US Patent Issued to Verb Surgical on May 27 for "Estimating joint friction and tracking error of a robotics end effector" (California Inventor)

ALEXANDRIA, Va., June 17 -- United States Patent no. 12,311,548, issued on May 27, was assigned to Verb Surgical Inc. (Santa Clara, Calif.).

"Estimating joint friction and tracking error of a robotics end effector" was invented by Alireza Hariri (Berkeley, Calif.).

According to the abstract* released by the U.S. Patent & Trademark Office: "A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical ...