B25J 9/1633
Compliant, force, torque control
Official title: {compliant, force, torque control, e.g. combined with position control}
B25J9/1633 (Compliant, force, torque control) appears on 1,237 US grants and 1,577 published applications in this corpus.
Search patents in B25J- Granted patents
- 1,237
- Published applications
- 1,577
- Assignees
- 459
- Inventors
- 2,602
- Latest grant
- 29 Sep 2026
Filings by year
| Year | Granted patents | Published applications |
|---|---|---|
| 1986 | 2 | 0 |
| 1987 | 0 | 0 |
| 1988 | 2 | 0 |
| 1989 | 2 | 0 |
| 1990 | 5 | 0 |
| 1991 | 1 | 0 |
| 1992 | 6 | 0 |
| 1993 | 2 | 0 |
| 1994 | 4 | 0 |
| 1995 | 2 | 0 |
| 1996 | 4 | 0 |
| 1997 | 0 | 0 |
| 1998 | 3 | 0 |
| 1999 | 1 | 0 |
| 2000 | 1 | 0 |
| 2001 | 5 | 0 |
| 2002 | 2 | 2 |
| 2003 | 1 | 5 |
| 2004 | 1 | 8 |
| 2005 | 6 | 15 |
| 2006 | 11 | 6 |
| 2007 | 10 | 8 |
| 2008 | 4 | 9 |
| 2009 | 2 | 9 |
| 2010 | 2 | 13 |
| 2011 | 3 | 17 |
| 2012 | 9 | 14 |
| 2013 | 19 | 36 |
| 2014 | 18 | 52 |
| 2015 | 48 | 50 |
| 2016 | 48 | 58 |
| 2017 | 56 | 65 |
| 2018 | 51 | 138 |
| 2019 | 65 | 106 |
| 2020 | 95 | 149 |
| 2021 | 112 | 157 |
| 2022 | 112 | 154 |
| 2023 | 153 | 157 |
| 2024 | 130 | 142 |
| 2025 | 144 | 107 |
| 2026 | 95 | 100 |
By publication year. Applications have been published since 2001. 2026 runs to 8 Oct.
Recent patents
- Method for controlling a gripper29 Sep 2026US 12,746,663 B2Camozzi Automation S.P.A.
- System and method for controlling a multi-legged robot22 Sep 2026US 12,741,375 B2Mitsubishi Electric Research Laboratories, Inc.
- Motion control for a medical installation15 Sep 2026US 12,734,688 B2Siemens Healthineers AG
- Control device, robot system, robot control method, and robot control program15 Sep 2026US 12,734,690 B2Kawasaki Jukogyo Kabushiki Kaisha
- Guided tool change15 Sep 2026US 12,734,693 B2Intuitive Surgical Operations, Inc.
- System and Method for Controlling Wheeled Mobile Manipulators8 Oct 2026US 2026/0307246 A1Mitsubishi Electric Research Laboratories, Inc.
- Real-time collision and overspeed detection system for collaborative robot using joint-wise current-based torque control8 Oct 2026US 2026/0307254 A1BRILS Co., Ltd.
- Control device and control method of autonomous mobile robot8 Oct 2026US 2026/0307259 A1Shibaura Machine Co., Ltd.
- Apparatuses, systems, and methods for processing a workpiece8 Oct 2026US 2026/0307268 A1The Boeing Company
- Force Multiplying Mobile Robot8 Oct 2026US 2026/0310200 A1Robust AI, Inc.
Most cited
By later US patents
- Joint-space impedance control for tendon-driven manipulators1,187US 8,060,250 B2GM Global Technology Operations LLC · 2011
- Torque-position transformer for task control of position controlled robots1,182US 7,211,979 B2The Broad of Trustees of the Leland Stanford Junior University · 2007
- Torque compensation1,065US 9,675,354 B2Intuitive Surgical Operations, Inc. · 2017
- Apparatus and method for controlling force to be used for motion of surgical robot962US 9,308,646 B2Samsung Electronics Co., Ltd. · 2016
- Systems and methods for safe compliant insertion and hybrid force/motion telemanipulation of continuum robots884US 9,539,726 B2Vanderbilt University · 2017