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11.发明授权公开(公告)号：US11351675B2
公开(公告)日：2022-06-07
申请号：US16237615
申请日：2018-12-31
Applicant: Sarcos Corp.
Inventor： Marc X. Olivier , Fraser M. Smith
Abstract: A robotic end-effector to provide conformal object interaction. The end-effector has at least one finger with an inner portion or engaging side and one or more degrees of freedom. A jamming conformal pad is on the inner portion of the at least one finger. The jamming conformal pad has a compliant configuration in which the jamming conformal pad is compliant and configured to distribute across a surface of an object and, if contoured, infiltrate into any variations (e.g., indentations) in the surface, defining a conformal engaging surface configured to match and mate with the surface. The jamming conformal pad has a stiff configuration in which the jamming conformal pad is stiff or relatively stiff as compared to the jamming conformal pad in the compliant configuration, and which substantially maintains a shape of the conformal engaging surface.
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公开(公告)号：US11241801B2
公开(公告)日：2022-02-08
申请号：US16237609
申请日：2018-12-31
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Brian J. Maclean
Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.
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公开(公告)号：US10919161B2
公开(公告)日：2021-02-16
申请号：US15810101
申请日：2017-11-12
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
IPC: B25J17/02 , B25J19/00 , B25J9/00 , F16D28/00 , F16D25/04 , F16D13/52 , F16D23/12 , F16D25/0638 , F16D48/02 , F16H1/28
Abstract: A clutched joint module comprising an output member and an input member rotatable relative to each other about an axis of rotation; a primary actuator operable to apply a primary torque to rotate the output member about the axis of rotation; and a clutch mechanism operable between an engaged state and a disengaged state to facilitate application of the primary torque. The clutch mechanism can comprise a plurality of plates and an actuator operable to compress the plurality of plates to cause the clutch mechanism to function in the engaged state. The actuator can be a ball-ramp clutch device. A quasi-passive elastic actuator can be coupled to the input member and can be operable, via the clutch mechanism, to release stored energy to apply an augmented torque to assist rotation of the output member. Associated methods and systems are disclosed.
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公开(公告)号：US20190184576A1
公开(公告)日：2019-06-20
申请号：US15846038
申请日：2017-12-18
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
CPC classification number: B25J13/025 , B25J13/087 , B25J13/088 , B25J17/00 , B25J19/0004 , B25J19/068
Abstract: A stiffening element to provide variable resistance to movement between a pair of members at a joint, The stiffening element comprises a filler with particles flowable in a bladder. A pressure source is coupled to the bladder to vary a pressure within the bladder and collapse the bladder. Collapsing the bladder varies a flow characteristic of the filler within the bladder, Varying the flow characteristics of the filler varies resistance of the bladder to movement of the bladder, and thus a pair of movable members and the joint.
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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
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.
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Patent Agency Ranking
16.发明申请公开(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
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.
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17.发明申请公开(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
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.
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公开(公告)号：US20240235470A1
公开(公告)日：2024-07-11
申请号：US18094983
申请日：2023-01-09
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith
Abstract: A solar panel mount system for electrically connecting an installed solar panel including a solar panel, a solar panel mount, and an auto-connecting electrical contact system operable to electrically connect the solar panel with the solar panel mount. The auto-connecting electrical contact system can include a panel electrical contact coupled to the solar panel and a mount electrical contact coupled to the solar panel mount. The panel electrical contact can be operable to electrically connect with the mount electrical contact upon installing the solar panel within the solar panel mount.
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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
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.
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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
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.
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