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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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公开(公告)号：US20220161442A1
公开(公告)日：2022-05-26
申请号：US17667440
申请日：2022-02-08
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：US20220001538A1
公开(公告)日：2022-01-06
申请号：US17368752
申请日：2021-07-06
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith
Abstract: A robotic system comprising a robot, and human-imperceptible indicia associated with an object within an environment in which the robot operates, the human-imperceptible indicia comprising or linking to interaction information pertaining to a predetermined intended interaction of the robot with the object, the interaction information being operable to facilitate interaction with the object by the robot in accordance with the predetermined intended interaction. The system can further comprise at least one sensor operable to sense the human-imperceptible indicia and the interaction information, and an augmented reality system comprising a computer for conveying human-understandable information to a human operator, which is associated with at least one of the interaction or linking information. The machine readable indicia can comprise symbols that can be sensed by a sensor of the robot or the augmented reality system and interpreted by the robot or the augmented reality system. The robot can utilize a camera to transmit a real-world view of the operating environment to the augmented reality system that can be combined with the human-understandable information to provide augmented reality operation of the robot.
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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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87.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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88.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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