公开(公告)号：US20190176320A1

公开(公告)日：2019-06-13

申请号：US15835280

申请日：2017-12-07

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J3/04 ,  B25J9/16

Abstract: A master robotic system for translating a force at a slave robotic system to the master robotic system comprises a plurality of master brake joints rotatably coupling a plurality of robotic links. Each master brake joint corresponds to a respective slave joint of a slave robotic system. Each master brake joint comprises a first braking component (e.g., sheet disk(s)) coupled to a first robotic link and a second braking component (e.g., sheet disk(s)) coupled to a second robotic link, and an actuator operable to act upon the first braking component and the second braking component, to generate a braking force between the first braking component and the second braking component, in response to a control signal corresponding to a sensed force sensed by the slave robotic system. The actuator can comprise a bi-directional actuator, or a cam, piezoelectric, dielectric, or hydraulic actuator, each having minimal power requirements to maximize the braking force of the master brake joint.

公开(公告)号：US20180193172A1

公开(公告)日：2018-07-12

申请号：US15810108

申请日：2017-11-12

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Glenn Colvin

IPC: A61F2/70 ,  A61F2/64

CPC classification number: A61F2/70 ,  A61F2/64 ,  A61F2002/5003 ,  A61F2002/5018 ,  A61F2002/701 ,  A61F2002/745 ,  B25J9/0006 ,  B25J9/148 ,  B25J17/0241

Abstract: A tunable actuator joint module of a robotic assembly comprises an output member and an input member, where the output member is rotatable about an axis of rotation. A primary actuator (e.g., a motor) is operable to apply a torque to rotate the output member about the axis of rotation. A quasi-passive elastic actuator (e.g., rotary or linear pneumatic actuator) comprising an elastic component is tunable to a joint stiffness value and is operable to selectively release stored energy to apply an augmented torque to assist rotation of the output member and to minimize power consumption of the primary actuator. The tunable actuator joint module comprises a control system having a valve assembly controllably operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state during respective portions of movement of the robotic assembly (e.g., a hip or knee joint of an exoskeleton). Associated systems and methods are provided.

公开(公告)号：US20180133906A1

公开(公告)日：2018-05-17

申请号：US15810102

申请日：2017-11-12

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J19/00 ,  F16D23/12 ,  F16D27/14

CPC classification number: B25J19/0041 ,  B25J9/0006 ,  B25J17/0241 ,  F16D23/12 ,  F16D27/14 ,  F16H1/28

Abstract: A clutched joint module of a robotic system comprising an output member operable to couple to a first support member of a robotic system; an input member operable to couple to a second support member of the robotic system; a primary actuator operable to apply a primary torque to the output member to rotate the first and second support members relative to one another about an axis of rotation of the clutched joint module; a quasi-passive elastic actuator coupled to the input member and operable to apply an augmented torque to the output member that combines with the primary torque to rotate the output member about the axis of rotation: and a clutch mechanism operably coupled to the primary actuator and the quasi-passive elastic actuator operable in an engaged state or a disengaged state to actuate and deactivate the quasi-passive elastic actuator and to facilitate application or removal of the augmented torque.

公开(公告)号：US20240091963A1

公开(公告)日：2024-03-21

申请号：US17946698

申请日：2022-09-16

Applicant: Sarcos Corp.

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

IPC: B25J18/04 ,  B25J9/00 ,  B25J17/00

CPC classification number: B25J18/04 ,  B25J9/0006 ,  B25J17/00

Abstract: A length adjustable robotic limb comprises a first joint assembly, a second joint assembly, and a structural member extending between the first joint assembly and the second joint assembly, the structural member defining a longitudinal axis. An adjustable interface can be provided between the structural member and one of the first and second joint assemblies. The adjustable interface can facilitate adjustment of a length between the first and second joint assemblies. A rotational interface between the structural member and one of the first and second joint assemblies can facilitate relative rotation between the first joint assembly and the second joint assembly about the longitudinal axis in a degree of freedom corresponding to medial/lateral rotation of a portion of a human limb.

公开(公告)号：US20240058944A1

公开(公告)日：2024-02-22

申请号：US18489677

申请日：2023-10-18

Applicant: Sarcos Corp.

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

IPC: B25J9/00 ,  B25J9/14

CPC classification number: B25J9/0006 ,  B25J9/144 ,  B25J9/146

Abstract: A robotic joint system is provided that facilitates efficient movement of a ground-contacting robotic system, such as during a gait cycle. The robotic joint system can comprise a first support member, a second support member, and a joint assembly rotatably coupling the first support member to the second support member about an axis of rotation. The joint assembly can comprise a passive actuation system coupled between the first and second support members. The passive actuation system can comprise a passive actuator operable to store energy and to release energy to apply a torque to the joint assembly and the first and second support members, and a length adapter coupled to the passive actuator operable to selectively direct the output of the stored energy of the passive actuator.

