公开(公告)号：US20240374454A1

公开(公告)日：2024-11-14

申请号：US18287322

申请日：2022-06-10

Applicant: NATIONAL UNIVERSITY OF SINGAPORE

Inventor： Yuepeng QIAN ,  Haoyong YU

IPC: B25J9/12 ,  A61H3/00 ,  B25J19/02 ,  F16H19/08

Abstract: Disclosed is a reconfigurable rotary series elastic element (RSEE) comprising: an inner tension spring mount: an outer tension spring mount; and a plurality of tension springs connected between the inner tension spring mount and outer 5 tension spring mount. A position at which each spring connects to one or both of the inner tension spring mount and outer tension spring mount: can be changed to adjust a relationship between an output torque and deflection angle of the RSEE; and is configured such that, during relative rotation of the inner tension spring mount and outer tension spring mount, an amount of tension in 10 at least one said tension spring differs from an amount of tension in at least one other said tension spring.