installation surface. The turnable base is turnable about a first axis. The lower arm has a first base end coupled to the turnable base and rotatable about a second axis approximately orthogonal to the first axis. The upper arm has a second base end coupled to the lower arm and rotatable about a third axis approximately parallel to the second axis. The space is disposed in the lower arm and extends in a length direction of the lower arm. The routing member is routed in the space and has at least two bent portions bent in the space. | 01-28-2016 |
20160052129 | LINK STRUCTURE AND ASSEMBLY INCLUDING CABLE GUIDE SYSTEM FOR ROBOTIC MECHANICAL MANIPULATOR STRUCTURE - A robotic mechanical manipulator structure includes a first link and a second link rotatably coupled to the first link by a rotatable joint. A first high hardness cable guide is disposed in the first link. A first cable is connected between the first link and the second link to move the first link relative to the second link in a first direction around the joint, the first cable connected to the first link at a first anchor point, and passing through the first high hardness cable guide in the second link. | 02-25-2016 |
20160052130 | LINK STRUCTURE AND ASSEMBLY INCLUDING CABLE GUIDE SYSTEM FOR ROBOTIC MECHANICAL MANIPULATOR STRUCTURE - A robotic mechanical manipulator structure includes a first link, a second link rotatably coupled to the first link, a first cable connected between the first link and the second link and coupled to the first link by a spring anchored to the first link, passing through cable guides on the first link and the second link and anchored to the second link, and a second cable connected between the first link and the second link and anchored to the first link, passing through cable guides on the first link and the second link and coupled to an actuator. The cables each have a length selected to provide a selected range of motion between the second link at a selected angle with respect to the first link when the actuator is in a rest position. The cable guides are formed from a high hardness material. | 02-25-2016 |
20160101528 | JOINT STRUCTURE CAPABLE OF OPTIMIZING MARGIN OF LENGTH OF UMBILICAL MEMBER, AND INDUSTRIAL ROBOT HAVING THE JOINT STRUCTURE - A joint structure capable of optimizing a margin of length of an umbilical member corresponding to a motion range of a forearm, and an industrial robot having the joint structure. At an upper section (near the forearm) of an upper arm, a frame constituting the upper arm has an opening through which the umbilical member can be inserted, and the umbilical member | 04-14-2016 |
20160151908 | TENDON-ACTUATED ARTICULATING INSTRUMENTS, AND RELATED SYSTEMS | 06-02-2016 |
20160157946 | COMPACT COUNTER BALANCED ARMS - In one embodiment of the invention, a counter balanced arm is disclosed including, a first link having a first rotating transmission device, a second link having a first rotating transmission device and a compression spring, a third rotating transmission device coupled between the first and second links, and a cable routed over the rotating transmission devices coupled between the second link and the compression spring. The compression spring forms a tension in the cable to counter balance a load applied to an end of the second link of the counter balanced arm. | 06-09-2016 |
20160167223 | EXTENDABLE ARTICULATED PROBE DEVICE | 06-16-2016 |
20160199980 | MECHANICAL ENERGY TRANSFER SYSTEM | 07-14-2016 |
20190143539 | VARIABLE GEOMETRY AND STEADY VOLUME INFLATABLE TUBE, ROBOTIC ARM AND ROBOT | 05-16-2019 |
20190145498 | ROBOT ARM MECHANISM | 05-16-2019 |
20220134541 | POWER TRANSMISSION SYSTEM FOR DRIVING ROBOT JOINT - A power transmission system for driving a robot joint includes a driving part including a first driving unit and a second driving unit, a first force transmission part including a first sheath formed to have a predetermined length, flexibility, and a hollow shape and a first wire which is inserted into the first sheath and of which one end is fixed to a joint of a robot and the other end is connected to the first driving unit, and a second force transmission part including a second sheath formed to have a predetermined length, flexibility, and a hollow shape and a second wire which is inserted into the second sheath and of which one end is fixed to the joint of the robot and the other end is connected to the second driving unit. | 05-05-2022 |