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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12558176-B2, on 24 February 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000002655

Controlled resistance in backdrivable joints

Published
Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
DUFFY SEAN, LYNCH GORAN, VALLADAO WILL, ZEIAEE AMIN
Assignee
INTUITIVE SURGICAL OPERATIONS
Original source
US-12558176-B2, the United States Patent and Trademark Office, 24 February 2026
Document SHA-256
700364ab239c73a7dfa41327ed029616abd870afcd141a737dfaea895708adf5

Abstract

A computer-assisted system includes a manipulator arm including a joint, an actuator mechanism configured to drive the joint, and a controller including a computer processor. The controller is communicatively coupled to the manipulator arm and configured with a first control mode and a second control mode. In each of the first control mode and the second control mode, the controller commands the actuator mechanism to allow an external articulation to reconfigure the manipulator arm by backdriving the joint. The first control mode is distinguished from the second control mode at least by the controller being configured to, in the first control mode, command the actuator mechanism to provide a first speed-dependent resistance in response to the joint being backdriven at a first backdriven speed above a first speed threshold. The first speed-dependent resistance opposes the joint being backdriven.

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Citation

OpenTechnical Publication OT-2026-000002655, “Controlled resistance in backdrivable joints,” published September 15, 2026 at 19:14:28 UTC, https://opentechnical.org/p/OT-2026-000002655.

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This record reproduces a document published elsewhere and is provided for reference and study. Rights in the original remain with its owner. See the publication policy.