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| Number | Title | Issue Date |
| 7438724 | System and method for force feedback A system and method of grip force feedback for use with a prosthetic device is provided in the present invention. The system can include a prosthetic hand having a plurality of digits for use with the prosthetic device. A force sensor can be provided to produce a fo... | 10/21/2008 |
| 7343223 | Robot apparatus and load sensor A load sensor that is inoperable even when applied with a large load, has a simple structure easily designed to be lightweight and compact and can detect a load with a high accuracy, and a legged robot apparatus including the load sensor in each of legs thereof. The... | 03/11/2008 |
| 7300082 | Active edge gripping and effector The present invention generally relates to an end effector that utilizes a gripping mechanism to grip a peripheral edge of the wafer and secure the wafer to the end effector. In one embodiment, the gripping mechanism includes a pair of gripper arms that pivot betwee... | 11/27/2007 |
| 7239940 | Modularity system for computer assisted surgery A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The sys... | 07/03/2007 |
| 7136722 | Method for generating a motion of a human type link system A human-type link system, such as a humanoid robot having a dynamically feasible motion of the link system that is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible by an evaluati... | 11/14/2006 |
| 7006895 | Computed pivotal center surgical robotic system and method A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cam... | 02/28/2006 |
| 6999852 | Flexible robotic surgery system and method A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cam... | 02/14/2006 |
| 6963792 | Surgical method A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer. The teleoperato... | 11/08/2005 |
| 6918622 | Robot hand and robot hand finger A robot hand finger makes a hooking movement similar to that of the human fingers with less number of driving units by installing a 4-joint link. A robot hand includes several fingers and 4-joint link in order to implement a horizontal movement of the fingers. A rob... | 07/19/2005 |
| 6785572 | Tactile feedback and display in a CT image guided robotic system for interventional procedures A system (10) for conducting an image-guided medical procedure on a subject (20) includes a medical imaging apparatus (100) which intermittently during the procedure obtains, upon demand, real-time medical images of the actual procedure. A robot... | 08/31/2004 |
| 6741911 | Natural robot control An apparatus and process for controlling a remote robot responsive to the integrated sensory perceptions, natural body movements, inertia and gravitation of an operator/user who is himself responding to a three dimensional virtual world of visual and sensory conditi... | 05/25/2004 |
| 6587752 | Robot operation teaching method and apparatus A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid ... | 07/01/2003 |
| 6553652 | Force controlling robot A force-controlling robot having a function of drawing a fitting part from a receiving part. A fitting part held by a robot hand is moved form an approach start position in a set approach direction under speed and force control. When the fitting part come... | 04/29/2003 |
| 6532400 | Biologically-inspired multi-segmented robot A biologically inspired, multi-segmented robot is provided, wherein the biologically inspired, multi-segmented robot employs a logic-based technique to control mobility, rather than a mobility control technique that relies on complex mathematical models. ... | 03/11/2003 |
| 6507163 | Robotic bridge maintenance system A bridge surface preparation, maintenance and painting system has a truck-mounted man lift with an extensible platform on which robot arms and cameras are mounted. Inflatable bags isolate the area of the bridge being worked on, and an apron catches debris... | 01/14/2003 |
| 6456901 | Hybrid robot motion task level control system A hybrid control system is provided for controlling the movement of a robot. The hybrid control system includes a singularity detector; a task level controller that receives a motion plan and determines a first set of control commands which are defined in... | 09/24/2002 |
| 6430473 | Power assist apparatus and control method for same A power assist apparatus includes an autonomously mobile base on which a manipulator for holding a load is mounted. The movement of the mobile base is controlled such that when the manipulator tip is within a prescribed operating region relative to the mo... | 08/06/2002 |
| 6385509 | Tool actuation and force feedback on robot-assisted microsurgery system An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to ... | 05/07/2002 |
| 6377011 | Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus A handle module actuates handles of a user interface for various applications, including minimally invasive surgery ("MIS"). A modified MIS tool handle has two shafts that translate relative to each other upon relative motion of the handles. They also can... | 04/23/2002 |
| 6343242 | Protective device for clean robot The invention relates to a protective device for a clean robot that includes a base 7 in which actuators 4 and 5 for driving a robot arm 3 are accommodated; a translational guide 8 for causing the base 7 to travel in a rectilinear direction; and a robot c... | 01/29/2002 |
| 6301526 | Master device having force reflection function A master device for generating motion instruction of the slave robot by sensing motion of the arm with fixed to the arm of the operator, and reflecting motion limit information by external force and physical articulation limit sensed by the robot may be s... | 10/09/2001 |
