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1.WO/2020/233777TECHNIQUE FOR PARAMETER CONVERSION BETWEEN A ROBOTIC DEVICE AND A CONTROLLER FOR THE ROBOTIC DEVICE
WO 26.11.2020
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No PCT/EP2019/062858 Applicant TELEFONAKTIEBOLAGET LM ERICSSON (PUBL) Inventor RÁCZ, Sándor
An apparatus for parameter transformation between a robotic device and a controller for the robotic device is presented. The apparatus is configured to receive at least one non-transformed parameter indicative of at least one of a position and a velocity of or for the robotic device, wherein the non-transformed parameter is received from the robotic device or the controller, respectively. The apparatus is further configured to transform the received non-transformed parameter to a transformed parameter using a transformation between an ideal parameter domain of the controller and a real parameter domain of the robotic device, the ideal parameter domain including ideal parameters processable by the controller and the real parameter domain including real parameters measurable at the robotic device and capable of deviating from the associated ideal parameters. The apparatus is further configured to transmit the transformed parameter to the other one of the robotic device and the controller, A method, a system, a computer-program product and a cloud computing system for parameter transformation are presented also.
2.WO/2020/234027METHOD, COMPUTER PROGRAM PRODUCT AND ROBOT CONTROL SYSTEM FOR THE CONTACT-BASED LOCALIZATION OF OBJECTS THAT CAN BE MOVED WHEN MANIPULATED BY ROBOT, AND ROBOT
WO 26.11.2020
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No PCT/EP2020/063067 Applicant SIEMENS AKTIENGESELLSCHAFT Inventor WIRNSHOFER, Florian
In order to be able to carry out, for an object (OBJ) during manipulation by at least one robot (ROB), object localization in accordance with the requirement catalog mentioned at the outset, on the basis of a probabilistic approach without object detection by visual sensors, the object, which, together with the robot in a robot-object environment (ROU), forms a system (SYS) for system state estimation, is localized on the basis of a probability distribution that localizes the object together with this estimation accompanying the object localization, which probability distribution is determined approximately by means of an iterative, recursive application of a Bayes filter algorithm (BFA), wherein for this purpose state transition probabilities obtained, in a nondeterministic motion model (BWM) for system simulation, from modeled transitions of states of the system are multiplicatively linked with measurement probabilities obtained, in a measurement model (MSM) for system simulation, from modeled plausibility checks of the system state transitions modeled in the motion model, and an initial probability distribution is used at the start of the application. For this purpose, a physics simulator (PHS) for system state simulation, which physics simulator completely includes the physics of the system with respect to forces and dynamics and the physical system relationships resulting therefrom, and a controller (RGL, IPR), which controls the physics simulator while at the same time the simulation system state is fed back and which influences the compliance of the robot with respect to the robot-object environment on the basis of control variables (SGR), are incorporated, and measurement results (MSE) of axis-specific measurements are taken into account in the measurement model for the plausibility checks.
3.WO/2020/234077DEVICE FOR SUPPORTING AT LEAST ONE ARM
WO 26.11.2020
Int.Class A61F 5/01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
5Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices
01Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
Appl.No PCT/EP2020/063295 Applicant OTTOBOCK SE & CO. KGAA Inventor SCHIRRMEISTER, Benjamin
The invention relates to a device for supporting at least one arm (4) of a user (2), wherein: the device has at least one arm-supporting element (6) comprising an arm shell (8) for placing on the arm (4), at least one passive actuator which is configured to apply a force to the at least one arm-supporting element (6), and at least one counter bearing for the force to be applied, which counter bearing has at least one force transmission element (10) and a counter bearing element (14); the arm-supporting element (6) is connected to the force transmission element (10) via an articulation so as to be pivotable about at least one pivot axis; the device additionally has at least one restraining element (18) which limits a movement of the arm shell (8) along the arm (4) towards the hand when the device is worn, but does not affect a movement of the arm shell (8) in the opposite direction; and the at least one restraining element (18) is designed to be flexible but inelastic, and/or has at least one portion which extends in an axillary manner.
4.WO/2020/235707ACTION ROBOT
WO 26.11.2020
Int.Class B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
Appl.No PCT/KR2019/006079 Applicant LG ELECTRONICS INC. Inventor SA, Jaecheon
An action robot according to one embodiment of the present invention can comprise: joints for rotatably connecting actuating units to a body; spiral springs for providing elastic force in the direction in which joints unfold; and wires connected to actuating units so as to pull the actuating units or joints in the direction in which the joints bend. A joint can comprise: a rotary body fastened to the actuating unit; a joint shaft which is formed on the rotary body and to which the spiral spring is connected; a joint shaft support unit for rotatably supporting the joint shaft on one side of the rotary body; and a spring accommodation cover in which the spiral spring is embedded and which is arranged on the other side of the rotary body.
5.WO/2020/235706ACTION ROBOT
WO 26.11.2020
Int.Class B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
Appl.No PCT/KR2019/006077 Applicant LG ELECTRONICS INC. Inventor SA, Jaecheon
An action robot, according to an embodiment of the present invention, may comprise: a joint that connects a second movable part so as to be rotatable with respect to a first movable part; a spiral spring that provides an elastic force in the direction in which the joint is stretched; and a wire that is connected to the second movable part and pulls the second movable part in the direction in which the joint is bent. The joint may comprise: a pair of outer joints that are formed on one of the first and second movable parts and spaced apart from each other; an inner joint that is formed on the other one of the first and second movable parts, is positioned between the pair of outer joints, and has the spiral spring built-in; and a joint shaft that connects the pair of outer joints, penetrates the inner joint, and has the spiral spring connected thereto. The wire may pass outside the inner joint.
