B25J 9/1641
Compensation for backlash, friction, compliance, elasticity in the joints
Official title: {compensation for backlash, friction, compliance, elasticity in the joints}
B25J9/1641 (Compensation for backlash, friction, compliance, elasticity in the joints) appears on 251 US grants and 294 published applications in this corpus.
Search patents in B25J- Granted patents
- 251
- Published applications
- 294
- Assignees
- 128
- Inventors
- 515
- Latest grant
- 6 Oct 2026
Filings by year
| Year | Granted patents | Published applications |
|---|---|---|
| 1989 | 2 | 0 |
| 1990 | 0 | 0 |
| 1991 | 2 | 0 |
| 1992 | 0 | 0 |
| 1993 | 0 | 0 |
| 1994 | 1 | 0 |
| 1995 | 2 | 0 |
| 1996 | 1 | 0 |
| 1997 | 1 | 0 |
| 1998 | 1 | 0 |
| 1999 | 1 | 0 |
| 2000 | 1 | 0 |
| 2001 | 1 | 1 |
| 2002 | 1 | 0 |
| 2003 | 2 | 1 |
| 2004 | 0 | 4 |
| 2005 | 2 | 3 |
| 2006 | 1 | 2 |
| 2007 | 2 | 4 |
| 2008 | 1 | 3 |
| 2009 | 1 | 2 |
| 2010 | 5 | 3 |
| 2011 | 2 | 5 |
| 2012 | 2 | 6 |
| 2013 | 3 | 4 |
| 2014 | 5 | 10 |
| 2015 | 14 | 14 |
| 2016 | 11 | 11 |
| 2017 | 8 | 16 |
| 2018 | 12 | 41 |
| 2019 | 11 | 16 |
| 2020 | 26 | 21 |
| 2021 | 34 | 18 |
| 2022 | 7 | 31 |
| 2023 | 24 | 21 |
| 2024 | 19 | 26 |
| 2025 | 26 | 21 |
| 2026 | 19 | 10 |
By publication year. Applications have been published since 2001. 2026 runs to 8 Oct.
Recent patents
- Disturbance compensation in computer-assisted devices6 Oct 2026US 12,752,421 B2Intuitive Surgical Operations, Inc.
- Whole-body compliance control method applied to fast walking biped robot22 Sep 2026US 12,741,710 B2Zhejiang Lab
- Method for controlling an output shaft in a drive unit8 Sep 2026US 12,728,528 B2Schaeffler Technologies AG & Co. KG
- Handling/compensating device comprising a serial spring arrangement and optional different spring stiffnesses4 Aug 2026US 12,697,721 B2Robert Bosch GmbH
- Compensation of gravity-related displacements of medical carrier structures28 Jul 2026US 12,690,929 B2Brainlab AG
- Systems and methods for determining instrument position in the presence of backlash17 Sep 2026US 2026/0273740 A1Intuitive Surgical Operations, Inc.
- Systems and methods for controlling elastic cable driven robot joints20 Aug 2026US 2026/0241555 A1Vicarious Surgical Inc.
- Robot and method of operating one or more joints thereof13 Aug 2026US 2026/0233381 A1Danobat, S.Coop.
- Oscillation mitigation for animated figures13 Aug 2026US 2026/0235991 A1Universal City Studios LLC
- Drive system30 Jul 2026US 2026/0216868 A1Panasonic Intellectual Property Management Co., Ltd.
Most cited
By later US patents
- Manipulator and control method therefor1,036US 8,237,388 B2Kabushiki Kaisha Toshiba · 2012
- Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator456US 7,819,859 B2Intuitive Surgical Operations, Inc. · 2010
- Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator384US 8,864,751 B2Intuitive Surgical Operations, Inc. · 2014
- Length conservative surgical instrument384US 9,962,228 B2Auris Surgical Robotics, Inc. · 2018
- Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator104US 9,402,689 B2Intuitive Surgical Operations, Inc. · 2016