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公开(公告)号：US11833676B2
公开(公告)日：2023-12-05
申请号：US17114457
申请日：2020-12-07
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
CPC classification number: B25J9/0006 , B25J9/1653 , B25J9/1674 , B25J13/085
Abstract: An exoskeleton operable to prevent unsafe operation can comprise a plurality of joint mechanisms and a plurality of sensors comprising configured to generate sensor output data associated with at least two joint mechanisms. The exoskeleton can comprise a controller configured to receive the sensor output data; combine the sensor output data; and determine whether the combination of the sensor output data from the first and second sensors satisfies an error condition in relation to at least one defined criterion. The existence of an error condition can be indicative of an anomalous operating state of the exoskeleton, such as a malfunction or an (impending) anomalous kinematic movement. The controller can also combine command signals to be transmitted to two or more joint mechanisms to determine another anomalous operating state to prevent unsafe operation. Associated software and methods are provided.
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公开(公告)号：US11772283B2
公开(公告)日：2023-10-03
申请号：US17087544
申请日：2020-11-02
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 method for operating a robotic joint of a robotic system comprising selectively operating a clutch mechanism of a clutched joint module in an engaged state to cause a quasi-passive elastic actuator to enter an elastic state, the clutched joint module operating about and defining a joint of the robotic system. The method comprising effecting a first rotation of the joint to cause the quasi-passive elastic actuator to store energy during at least a portion of the rotation of the joint. The method comprising effecting a second rotation of the joint and causing the stored energy from the quasi-passive elastic actuator to be released in the form of an augmented torque applied to an output member of the clutched joint module. The method comprising selectively operating the clutch mechanism in a disengaged state to cause the quasi-passive elastic actuator to enter an inelastic state. The method comprising effecting a third rotation of the joint, wherein the quasi-passive elastic actuator facilitates a free swing mode of the clutched joint module and the joint.
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53.发明授权公开(公告)号：US11673664B2
公开(公告)日：2023-06-13
申请号：US17175418
申请日：2021-02-12
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
CPC classification number: B64C39/024 , B64D47/08 , B64F1/02 , G05D1/0094 , B64C2201/042 , B64C2201/12 , B64C2201/182
Abstract: A system for neutralization of a target aerial vehicle comprises a plurality of counter-attack unmanned aerial vehicles (UAVs) and an aerial vehicle detection system comprising at least one detection sensor operable to detect the target aerial vehicle in flight. The system also comprises an aerial vehicle capture countermeasure in the form of a net tethering the plurality of counter-attack UAVs to one another. The counter-attack UAV(s) are operable to capture and neutralize the target aerial vehicle with the net. The system can comprise at least one net storage device associated with a structure and configured to store at least a portion of the net when in a stowed position, and to facilitate deployment of the net when moved to a deployed position via coordinated flight of the plurality of counter-attack UAVs based on the detected target aerial vehicle.
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公开(公告)号：US20220410367A1
公开(公告)日：2022-12-29
申请号：US17900727
申请日：2022-08-31
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
Abstract: A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
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公开(公告)号：US20220176561A1
公开(公告)日：2022-06-09
申请号：US17114460
申请日：2020-12-07
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
Abstract: An exoskeleton comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor suite discrepancy detection system can be operable to interrogate the suite of sensors within the exoskeleton, and can comprise a plurality of sensor groups, each associated with a respective joint mechanism, and each comprising a plurality of sensors from a suite of sensors. A controller can be configured to recruit at least one substitute sensor from a first sensor group of based on an identified discrepancy between the sensor output data of at least two sensors within the first sensor group and a target sensor within the first sensor group, and to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.
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Patent Agency Ranking
公开(公告)号：US20210178613A1
公开(公告)日：2021-06-17
申请号：US17177130
申请日：2021-02-16
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
IPC: B25J19/00 , B25J17/02 , B25J9/00 , F16D28/00 , F16D25/04 , F16D13/52 , F16D23/12 , F16D25/0638 , F16D48/02
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：US20210046660A1
公开(公告)日：2021-02-18
申请号：US17087544
申请日：2020-11-02
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
Abstract: A method for operating a robotic joint of a robotic system comprising selectively operating a clutch mechanism of a clutched joint module in an engaged state to cause a quasi-passive elastic actuator to enter an elastic state, the clutched joint module operating about and defining a joint of the robotic system. The method comprising effecting a first rotation of the joint to cause the quasi-passive elastic actuator to store energy during at least a portion of the rotation of the joint. The method comprising effecting a second rotation of the joint and causing the stored energy from the quasi-passive elastic actuator to be released in the form of an augmented torque applied to an output member of the clutched joint module. The method comprising selectively operating the clutch mechanism in a disengaged state to cause the quasi-passive elastic actuator to enter an inelastic state. The method comprising effecting a third rotation of the joint, wherein the quasi-passive elastic actuator facilitates a free swing mode of the clutched joint module and the joint.
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58.发明申请公开(公告)号：US20200206948A1
公开(公告)日：2020-07-02
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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59.发明申请公开(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
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.
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公开(公告)号：US20180133905A1
公开(公告)日：2018-05-17
申请号：US15810101
申请日：2017-11-12
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
IPC: B25J19/00 , F16D13/52 , F16D48/02 , F16D23/12 , F16D25/0638
CPC classification number: B25J19/0041 , B25J9/0006 , B25J17/0241 , F16D13/52 , F16D23/12 , F16D25/048 , F16D25/0638 , F16D25/14 , F16D28/00 , F16D2023/123 , 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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