Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US10828767B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 12, 2017 |
| Grant date | Nov 10, 2020 |
| Priority date | — |
| Expiry date | Oct 31, 2038 |
Classification
- Technology area (CPC F)Mechanical Engineering; Lighting; Heating
- CPC primaryF15B2211/7058
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A quasi-passive elastic actuator operable within a robotic system comprising a housing comprising an output member operable to couple to a first support member of a robotic system, a first vane device supported by the housing and comprising an input member operable to couple to a second support member of the robotic system, a second vane device coupled to the housing and interfaced with the first 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. A valve assembly is located and operable at the joint of the robotic system, and is operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state, the valve assembly comprising a valve device disposed through an opening of the first vane device along an axis of rotation of the first vane device. The valve assembly defines, at least in part, a shunt circuit that facilitates fluid flow between the compression and expansion chambers through the valve assembly.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.