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公开(公告)号：US20230173659A1
公开(公告)日：2023-06-08
申请号：US18075515
申请日：2022-12-06
发明人： William Wu , Rohit John Varghese , Youngmok Yun
CPC分类号： B25J9/0006 , A61H3/00 , B25J13/085
摘要： An embodiment includes a robotic system comprising: a shaft coupled to a robotic appendage; a bearing that couples the shaft to a housing; an actuator that includes a motor; a robotic joint to rotate the shaft and linkage via the bearing; a torque sensor to sense torque created when the motor rotates the appendage; and a bracket including: (a) a rod having an exterior wall, (b) first and second voids in the exterior wall; (c) a beam between the first and second voids, and (d) first and second ends; wherein the bracket is a compliant element and couples: (a) to the actuator via the first end, (b) to the housing via the second end, (c) the actuator to the housing.
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公开(公告)号：US11541530B1
公开(公告)日：2023-01-03
申请号：US17588426
申请日：2022-01-31
发明人： William Wu , Rohit John Varghese , Youngmok Yun
摘要： An embodiment includes an exoskeleton robotic system including: a first linkage; a bearing coupled to the first linkage; a joint including a motor configured to move the first linkage along the bearing; an axial load sensor configured to sense an axial force transmitted to the axial load sensor via the joint, the axial force including one of tension or compression but not torque; a bracket including first and second bracket locations and first and second arms; and a housing that includes at least part of the joint and which couples the bracket to the bearing. The bracket couples to the housing at the first bracket location and couples to the axial load sensor at the second bracket location. The first arm couples the second arm to the first bracket location, and the second arm couples the first arm to the second bracket location.
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公开(公告)号：US11819467B2
公开(公告)日：2023-11-21
申请号：US17502144
申请日：2021-10-15
发明人： Rohit John Varghese , Youngmok Yun , William Wu
CPC分类号： A61H1/02 , A61H1/0274 , B25J9/0006 , B25J9/1025 , B25J9/1633 , B25J13/085 , B25J13/088 , B25J19/0029 , A61H2201/1215 , A61H2201/149 , A61H2201/1635 , A61H2201/1659 , A61H2201/5061
摘要： A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.
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公开(公告)号：US11487692B2
公开(公告)日：2022-11-01
申请号：US17132269
申请日：2020-12-23
摘要： An embodiment includes a system comprising: a first shield board that includes first and second connectors; wherein the first connector of the first shield board is configured to communicate with a first connector of a second shield board via a cable; wherein the first shield board has connectors configured to directly couple to connectors of a first base board; wherein the first shield board is configured to communicate data and power to the second shield board via the first connector of the first shield board, the cable, and the first connector of the second shield board. Other embodiments are addressed herein.
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公开(公告)号：US11147731B2
公开(公告)日：2021-10-19
申请号：US16796240
申请日：2020-02-20
发明人： Rohit John Varghese , Youngmok Yun , William Wu
摘要： A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.
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公开(公告)号：US20210209050A1
公开(公告)日：2021-07-08
申请号：US17132269
申请日：2020-12-23
摘要： An embodiment includes a system comprising: a first shield board that includes first and second connectors; wherein the first connector of the first shield board is configured to communicate with a first connector of a second shield board via a cable; wherein the first shield board has connectors configured to directly couple to connectors of a first base board; wherein the first shield board is configured to communicate data and power to the second shield board via the first connector of the first shield board, the cable, and the first connector of the second shield board. Other embodiments are addressed herein.
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公开(公告)号：US20240082096A1
公开(公告)日：2024-03-14
申请号：US18512200
申请日：2023-11-17
发明人： Rohit John Varghese , Youngmok Yun , William Wu
CPC分类号： A61H1/02 , A61H1/0274 , B25J9/0006 , B25J9/1025 , B25J9/1633 , B25J13/085 , B25J13/088 , B25J19/0029 , A61H2201/1215 , A61H2201/149 , A61H2201/1635 , A61H2201/1659 , A61H2201/5061
摘要： A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.
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公开(公告)号：US20230123289A1
公开(公告)日：2023-04-20
申请号：US18067141
申请日：2022-12-16
发明人： William Wu , Rohit John Varghese , Youngmok Yun
摘要： An embodiment includes an exoskeleton robotic system including: a first linkage; a bearing coupled to the first linkage; a joint including a motor configured to move the first linkage along the bearing; an axial load sensor configured to sense an axial force transmitted to the axial load sensor via the joint, the axial force including one of tension or compression but not torque; a bracket including first and second bracket locations and first and second arms; and a housing that includes at least part of the joint and which couples the bracket to the bearing. The bracket couples to the housing at the first bracket location and couples to the axial load sensor at the second bracket location. The first arm couples the second arm to the first bracket location, and the second arm couples the first arm to the second bracket location.
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公开(公告)号：US20220031550A1
公开(公告)日：2022-02-03
申请号：US17502144
申请日：2021-10-15
发明人： Rohit John Varghese , Youngmok Yun , William Wu
摘要： A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.
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公开(公告)号：US20210315763A1
公开(公告)日：2021-10-14
申请号：US17230154
申请日：2021-04-14
发明人： Rohit John Varghese , William Wu
摘要： An embodiment includes an apparatus for coupling a user to a robot to provide robot-assisted physical therapy to the user. Other embodiments are described herein.
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