6.WO/2020/235705ACTION ROBOT
WO 26.11.2020
Int.Class B25J 11/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
11Manipulators not otherwise provided for
Appl.No PCT/KR2019/006075 Applicant LG ELECTRONICS INC. Inventor SA, Jaecheon
An action robot according to one embodiment of the present invention can comprise: a connector for connecting a body with an actuating unit; a joint for rotatably connecting the actuating unit to the connector; a wire connected to the actuating unit so as to pull the actuating unit in the direction in which the joint is bent; a wire passage which is formed in the connector, through which the wire passes, and which has an entrance positioned inside the body; and a supporter which is arranged inside the body and which supports the wire. The upper end of the supporter can overlap with the entrance in a horizontal direction.
7.WO/2020/235825ELECTRONIC DEVICE FOR PREVENTING SPILLING OF LIQUID DURING MOVEMENT
WO 26.11.2020
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No PCT/KR2020/005508 Applicant SAMSUNG ELECTRONICS CO., LTD. Inventor PARK, Dongwoo
An electronic device is disclosed. The electronic device comprises: a container; a sensor; a drive unit; and a processor for inputting a drive signal into the drive unit so as to control the speed of the electronic device. The processor: measures at each time interval, on the basis of sensing data received through the sensor, external forces applied to the electronic device from the ground on which the electronic device is located, while the electronic device moves; identifies, on the basis of frequency characteristics of the external forces measured at each time interval and the natural frequency of a liquid contained in the container, an element having frequency characteristics corresponding to the natural frequency from among the external forces; and inputs into the drive unit, on the basis of the size of the identified element, a drive signal which enables the speed of the electronic device to change according to the natural period of the liquid.
8.WO/2020/233194HOLLOW REDUCER FOR HIGH PRECISION CONTROL
WO 26.11.2020
Int.Class F16H 1/32
FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
16ENGINEERING ELEMENTS OR UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
HGEARING
1Toothed gearings for conveying rotary motion
28with gears having orbital motion
32in which the central axis of the gearing lies inside the periphery of an orbital gear
Appl.No PCT/CN2020/078193 Applicant SUZHOU HUAZHEN INDUSTRY RV REDUCER CO., LTD. Inventor LIU, Weiwei
Disclosed is a hollow reducer for high precision control, the hollow reducer comprising a pin wheel housing (1) and two stages of speed reduction components arranged in same. The first-stage speed reduction component comprises a driving wheel (13), a duplicate gear (8) and a planetary wheel (12) on a servo motor; the second-stage speed reduction component comprises 2 to 3 uniformly arranged eccentric shafts (11), a cycloidal gear, a pin (17), a left rigid disc (16), a right rigid disc (5) and bearings, wherein the cycloidal gear is supported on two eccentric sections of each eccentric shaft (11) by means of a third bearing (15), shaft extensions on two sides of each eccentric section are supported on the left and right rigid discs (16, 5) by means of a fourth bearing (14), the rigid discs (16, 5) are supported on two sides of the pin wheel housing (1) by means of a fifth bearing (2), and after the cycloidal gear is modified, side clearances between the pin (17) and two sides of a tooth groove of the cycloidal gear satisfy Δc = (0.7-5) λ (mm), wherein λ is the thermal expansion amount of the cycloidal gear when the reducer does work under a rated torque. By means of the method, the side clearance Δc is closely related to the thermal expansion amount λ of the cycloidal gear, such that the reducer has good dynamic characteristics: operational work does not cause overheating, the conventional manufacturing precision cost is low, and the reducer can be interchanged with an RV reducer.
9.WO/2020/233954SYSTEM, AND METHOD FOR ACTUATING A TRAVEL UNIT OF THE SYSTEM
WO 26.11.2020
Int.Class B25J 5/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
02travelling along a guideway
Appl.No PCT/EP2020/061801 Applicant VOLKSWAGEN AKTIENGESELLSCHAFT Inventor SAATHOFF, Hartmut
The invention relates to a system comprising a conveying device (1) for moving a workpiece (2) along a conveying path (3), as well as comprising a travel device (4) having a travel unit (5) for moving a load (6) along a travel path (7) which is adjacent to the conveying path (3). The travel unit (5) also has a load-receiving device (8) in order to receive the load (6), and the system has at least one sensor in order to couple the motions of the workpiece (2) and the load (6) along the conveying path (3) and the travel path (7). The sensor is a force sensor (9) arranged on the load-receiving device (8), and furthermore the load-receiving device (8) can be moved by means of pneumatic actuation of the travel unit (5). The invention also relates to a method for pneumatically actuating the travel unit (5) of the system.
10.WO/2020/234184SYSTEM FOR MOVEMENT CONTROL
WO 26.11.2020
Int.Class A61H 1/02
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
1Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones 
02Stretching or bending apparatus for exercising
Appl.No PCT/EP2020/063699 Applicant IMPERIAL COLLEGE INNOVATIONS LTD Inventor VARGHESE, Rejin, John
A system for movement control comprises at least one movement device, each movement device comprising an elongate actuating element having at least a portion that is displaceable and/or stretchable along a longitudinal direction of said elongate actuating element for applying a force to at least one body part of a user of the system. An elongate sensing element is arranged generally parallel to the elongate actuating element and has at least a portion that is configured to be displaced and/or stretched along a longitudinal direction of said elongate sensing element generally with displacement and/or stretch of the elongate actuating element, for sensing the displacement and/or stretch of the elongate actuating element. An actuator is configured to actuate the elongate actuating element, and a sensor is configured to measure the displacement and/or stretch of the elongate sensing element.