公开(公告)号：US20240123636A1

公开(公告)日：2024-04-18

申请号：US18047561

申请日：2022-10-18

Applicant: Khalifa University of Science and Technology

Inventor： Mohammed Ismail AWAD ,  Mohammed Ahmed RAMADAN ,  Basma Bashir Mohamed HASANEN ,  Irfan HUSSAIN ,  Seneviratne Mudigansalage SENEVIRATNE

IPC: B25J19/06 ,  B25J9/10 ,  B25J9/12 ,  F16F1/04

CPC classification number: B25J19/068 ,  B25J9/102 ,  B25J9/126 ,  F16F1/042 ,  B25J9/1005

Abstract: A supernumerary robotic limb (SRL) system can include a plurality of rigid links, a joint that connects one rigid link to another rigid link in the plurality of rigid arms, and two variable stiffness actuators (VSAs) configured to drive the plurality of rigid links in order to complete at least one task. The VSAs can exhibit infinite rotation and infinite stiffness. The VSAs can include an output link. Additionally, the VSAs can include a set of elastic elements mounted on the output link. The VSAs can include an input link configured to provide kinetic energy for the output link. The VSAs can include a dynamic chassis configured to connect with the input link. Additionally, the VSAs can include a stiffness adjustor included in the dynamic chassis and configured to adjust an elastic transmission between at least one elastic element of the set of elastic elements and the output link.

公开(公告)号：US20250010499A1

公开(公告)日：2025-01-09

申请号：US18892862

申请日：2024-09-23

Applicant: Khalifa University of Science and Technology

Inventor： Mohammed Ismail AWAD ,  Mohammed Ahmed RAMADAN ,  Basma Bashir Mohamed HASANEN ,  Irfan HUSSAIN ,  Seneviratne Mudigansalage SENEVIRATNE

IPC: B25J19/06 ,  B25J9/10 ,  B25J9/12 ,  F16F1/04

Abstract: A supernumerary robotic limb (SRL) system can include a plurality of rigid links, a joint that connects one rigid link to another rigid link in the plurality of rigid arms, and two variable stiffness actuators (VSAs) configured to drive the plurality of rigid links in order to complete at least one task. The VSAs can exhibit infinite rotation and infinite stiffness. The VSAs can include an output link. Additionally, the VSAs can include a set of elastic elements mounted on the output link. The VSAs can include an input link configured to provide kinetic energy for the output link. The VSAs can include a dynamic chassis configured to connect with the input link. Additionally, the VSAs can include a stiffness adjustor included in the dynamic chassis and configured to adjust an elastic transmission between at least one elastic element of the set of elastic elements and the output link.

公开(公告)号：US20230073681A1

公开(公告)日：2023-03-09

申请号：US17900843

申请日：2022-08-31

Applicant: Khalifa University of Science and Technology ,  The Aerospace Holding Company LLC

Inventor： Abdulla Amer Hasan AYYAD ,  Rajkumar MUTHUSAMY ,  Mohamad Abdul Mouti HALWANI ,  Yahya Hashem ZWEIRI ,  Seneviratne Mudigansalage SENEVIRATNE ,  Andre Dewald SWART

IPC: B25J9/16

Abstract: A robotic manipulator includes one or multiple end effectors that can engage with an object, and one or multiple cameras that simultaneously observe each end effector, and the surrounding environment. For example, an end effector can include a contact surface including tactile markers which can deform when the end effector contacts the object.