{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9827681","patent":{"patent_number":"US-9827681","title":"Human cooperation robot system in which robot is caused to perform retreat operation depending on external force","assignee":null,"inventors":[],"filing_date":"2016-02-19T00:00:00.000Z","publication_date":"2017-11-28T00:00:00.000Z","cpc_codes":["B25J","B25J","G05B","G05B","G05B","G05B"],"num_claims":2,"abstract":"A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is greater than a first threshold value; and an external force variation monitoring unit that stops the retreat operation when a variation width of the external force at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than a second threshold value."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"Human cooperation robot system in which robot is caused to perform retreat operation depending on external force","description":"A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for ","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9827681","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9827681","citation_suggestion":"Patentable. \"Human cooperation robot system in which robot is caused to perform retreat operation depending on external force\" (US-9827681). https://patentable.app/patents/US-9827681","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9827681","json":"https://patentable.app/api/llm-context/US-9827681","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T09:32:58.538Z"}