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    Power-assist Lower Limb Exoskeleton Robot with Adjustable Stiffness Joints
    62.
    发明申请
    Power-assist Lower Limb Exoskeleton Robot with Adjustable Stiffness Joints 审中-公开

    公开(公告)号：US20200337934A1

    公开(公告)日：2020-10-29

    申请号：US16960889

    申请日：2019-01-10

    Applicant: ANHUI POLYTECHNIC UNIVERSITY

    Inventor： Buyun WANG ,  Dezhang XU ,  Zhihong WANG

    IPC: A61H3/00 ,  A61H3/02 ,  B25J9/00 ,  B25J13/08 ,  B25J9/14 ,  B25J9/16

    Abstract: A power-assist lower limb exoskeleton robot with adjustable stiffness joints includes a human-robot information interaction unit, an electronic control unit, an electro-hydraulic servo driving unit and a mechanical structure unit of a lower limb exoskeleton. In the mechanical structure unit of the lower limb exoskeleton, a hip joint and a hip joint connector are connected by a cross hinge mechanism. In combination with a bidirectional hydraulic cylinder, the hip joint of the lower limb exoskeleton fits well with the space structure characteristics of a human hip joint. The unidirectional hydraulic cylinders with spring reduction meets the needs of fast response and large torque during walking and increases walking endurance time. The present invention uses a plantar pressure information collection unit and a waist gyroscope to collect the human gait and gesture information. Besides, it uses a crutch unit to introduce wearer's movement intention into the exoskeleton robot's cooperative control.

    TRAJECTORY PLANNING UNIT, VALVE ARRANGEMENT AND METHOD
    63.
    发明申请
    TRAJECTORY PLANNING UNIT, VALVE ARRANGEMENT AND METHOD 审中-公开

    公开(公告)号：US20200306966A1

    公开(公告)日：2020-10-01

    申请号：US16829662

    申请日：2020-03-25

    Applicant: Festo SE & Co. KG

    Inventor： Valentin Falkenhahn ,  Daniel Klassen ,  Rüdiger Neumann

    IPC: B25J9/16 ,  B25J9/14

    Abstract: A trajectory planning unit for providing a trajectory as a command variable for a control unit for position control of an actuator member of an actuator, wherein the trajectory planning unit is adapted to provide the trajectory on the basis of a target position curve and to limit the trajectory according to at least one limit value comprising a velocity limit value, an acceleration limit value, a braking acceleration limit value and/or a jerk limit value. The trajectory planning unit is adapted to provide the trajectory according to at least one specification value which can be specified, the specification value including an initial velocity value, a final velocity value, an initial acceleration value and/or a final acceleration value.

    SOFT ROBOTIC GRIPPER WITH HYBRID STRUCTURE AND GRASPING RELIABILITY
    64.
    发明申请
    SOFT ROBOTIC GRIPPER WITH HYBRID STRUCTURE AND GRASPING RELIABILITY 审中-公开

    公开(公告)号：US20200298420A1

    公开(公告)日：2020-09-24

    申请号：US16769376

    申请日：2018-12-12

    Applicant: THE UNIVERSITY OF HONG KONG

    Inventor： Zheng WANG ,  Jianshu ZHOU

    IPC: B25J15/00 ,  B25J9/14

    Abstract: A robotic end effector and method for use thereof are provided. The robotic end effector can include a rigid base structure (230), a plurality of rigid proximal phalanges (210) connected to the rigid base structure (230), a plurality of rigid distal phalanges (200) connected to the proximal phalanges (210) respectively, and a plurality of bellows (250), wherein one end of a proximal phalange (210) is connected to one end of the base structure (230) by a bellows (250), wherein one end of a distal phalange (200) is connected to a proximal phalange (210) by a bellows (250), and wherein a portion of the base structure (230), each proximal phalange (210), and each distal phalange (200) are covered in silicone rubber. It can achieve a high output force to input pressure ratio, and cost efficiently.

    Actuator arrangement
    67.
    发明授权
    Actuator arrangement 有权

    公开(公告)号：US10731676B2

    公开(公告)日：2020-08-04

    申请号：US16377948

    申请日：2019-04-08

    Applicant: Festo SE & Co. KG

    Inventor： Artem Beger

    IPC: F15B11/10 ,  F15B15/12 ,  F15B13/044 ,  B25J9/14 ,  F15B11/00 ,  F15B13/00

    Abstract: An actuator arrangement, having a drive for providing a rotational movement about an axis of rotation and which includes an actuator housing whose outer surface extends with a curved profiling along the axis of rotation and which delimits a working space, in which a working element is rotatably accommodated, which includes a drive shaft which penetrates a front surface of the actuator housing, wherein the actuator housing is penetrated by a working port, which is designed for a connection of the working space with a valve arrangement, and with a valve arrangement, which is designed for a provision of a fluid flow at the working port and which includes a valve module, which is accommodated in a valve shaft of a valve housing and which has a fluid port, wherein the valve housing extends with a profiling in the form of a circular ring section along the axis of rotation.

    Actuator
    70.
    发明授权
    Actuator 有权

    公开(公告)号：US10690155B2

    公开(公告)日：2020-06-23

    申请号：US16277134

    申请日：2019-02-15

    Applicant: KABUSHIKI KAISHA TOSHIBA

    Inventor： Tatsuhiko Goto

    IPC: F15B15/10 ,  B25J9/14 ,  F15B15/02 ,  B25J9/10

    Abstract: An actuator includes a base to which first and second fluid couplings are fixed, a rotation member rotatably supported by the base, and McKibben-type first and second artificial muscles wound around the rotation member. The first and second artificial muscles are arranged in an antagonistic manner. One ends of the first and second artificial muscles are fixed to the rotation member. The other ends of the first and second artificial muscles are respectively connected to the first and second fluid couplings.

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