公开(公告)号：US11897132B1

公开(公告)日：2024-02-13

申请号：US17989408

申请日：2022-11-17

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J9/16

CPC classification number: B25J9/1602 ,  G05B2219/31115 ,  G05B2219/39001

Abstract: A technology is described for redundant network communication in a robot. An example of the technology can include a main robotic controller, a local controller in network communication with the main robotic controller, and instructions that, when executed by the processor, transfer first and second data signals between the main robotic controller and the local controller via first and second network channels. The first data signal is sent over the first network channel, and the second data signal is sent over the second network channel. The instructions compare the first data signal with the second data signal to determine signal integrity of the data signals; determine degradation of the first data signal if the signal integrity is less than the signal integrity of the second data signal; and select the second data signal for processing if degradation of the first data signal is determined.

公开(公告)号：US11826907B1

公开(公告)日：2023-11-28

申请号：US17890181

申请日：2022-08-17

Applicant: Sarcos Corp.

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

IPC: B25J9/00 ,  B25J9/14

CPC classification number: B25J9/0006 ,  B25J9/144 ,  B25J9/146

Abstract: A robotic joint system is provided that facilitates efficient movement of a ground-contacting robotic system, such as during a gait cycle. The robotic joint system can comprise a first support member, a second support member, and a joint assembly rotatably coupling the first support member to the second support member about an axis of rotation. The joint assembly can comprise a passive actuation system coupled between the first and second support members. The passive actuation system can comprise a passive actuator operable to store energy and to release energy to apply a torque to the joint assembly and the first and second support members, and a length adapter coupled to the passive actuator operable to selectively direct the output of the stored energy of the passive actuator.

公开(公告)号：US11794345B2

公开(公告)日：2023-10-24

申请号：US17139868

申请日：2020-12-31

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: G06F19/00 ,  B25J9/16 ,  B25J3/00 ,  B25J5/00 ,  B25J9/00 ,  B25J13/02 ,  B25J13/04 ,  B25J13/08 ,  B25J3/04

CPC classification number: B25J9/1682 ,  B25J3/00 ,  B25J5/005 ,  B25J9/0006 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/162 ,  B25J9/1689 ,  B25J13/02 ,  B25J13/04 ,  B25J13/082 ,  B25J13/088 ,  B25J3/04 ,  G05B2219/40048

Abstract: A robotic system comprising a master robotic system, and a first robotic system comprising a first mobile platform operable to move about a surface, and comprising a first manipulator. The robotic system can comprise a second robotic system comprising a second mobile platform operable to move about the surface, and comprising a second manipulator. A control module can be associated with the master robotic system and the first and second robotic systems, and can be operable in a paired control mode to facilitate paired control of the first and second robotic systems to move about the ground surface, and operable in an unpaired control mode to facilitate non-paired control of a selected one of the first or second robotic systems.

公开(公告)号：US11738452B1

公开(公告)日：2023-08-29

申请号：US17877794

申请日：2022-07-29

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J19/02 ,  B25J9/16 ,  B25J9/00 ,  B25J19/00 ,  B62D57/032

CPC classification number: B25J9/162 ,  B25J9/0006 ,  B25J19/0008 ,  B25J19/02 ,  B62D57/032

Abstract: A robot system, comprising a robot capable of gait or gait-like operations, stance or stance-like operations, or a combination of these. The robot can comprise at least one ground-contacting appendage configured to facilitate locomotion of the robot. The system can further comprise a sole supported on the ground-contacting appendage that is operable to interface with a ground surface. The sole can comprise a robot interface facilitating attachment of the sole to the robot, a first sole component having a ground-contacting surface, the first sole component defining a first compliant zone, and a second sole component having a ground-contacting surface, the second sole component defining a second compliant zone. The first sole component can comprise a compliance the same or different than the second sole component.

公开(公告)号：US20220204100A1

公开(公告)日：2022-06-30

申请号：US17139878

申请日：2020-12-31

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B62D55/065 ,  B25J9/08 ,  B25J9/16

Abstract: A robotic system comprises a first robotic crawler having a mobility mechanism for locomotion, a second robotic crawler having a mobility mechanism for locomotion, and at least one coupling mechanism supported by at least one of the first or second robotic crawlers to couple and uncouple the first and second robotic crawlers to and from each other. When coupled together, the first and second robotic crawlers are operable as a unified robotic crawler system in a coordinated drive mode for operational control of respective mobility mechanisms in a coordinated manner. Various operating modes provide for selective control of various aspects of the first and second robotic crawlers, whether coordinated or independent control. The unified robotic crawler system provides greater or enhanced stability of the first and second robotic crawlers. Associated methods are provided herein.