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1.发明公开公开(公告)号：US20240157576A1
公开(公告)日：2024-05-16
申请号：US18503034
申请日：2023-11-06
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
CPC classification number: B25J15/0023 , B25J15/10 , B25J9/1612 , B25J15/0009
Abstract: A robotic end-effector comprises a pair of members being movable with respect to one another and a bladder on at least one of the members. The bladder can comprise a filler within the bladder. The filler can comprise a plurality of jamming particles and a plurality of elongate resilient spacers. The jamming particles are operable to flow within the bladder and to contact and engage with the elongate resilient spacers where flow characteristics vary within the bladder. The bladder with the filler can comprise at least two configurations: a compliant configuration in which a shape of the bladder and filler are changeable, and a stiff configuration in which change in shape of the bladder and filler are resisted.
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公开(公告)号：US11981027B2
公开(公告)日：2024-05-14
申请号：US17093487
申请日：2020-11-09
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier , Brian J. Maclean , Michael Myers
IPC: B25J9/00 , A61F2/64 , A61F2/68 , A61F2/70 , B25J9/14 , B25J13/08 , F15B15/12 , A61F2/50 , B25J19/00 , F15B11/072 , F15B15/20
CPC classification number: B25J9/0006 , A61F2/64 , A61F2/68 , A61F2/70 , B25J9/148 , B25J13/085 , A61F2002/5003 , A61F2002/5072 , B25J19/007 , F15B11/072 , F15B15/12 , F15B15/204 , F15B2211/3058 , F15B2211/7058
Abstract: A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising a first support member, a second support member, and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom. The quasi-passive elastic actuator can comprise a first vane device and a second 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. The system can further comprise a valve assembly, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation, and a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly. The valve assembly is operable to position the valve device in an open position to open the shunt circuit to place the quasi-passive elastic actuator in an inelastic state, and to position the valve device in a closed position to close the shunt circuit to place the quasi-passive elastic actuator in an elastic state.
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公开(公告)号：US11926044B2
公开(公告)日：2024-03-12
申请号：US18365903
申请日：2023-08-04
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
CPC classification number: B25J19/0041 , B25J9/0006 , B25J17/0241 , F16D23/12 , F16D27/14 , F16H1/28
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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公开(公告)号：US20230251081A1
公开(公告)日：2023-08-10
申请号：US17669199
申请日：2022-02-10
Applicant: SARCOS CORP.
Inventor： Richard Kirby , Fraser M. Smith , Marc X. Olivier
CPC classification number: G01B11/272 , G06T7/74 , G01B11/167 , G01L1/24 , G01P3/36 , G01P15/18
Abstract: A compact displacement sensor comprises a light intensity pattern object, a micro-lens array and an imaging device including a light-intensity measuring surface. The micro-lens array is disposed between the light intensity pattern object and the imaging device such that each micro-lens focuses a corresponding sub-image making up a portion of the light-intensity pattern on the light-intensity measuring surface to create thereupon an image of the object comprising an array of focused sub-images. The displacement sensor can provide high resolution measurements of displacement of the light intensity pattern object from a reference position by registering subsequent images captured after a change in relative position between light intensity pattern object and the imaging device to a reference image based on pattern portions in the focused sub-images.
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公开(公告)号：US20230101090A1
公开(公告)日：2023-03-30
申请号：US17486362
申请日：2021-09-27
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
Abstract: A robotic assembly comprises a first joint comprising first and second support members rotatably coupled together, and a joint position restoration assembly coupled to at least one of the first or second support members. The joint position restoration assembly can comprise a first spring and a mechanical linkage, wherein the joint position restoration assembly is operable to apply a restoring torque to the first joint. The joint position restoration assembly can be configured to provide a restoring torque versus joint position profile relative to the first joint that corresponds to known mass properties of at least a portion of the robotic assembly acting on or otherwise associated with the first joint, such that, when the first joint is not undergoing powered actuation, the joint position restoration assembly operates to apply, based on the profile, the restoring torque to position and to support the first joint in a stable support position.
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Patent Agency Ranking
公开(公告)号：US20230098713A1
公开(公告)日：2023-03-30
申请号：US17486415
申请日：2021-09-27
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
Abstract: A robotic system comprising an upper robotic assembly and a base platform rotatable relative to one another in at least one degree of freedom via one or more joints. The robotic system further comprises a joint position restoration assembly coupled to at least one of the upper robotic assembly or the base platform, and having a first spring coupled between the upper robotic assembly and the base platform, the joint position restoration assembly being operable to apply a restoring torque to the first joint, wherein the joint position restoration assembly is configured to provide a restoring torque versus joint position profile relative to the first joint that corresponds to mass properties of at least a portion of the robotic assembly associated with the first joint, such that the joint position restoration assembly operates to apply the restoring torque to position and to support the first joint in a stable support position.
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公开(公告)号：US20220410366A1
公开(公告)日：2022-12-29
申请号：US17900708
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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8.发明授权公开(公告)号：US11351675B2
公开(公告)日：2022-06-07
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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公开(公告)号：US10919161B2
公开(公告)日：2021-02-16
申请号：US15810101
申请日：2017-11-12
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
IPC: B25J17/02 , B25J19/00 , B25J9/00 , F16D28/00 , F16D25/04 , F16D13/52 , F16D23/12 , F16D25/0638 , F16D48/02 , 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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公开(公告)号：US20190184576A1
公开(公告)日：2019-06-20
申请号：US15846038
申请日：2017-12-18
Applicant: Sarcos Corp.
Inventor： Fraser M. Smith , Marc X. Olivier
CPC classification number: B25J13/025 , B25J13/087 , B25J13/088 , B25J17/00 , B25J19/0004 , B25J19/068
Abstract: A stiffening element to provide variable resistance to movement between a pair of members at a joint, The stiffening element comprises a filler with particles flowable in a bladder. A pressure source is coupled to the bladder to vary a pressure within the bladder and collapse the bladder. Collapsing the bladder varies a flow characteristic of the filler within the bladder, Varying the flow characteristics of the filler varies resistance of the bladder to movement of the bladder, and thus a pair of movable members and the joint.
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