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公开(公告)号：US11035743B2
公开(公告)日：2021-06-15
申请号：US16297205
申请日：2019-03-08
申请人： Apptronik, Inc.
发明人： Nicholas Paine , Jonas Fox , Bradley Resh
摘要： Embodiments of a series elastic actuator (SEA) disclosed herein include an elastic component coupled in series with a motor, wherein the elastic component comprises a pair of springs arranged concentrically around a central shaft of the housing for transmitting force to a mechanical ground of the SEA, and one or more spring support mechanisms arranged within an inner circumference of the springs. Some embodiments of the SEA may also include a spring deflection sensor, which is coupled within a recess formed within the mechanical ground of the SEA and configured to sense the force transmitted to the mechanical ground of the SEA.
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公开(公告)号：US12036669B2
公开(公告)日：2024-07-16
申请号：US16979057
申请日：2019-03-08
申请人： Apptronik, Inc.
发明人： Nicholas Arden Paine , Jonas Fox
CPC分类号： B25J9/0006 , A61H3/00 , A61H2201/1215 , A61H2201/123 , A61H2201/1436 , A61H2201/1628 , A61H2201/1642 , A61H2201/165 , A61H2201/5058 , A61H2205/088 , A61H2205/102
摘要： An exoskeleton device in accordance with the present disclosure may generally include a series elastic actuator (SEA), a slider-crank mechanism and a four bar linkage mechanism. The SEA includes a motor and a ball screw coupled to a shaft of the motor via a shaft coupler, which transfers rotational motion of the shaft directly to the ball screw. The slider-crank mechanism includes a ball nut and a crank. As the ball screw rotates, the ball nut converts rotational motion of the ball screw into linear motion of the ball nut to drive the crank. The crank converts linear motion of the ball nut back into rotational motion at the input of the four bar linkage mechanism. The four bar linkage mechanism is coupled to an output of the crank and configured to provide a complex motion profile that emulates kinematics of a wearer's joint.
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公开(公告)号：US20210053208A1
公开(公告)日：2021-02-25
申请号：US16979057
申请日：2019-03-08
申请人： Apptronik, Inc.
发明人： Nicholas Arden Paine , Jonas Fox
摘要： An exoskeleton device in accordance with the present disclosure may generally include a series elastic actuator (SEA), a slider-crank mechanism and a four bar linkage mechanism. The SEA includes a motor and a ball screw coupled to a shaft of the motor via a shaft coupler, which transfers rotational motion of the shaft directly to the ball screw. The slider-crank mechanism includes a ball nut and a crank. As the ball screw rotates, the ball nut converts rotational motion of the ball screw into linear motion of the ball nut to drive the crank. The crank converts linear motion of the ball nut back into rotational motion at the input of the four bar linkage mechanism. The four bar linkage mechanism is coupled to an output of the crank and configured to provide a complex motion profile that emulates kinematics of a wearer's joint.
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公开(公告)号：US20190277712A1
公开(公告)日：2019-09-12
申请号：US16297205
申请日：2019-03-08
申请人： Apptronik, Inc.
发明人： Nicholas Paine , Jonas Fox , Bradley Resh
摘要： Embodiments of a series elastic actuator (SEA) disclosed herein include an elastic component coupled in series with a motor, wherein the elastic component comprises a pair of springs arranged concentrically around a central shaft of the housing for transmitting force to a mechanical ground of the SEA, and one or more spring support mechanisms arranged within an inner circumference of the springs. Some embodiments of the SEA may also include a spring deflection sensor, which is coupled within a recess formed within the mechanical ground of the SEA and configured to sense the force transmitted to the mechanical ground of the SEA.
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