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"The abolishment of pain in surgery is a chimera. It is absurd to go on seeking it...knife and pain are two words in surgery that must forever be associated in the consciousness of the patient."
Dr. Alfred Velpeau, French surgeon ; 1839
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| Number | Title | Issue Date |
| 7986118 | Open-loop torque control on joint position-controlled robots A joint of a robot is controlled by a torque command. The joint has a position controller with a position feedback loop. The torque command is received for the joint, and a velocity feedforward command is determined for realizing the torque command using the positio... | 07/26/2011 |
| 7425811 | Numerical controller When a servomotor (control axis) is coasting and rotating in a servo-off state in which no current is applied to the servomotor, this servo-off state is switched over to a servo-on state in which current is applied to the servomotor, and a position control and a spe... | 09/16/2008 |
| 7386364 | Operation control device for leg-type mobile robot and operation control method, and robot device A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part thereof is disabled. At this time, the variation amount ΔS/Δt of th... | 06/10/2008 |
| 7373219 | Grip strength with tactile feedback for robotic surgery Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuratio... | 05/13/2008 |
| 7372230 | Off-axis rotary joint An off-axis rotary joint (20) for selectively enabling communication of a signal (i.e., electrical and/or optical) between a housing (21) mounted for rotation about an axis (y-y) relative to a hollow shaft assembly (22) at all permissible relati... | 05/13/2008 |
| 7366587 | Legged mobile robot The characteristics of actuators themselves and the characteristics of controllers for the actuators are dynamically or statically controlled to achieve stable and highly efficient movements. In a stage in which a leg in the flight state is uplifted such that the re... | 04/29/2008 |
| 7355364 | Motor and controller inversion: commanding torque to position-controlled robots Systems and methods are presented that cancel the dynamics of a motor and a joint controller in the presence of communication time delays, measurement noise, and controller parameter uncertainties inherent in a robot system. A cancellation system includes feedback o... | 04/08/2008 |
| 7339339 | Control system of floating mobile body An object of the invention is to provide a floating mobile object control system capable of causing a floating mobile object to stand still in a predetermined position with high precision or track a target trajectory with high precision, even under disturbances caus... | 03/04/2008 |
| 7328120 | Acceleration/deceleration control method and apparatus as well as program of acceleration/deceleration control method To provide an acceleration/deceleration control method, apparatus and the like for determining the acceleration/decelerations of motors according to, for example, the drive directions, acceleration and deceleration of the motors by a simple algorism. A gravity torqu... | 02/05/2008 |
| 7324872 | Robot apparatus An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, ... | 01/29/2008 |
| 7319466 | Method and apparatus for generating and interfacing with a haptic virtual reality environment A method for generating a haptic interactive representation including the steps of defining a haptic interaction space and building a hierarchical construct, for use within the haptic interaction space, using a plurality of underlying constructs. In one embodiment t... | 01/15/2008 |
| 7302312 | Hardware abstraction layer (HAL) for a robot Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hard... | 11/27/2007 |
| 7292001 | Gain adjusting method for servo control device An object of this invention is to provide a gain adjusting method in a servo control device to suppress changes according to a place where a machine is located. This invention provides a gain adjusting method for a servo control device providing speed control... | 11/06/2007 |
| 7290323 | Method for manufacturing sensing devices to image textured surfaces A fingerprint-sensing device with a sensor array that does not use active switching elements is fabricated on a base. Sensor support integrated circuits, which contain processing and addressing circuitry, are separately fabricated and subsequently mounted on the bas... | 11/06/2007 |
| 7292002 | Control method for twin synchronization In a control method for a twin synchronization in which two motors for driving two axes (moving elements 3) mechanically fastened to each other by a fastening part (a fastening jig 6) are synchronously operated, one of the two axes is operated at low s... | 11/06/2007 |
| 7253803 | Force feedback interface device with sensor A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to eac... | 08/07/2007 |
| 7248014 | Motor control system A motor control system capable of securing stability and rapidity of motion even in a machine where the stability varies in accordance with a position of a driven member. The driven member and a motor for driving the driven member are operatively connected through a... | 07/24/2007 |
| 7245101 | System and method for monitoring and control The invention provides for the monitoring and control of a system, such as a linear electro-mechanical transducer, e.g. a linear electric motor, particularly when driven in a reciprocating manner. A dynamic model of the linear motor and its load is used to calculate... | 07/17/2007 |
| 7236854 | Method and a system for programming an industrial robot A method and a system for use in connection with programming of an industrial robot. The programming includes teaching the robot a path having a number of waypoints located on or in the vicinity of an object to be processed by the robot. The system includes elements... | 06/26/2007 |
| 7211979 | Torque-position transformer for task control of position controlled robots Torque control capability is provided to a position controlled robot by calculating joint position inputs from transformation of the desired joint torques. This is based on calculating the transfer function 1/E(s), which relates the desired joint torque to joint pos... | 05/01/2007 |
