公开(公告)号：US11981027B2

公开(公告)日：2024-05-14

申请号：US17093487

申请日：2020-11-09

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Brian J. Maclean ,  Michael Myers

IPC: B25J9/00 ,  A61F2/64 ,  A61F2/68 ,  A61F2/70 ,  B25J9/14 ,  B25J13/08 ,  F15B15/12 ,  A61F2/50 ,  B25J19/00 ,  F15B11/072 ,  F15B15/20

CPC classification number: B25J9/0006 ,  A61F2/64 ,  A61F2/68 ,  A61F2/70 ,  B25J9/148 ,  B25J13/085 ,  A61F2002/5003 ,  A61F2002/5072 ,  B25J19/007 ,  F15B11/072 ,  F15B15/12 ,  F15B15/204 ,  F15B2211/3058 ,  F15B2211/7058

Abstract: A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising a first support member, a second support member, and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom. The quasi-passive elastic actuator can comprise a first vane device and a second vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. The system can further comprise a valve assembly, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation, and a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly. The valve assembly is operable to position the valve device in an open position to open the shunt circuit to place the quasi-passive elastic actuator in an inelastic state, and to position the valve device in a closed position to close the shunt circuit to place the quasi-passive elastic actuator in an elastic state.

公开(公告)号：US11759944B2

公开(公告)日：2023-09-19

申请号：US17093475

申请日：2020-11-09

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Brian J. Maclean ,  Michael Myers

IPC: B25J9/00 ,  A61F2/64 ,  F15B15/12 ,  B25J13/08 ,  B25J9/14 ,  A61F2/70 ,  A61F2/68 ,  A61F2/50 ,  B25J19/00 ,  F15B15/20 ,  F15B11/072

CPC classification number: B25J9/0006 ,  A61F2/64 ,  A61F2/68 ,  A61F2/70 ,  B25J9/148 ,  B25J13/085 ,  A61F2002/5003 ,  A61F2002/5072 ,  B25J19/007 ,  F15B11/072 ,  F15B15/12 ,  F15B15/204 ,  F15B2211/3058 ,  F15B2211/7058

Abstract: A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state comprising configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module. The method further comprises configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, supporting a valve assembly about the axis of rotation of the joint through the first vane device, and configuring a shunt circuit to facilitate fluid flow between compression and expansion chambers through the valve assembly. The method can further comprise configuring the valve assembly with a valve device disposed in an opening of a shaft of the first vane device, the valve device being actuatable between an open position to open the shunt circuit and a closed position to close the shunt circuit.

公开(公告)号：US10828767B2

公开(公告)日：2020-11-10

申请号：US15810119

申请日：2017-11-12

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Brian J. Maclean ,  Michael Myers

IPC: B25J9/00 ,  A61F2/64 ,  F15B15/12 ,  B25J13/08 ,  A61F2/68 ,  B25J9/14 ,  A61F2/70 ,  A61F2/50 ,  B25J19/00 ,  F15B15/20 ,  F15B11/072

Abstract: A quasi-passive elastic actuator operable within a robotic system comprising a housing comprising an output member operable to couple to a first support member of a robotic system, a first vane device supported by the housing and comprising an input member operable to couple to a second support member of the robotic system, a second vane device coupled to the housing and interfaced with the first vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. A valve assembly is located and operable at the joint of the robotic system, and is operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state, the valve assembly comprising a valve device disposed through an opening of the first vane device along an axis of rotation of the first vane device. The valve assembly defines, at least in part, a shunt circuit that facilitates fluid flow between the compression and expansion chambers through the valve assembly.

公开(公告)号：US20210069892A1

公开(公告)日：2021-03-11

申请号：US17093487

申请日：2020-11-09

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Brian J. Maclean ,  Michael Myers

IPC: B25J9/00 ,  A61F2/64 ,  B25J13/08 ,  A61F2/68 ,  B25J9/14 ,  A61F2/70

Abstract: A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising a first support member, a second support member, and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom. The quasi-passive elastic actuator can comprise a first vane device and a second vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. The system can further comprise a valve assembly, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation, and a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly. The valve assembly is operable to position the valve device in an open position to open the shunt circuit to place the quasi-passive elastic actuator in an inelastic state, and to position the valve device in a closed position to close the shunt circuit to place the quasi-passive elastic actuator in an elastic state.

公开(公告)号：US20210069891A1

公开(公告)日：2021-03-11

申请号：US17093475

申请日：2020-11-09

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Brian J. Maclean ,  Michael Myers

IPC: B25J9/00 ,  A61F2/64 ,  B25J13/08 ,  A61F2/68 ,  B25J9/14 ,  A61F2/70

Abstract: A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state comprising configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module. The method further comprises configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, supporting a valve assembly about the axis of rotation of the joint through the first vane device, and configuring a shunt circuit to facilitate fluid flow between compression and expansion chambers through the valve assembly. The method can further comprise configuring the valve assembly with a valve device disposed in an opening of a shaft of the first vane device, the valve device being actuatable between an open position to open the shunt circuit and a closed position to close the shunt circuit.

公开(公告)号：US20240139054A1

公开(公告)日：2024-05-02

申请号：US17979689

申请日：2022-11-02

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Michael Myers

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61H2201/1215 ,  A61H2201/165 ,  A61H2201/5061

Abstract: A foot-supporting appendage of a wearable robotic exoskeleton configured to support a foot of a user wearing the robotic exoskeleton. The foot-supporting appendage can include a rearward support configured to support a hind foot portion of a foot of the user. The foot-supporting appendage can further include a frontward support configured to connect to the rearward support and configured to support a forefoot portion of the foot of the user. A size of the foot-supporting appendage is adjustable to accommodate a respective foot of a user of a plurality of users having different sizes of feet.

公开(公告)号：US20180194000A1

公开(公告)日：2018-07-12

申请号：US15810119

申请日：2017-11-12

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Brian J. Maclean ,  Michael Myers

IPC: B25J9/00 ,  A61F2/64 ,  B25J13/08 ,  A61F2/68

Abstract: A quasi-passive elastic actuator operable within a robotic system comprising a housing comprising an output member operable to couple to a first support member of a robotic system, a first vane device supported by the housing and comprising an input member operable to couple to a second support member of the robotic system, a second vane device coupled to the housing and interfaced with the first vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. A valve assembly is located and operable at the joint of the robotic system, and is operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state, the valve assembly comprising a valve device disposed through an opening of the first vane device along an axis of rotation of the first vane device. The valve assembly defines, at least in part, a shunt circuit that facilitates fluid flow between the compression and expansion chambers through the valve assembly.