Variable stiffness actuator with electrically modulated stiffness

US10870202B2 · kind B2 · utility

Assignee

• The Board of Regents of the University of Texas System · US

Inventors

• Robert D. Gregg · Richardson, US
• Edgar A. Bolivar · Richardson, US
• David P. Allen · Portland, US
• Walter Voit · Plano, US

Key dates

• Filing date: Aug 23, 2018
• Grant date: Dec 22, 2020
• Expiry date: Aug 23, 2038

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J19/068
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A dielectric elastomer system (DES) variable stiffness actuator (VSA) is provided. In an embodiment, the DES VSA includes a variable stiffness module (VSM). The VSM includes a DES that softens when energized and stiffens when unpowered, an outer frame, and an inner frame member. The stiffness of the DES is variable. The outer frame supports the DES and the inner frame member, which is disposed within the DES. The inner frame member is configured to be displaceable with respect to the outer frame. The DES VSA also includes an actuation motor mechanically coupled to the inner frame member that is configured to cause a force to be applied to the inner frame member and the actuation motor is configured to control an equilibrium position of the DES VSA.