Patent ID: 9554865
Date: 2017-01-31
CPC Classifications: A61B,A61F,B25J,Y10S,Y10T

Claim:
1. A cooperative-control robot, comprising: a base component; a mobile platform arranged proximate said base component; a translation assembly operatively connected to said base component and said mobile platform and configured to move said mobile platform with translational degrees of freedom substantially without rotation with respect to said base component; a tool assembly connected to said mobile platform, wherein said tool assembly comprises a tool holder and a tool rotation assembly connected to said tool holder; a control system configured to communicate with said translation assembly to control motion of said mobile platform in response to forces by a user applied to at least a portion of said cooperative-control robot; and at least one force sensor attached to said holder, wherein said translation assembly comprises at least three independently operable actuator arms, each connected to a separate position of said mobile platform, wherein said tool rotation assembly provides at least two rotational degrees of freedom for orienting said tool when held by said tool holder, and wherein said at least one force sensor detects at least one force component applied by said user to said tool when held by said tool holder causing said control system to move said mobile platform and said tool assembly a desired way.