Brainlab Ag

Deutsches Zentrum Fuer Luft-Und Raumfahrt E.v

Alin Albu-Schäffer

Ulrich Hagn

Tobias Ortmaier

Rainer Birkenbach

Andreas Hartlep

Michael Bertram

Richard Wohlgemuth

Markus Grebenstein

Christian Ott

Klaus Jöhl

Mathias Nickl

Franz Hacker

Rainer Konietschke

Stefan Jörg

An anthropomorphic medical robot arm includes a base end, a first arm element, a base joint coupling the base end to the first arm element, a second arm element, a middle joint coupling the second arm element to the first arm element, a distal functional end, a distal joint coupling the distal functional end to the second arm element, and at least one selectively operable movement inhibitor operable on the base joint, middle joint and/or distal joint so as to restrict the functionally possible range of movement of the robot arm to the range of movement of a human arm.

Anthropomorphic medical robot arm with movement restrictions

In a method for controlling a robot arm, which is particularly suitable for use in medical applications, a robot arm () with a redundant number of joints is used. A torque acting in at least one joint () is sensed. By means of a control device, the torque acting in this joint () is controlled to become substantially 0.

Method for controlling a robot arm, and robot for implementing the method

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Munich, Germany

Alin Albu-Schäffer