Electromechanical system for interaction with an operator

An electromechanical system operable through physical interaction with an operator, the electromechanical system comprising:

• a plurality of actuated joints providing multiple actuated degrees of freedom (DOF);
• a plurality of unactuated joints being distal with respect to the actuated joints, and providing multiple unactuated DOF;
• an overhead structure with linear rails providing the actuated joints;
• an articulated compliance mechanism connected to the overhead structure and having a plurality of linkages providing the multiple unactuated DOF in a closed-chain configuration, the linkages including a distal output link, wherein the articulated compliance mechanism is configured to enable the operator to translate the distal output link by applying a force to a point of interaction on the distal output link without also causing rotation of the distal output link, and wherein DOF of translation of the distal output link are redundant with the actuated DOF;
• a plurality of actuators each configured to actuate one or more of the actuated DOF;
• a plurality of sensors each positioned with respect to the actuated joints and the unactuated joints, and each configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints;
• and
• a controller in communication with the plurality of sensors and configured to receive the measured joint data as feedback signals, generate control signals using the feedback signals, and transmit the control signals to the actuators to thereby translate the mounting surface in response to the translation of the end-effector by the operator.

An electromechanical system operable through physical interaction with an operator, the electromechanical system comprising:

• a plurality of joints providing multiple degrees of freedom (DOF), the plurality of joints including actuated joints providing actuated DOF and unactuated joints providing unactuated DOF, the unactuated joints being distal with respect to the actuated joints;
• an overhead structure with linear rails providing at least some of the actuated joints;
• linear slides providing at least some of the unactuated DOF;
• a plurality of actuators each configured to actuate one or more of the actuated joints;
• a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints, and each configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints;
• and
• a controller in communication with the plurality of sensors and configured to receive the measured joint data as feedback signals, generate control signals using the feedback signals, and transmit the control signals to the actuators to thereby control an actuation state of the actuators;
• wherein the electromechanical system is configured to enable the operator to translate the distal output link by applying a force to the point of interaction on the distal output link without causing rotation of the distal output link, and wherein the unactuated DOF of translation of the distal output link is redundant with the actuated DOF.