Hiwin Technologies Corporation

Jung-Fu Hou

Ren-Jeng Wang

Shou-Yang Huang

Hung-Chuan Hsu

Cheng-Chin Chen

You-Min Chen

Jia-Huei Jian

Yu-Chia Liang

Chang-Jin Yu

A method for load estimation and gravity compensation on a robotic arm including a joint is provided, and includes: receiving a first torque signal and a first joint angle when the arm is at a first position and subjected to a current load; generating a first torque value, correction parameters, and no-load and maximum-load torque values; changing the load applied to the arm to an unknown load; receiving a second torque signal and generating a second torque value; estimating an estimated load value of the unknown load; moving the arm to a second position; receiving a second joint angle; and generating a compensating torque value and outputting the compensating torque value to a driver module of the arm.

Method and system for load estimation and gravity compensation on a robotic arm

An endoscopic system includes a mechanical arm, an endoscope and a control unit. The endoscope is held by the mechanical arm, and is configured to capture an image. The control unit is electrically connected to the mechanical arm and the endoscope, and is configured to receive and process the image captured by the endoscope, to determine whether the image has at least two specific instruments that are arranged in a specific configuration, and to drive the mechanical arm to move the endoscope when the determination is affirmative.

Endoscopic system and method for controlling the same

A lower limb spasticity measurement method includes the step of setting the lower limbs of the person in a lower limb orthotic device of a gait activity machine, the step of starting up a motor of the gait activity machine to drive the lower limb orthotic device for lower limb activity, the step of getting a statistical distribution data from the output torque of the motor within a predetermined time and then calculating the statistical distribution data to obtain a threshold, and the step of determining whether the output torque of the motor is greater than the threshold or not, and then stopping motor if the output torque of the motor is greater than the threshold. Thus, the method of the invention can accurately measures spasticity in the lower limbs of a person without the use of sensors, effectively saving the cost of equipment.

Lower limb spasticity measurement method

Robotic arm

Robot arm

Growing community of inventors

Taichung, Taiwan

Jung-Fu Hou