| 7196489 | Rotary shaft control apparatus The invention aims to suppress or prevent the vibration that can occur due to the intervention of a low-rigidity part between detector and rotating body. An angular acceleration sensor for detecting the rotational angular acceleration of a rotating body is provided,... | 03/27/2007 |
| 7194335 | Manipulator and its control apparatus and method A manipulator operative in a master/slave operative mode, comprising: a master unit commanding an operation; a slave unit having a work unit; a detector detecting the orientation of the master unit and the orientation of the slave unit; and a control device controll... | 03/20/2007 |
| 7193799 | Apparatus and method of removing resonance frequency in system An apparatus and a method to remove a resonance frequency of a system in which an unnecessary resonance frequency occurs in a head stack assembly (HSA) having a head for reading/writing data. The HSA is identified and filtered to prevent mechanical damage caused by ... | 03/20/2007 |
| 7190140 | Sliding mode controller position control device A position control device for causing a position of a control system, including a servomotor and a moving body driven by the servomotor, to track a command value. The position control device includes a sliding mode controller for receiving command position r and sta... | 03/13/2007 |
| 7187142 | Motor drive with velocity noise filter A drive unit for controlling a motor includes a position feedback device and a velocity noise filter. The position feedback device is operable to generate a position signal relating to a position of the motor. The velocity noise filter is coupled to the position fee... | 03/06/2007 |
| 7173390 | Method of detecting a malfunction during a displacement of an element by means of a drive system, and device suitable for carrying out such a method A method and a device are provided for detecting the occurrence of a malfunction upon movement of an element by a driving system. While the element is being moved, a difference between a predetermined value and an actual value is determined at regular intervals by m... | 02/06/2007 |
| 7158840 | Tuning control parameters of vibration reduction and motion control systems for fabrication equipment and robotic systems A method and apparatus is disclosed for acquiring and processing parameters used to adjust and tune a controller used, for example, to govern and compensate for motion, including vibrations and disturbances, in a physical system, such as a piece of manufacturing equ... | 01/02/2007 |
| 7132814 | Method of calculating correction value and method of manufacturing printer A correction value calculating method includes: preparing a printer including a motor, a PID control system for controlling the motor, and a memory for storing a correction value, the printer being configured to calculate a value of a current flowing through the mot... | 11/07/2006 |
| 7133560 | Generating processing sequences for image-based decision systems A multilevel Chain-And-Tree (CAT) model provides a framework to facilitate highly effective image analysis and measurement. Methods are described to automatically or semi-automatically create a processing sequence for image based decision applications using the CAT ... | 11/07/2006 |
| 7123984 | Threading control method and apparatus therefor A threading control method and apparatus therefor is provided, in which, when carrying out thread-cut machining operations several times at one position, synchronized with main-spindle rotation and controlling movement of a threading spindle, deviations in thread gr... | 10/17/2006 |
| 7117056 | CNC control unit with learning ability for machining centers A computer numerical control unit with learning ability solves the problem of automatic and intelligent generating of numerical control programs for computer numerical control machining centers for milling, drilling and similar operations. The key module of the comp... | 10/03/2006 |
| 7109670 | Motor drive with velocity-second compensation An apparatus for use with a signal generator and a motor controller includes a velocity compensator, an adjustor, and a velocity regulator. The signal generator provides a reference velocity signal, and the motor controller receives an output signal and uses the out... | 09/19/2006 |
| 7106313 | Force feedback interface device with force functionality button A force feedback mouse interface device connected to a host computer and providing realistic force feedback to a user. The mouse interface device includes a mouse object and a linkage coupled to the mouse that includes a plurality of members rotatably coupled to eac... | 09/12/2006 |
| 7102315 | Robot arm control method and control device When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated a... | 09/05/2006 |
| 7098620 | Minute object manipulating apparatus A minute object manipulating apparatus includes a tool which manipulates a manipulation target object, an observation unit capable of changing the magnification for observating the manipulation target object and tool, a display unit which displays magnified images o... | 08/29/2006 |
| 7091950 | Force feedback device including non-rigid coupling A method and apparatus for providing force sensations in virtual environments includes a human/computer interface device and method used in conjunction with a host computer and which can provide feel sensations to a user of the device. A user manipulatable object ph... | 08/15/2006 |
| 7084596 | Servomotor driving controller A servomotor driving controller capable of highly accurate machining, which prevents a quadrant projection upon change in the quadrant where machining is made. After the position deviation converges to zero by means of learning control, the velocity command or a dif... | 08/01/2006 |
| 7076336 | Hardware abstraction layer (HAL) for a robot Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hard... | 07/11/2006 |
| 7066686 | Automatic control methods for positioning the lower end of a filiform structure, notably an oil pipe, at sea Method intended for automatic control of an underwater pipe for connecting the lower end of the pipe to a wellhead, wherein the following stages are carried out: Stage 1: determining a mathematical model expressing the position of ... | 06/27/2006 |
| 7068002 | Motor control device A motor control device comprises: a current limiter 115 for limiting a current-instruction signal Ir for a motor 18 and for turning a limiting signal L from off to on when the current-instruction signal Ir reaches a predetermined value; a model-positio... | 06/27/2006 |