| 6278902 | Robot control method and robot control system A DSP of a servo control circuit obtains a movement value of a servomotor for each axis for each position-speed feedback processing cycle in accordance with a move command value for each axis delivered from a main processor with every distribution cycle, ... | 08/21/2001 |
| 6233504 | Tool actuation and force feedback on robot-assisted microsurgery system An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to ... | 05/15/2001 |
| 6226566 | Method of constrained cartesian control of robotic mechanisms with active and passive joints The present invention is a method of controlling a robotic mechanism comprising both active and passive joints, where the motion of one or more of the passive joints is constrained by one or more constraints imposed on the mechanism by the environment, th... | 05/01/2001 |
| 6096004 | Master/slave system for the manipulation of tubular medical tools A master/slave system is used for performing a surgical procedure such as theterization of cardiac or peripheral vasculature. Movements of catheters or similar tools within a patient are remotely controlled by a surgeon, and the surgeon receives haptic or... | 08/01/2000 |
| 6024531 | Manipulator for a device for depositing and withdrawing bank notes A device for depositing and withdrawing banknotes, in which the banknotes are conducted in a closed circuit between deposition and withdrawal is provided which includes an extractable drawer for the sorted reception of banknotes and extractable drawer for... | 02/15/2000 |
| 5873488 | Vial gripper mechanism In an automatic medicament dispensing machine, a vial gripper mechanism includes a rotatable first jaw and a second jaw coupled with the output shaft of a jaw motor. In an open position, the jaws are spaced for receiving a medicament vial therebetween. Ac... | 02/23/1999 |
| 5871248 | Robot gripper A robot gripper comprising a pair of gripper surfaces with flexible, non-elastic membranes disposed on each gripper surface respectively, these membranes being comprised of cubic cells filled with compressible fluid, so that when each gripper surface make... | 02/16/1999 |
| 5850759 | Force feed back manipulator with six degrees of freedom A manipulator with six degrees of freedom includes a moving plate having three points arranged with substantial equal angles therebetween, a fixed plate having three protruding portions arranged with substantial equal angles therebetween, the fixed plate ... | 12/22/1998 |
| 5838882 | Dynamic position tracking and control of robots A robot and associated control system, as well as a method of control, for servicing a heat exchanger having a substantially planar tube sheet which defines a multiplicity of laterally spaced tube openings of known shape, each of which is centered at a co... | 11/17/1998 |
| 5823511 | Force generation device for simulation of shoulder-supported rocket launching A system for exerting a force, for instance a vertical upward lifting force of a predetermined tension vs. time waveform on a suspended object is useful in training the operators of shoulder-supported rocket launchers. The system includes an actuator for ... | 10/20/1998 |
| 5814959 | Gyro-moment compensation control method and apparatus A method and apparatus for controlling a robot which performs an operation on an object while applying any desired force to the object, and a method of controlling automobile suspensions so as to maintain the contact between the automobile and a road surf... | 09/29/1998 |
| 5784542 | Decoupled six degree-of-freedom teleoperated robot system The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functio... | 07/21/1998 |
| 5771181 | Generation for virtual reality simulator systems A system for producing realistic tactile feedback forces in a tool operation simulator. Sensors sense the location and direction of movement of a simulated tool in a simulated landscape environment to produce electrical signals representing three dimensio... | 06/23/1998 |
| 5651574 | Micromanipulator A micromanipulator comprises an upper parallel linkage connecting a base member and an opposed middle plate by links, a lower parallel linkage connecting the middle plate and an opposed base plate by links, a first finger attached to the base member of th... | 07/29/1997 |
| 5609381 | Parallel gripper having a force measuring arrangement A parallel gripper includes an electric motor; a threaded spindle connected to the motor to be driven thereby about a longitudinal spindle axis; a spindle nut threadedly mounted on the spindle for longitudinal travel therealong upon rotation of the spindl... | 03/11/1997 |
| 5497061 | Method of controlling robot's compliance A control system in which an end effector of a robot is mechanically compliant for a particular object. The robot has multiple degrees of freedom and movement and includes a sensor which senses a velocity nd a sensor which senses an external force. A virt... | 03/05/1996 |
| 5377730 | Apparatus to stabilize a cut tree in the vertical position during movement by a feller-buncher A load stabilizing means for elongated objects grasped at one end and held vertically comprising gravity induced signals to hydraulic power and control means to correct deviations of the axis of the longitudinal object from the vertical. The preferred emb... | 01/03/1995 |
| 5368428 | Apparatus and method for producing a video display A method and apparatus for producing a video display that is especially useful in an article handling system to help control a mechanical arm to move an article into a selected position. A video camera is operated to produce a picture of the article on a ... | 11/29/1994 |
| 5280981 | End effector with load-sensitive digit actuation mechanisms Each of a plurality of digits within a reconfigurable end effector is both rotated and maneuvered for grasping by a single small motor coupled to a drive shaft for the digit through a load-responsive two-speed drive arrangement. The drive arrangement coup... | 01/25/1994 |
