公开(公告)号：US12214490B2

公开(公告)日：2025-02-04

申请号：US18414314

申请日：2024-01-16

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith

IPC: B25J11/00 ,  B25J13/08 ,  B25J15/00 ,  B65G47/90

Abstract: This disclosure sets forth a robotic end effector for acquiring and managing an article, such as an item of luggage. The robotic end effector can include an extendable arm comprising a first support member, a capture device comprising a guide member having a plurality of apertures formed therein with a rod slideably supported in each aperture of the guide member. The capture device can further include a biasing member associated with one or more rods and being configured to bias the one or more rods in a first direction relative to the guide member. The article interface system can include an actuatable article engagement device. The actuatable article engagement device can itself include an article interface surface. The actuatable article engagement device can be operated to interface with an article to facilitate movement of the article toward the capture device.

公开(公告)号：US20240413794A1

公开(公告)日：2024-12-12

申请号：US18810265

申请日：2024-08-20

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith

IPC: H02S40/36 ,  H02S30/10

Abstract: A solar panel mount system for electrically connecting an installed solar panel including a solar panel, a solar panel mount, and an auto-connecting electrical contact system operable to electrically connect the solar panel with the solar panel mount. The auto-connecting electrical contact system can include a panel electrical contact coupled to the solar panel and a mount electrical contact coupled to the solar panel mount. The panel electrical contact can be operable to electrically connect with the mount electrical contact upon installing the solar panel within the solar panel mount.

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

IPC: B25J15/00 ,  B25J9/16 ,  B25J15/10

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.

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.

公开(公告)号：US20240091964A1

公开(公告)日：2024-03-21

申请号：US17946684

申请日：2022-09-16

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith

IPC: B25J19/02

CPC classification number: B25J19/021

Abstract: Disclosed herein is a robot sensing array for multidirectional sensing by a robot. The robot can include one or more robot body members. The sensing array can include a plurality of sensors radially supported on at least one of the one or more robot body members of the robot. The plurality of sensors can include a first sensor, a second sensor located on the at least one of the one or more robot body members at a first position adjacent to the first sensor, and a third sensor located on the at least one of the one or more robot body members at a second position adjacent to the first sensor. The first sensor of the plurality of sensors is disposed to have an overlapping field of view with the second sensor and the third sensor.

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

IPC: B25J18/04 ,  B25J9/00 ,  B25J17/02 ,  B25J19/00 ,  F16D23/12 ,  F16D27/14 ,  F16H1/28

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.

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

IPC: G01B11/27 ,  G06T7/73 ,  G01B11/16 ,  G01L1/24 ,  G01P3/36 ,  G01P15/18

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.

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

IPC: A61H3/00 ,  B25J17/00 ,  B25J9/16

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.

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

IPC: B25J17/02 ,  B25J9/00

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.

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

IPC: B25J3/04 ,  B25J5/00 ,  B25J13/02

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.