Antagonistically driven differential for mechanical actuator
US11022206B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 8, 2018 |
| Grant date | Jun 1, 2021 |
| Priority date | — |
| Expiry date | Jul 6, 2038 |
Classification
- Technology area (CPC F)Mechanical Engineering; Lighting; Heating
- CPC primaryF16D2037/004
- WIPO fieldMechanical elements
- WIPO sectorMechanical engineering
Abstract
A mechanical actuator system has variable and controllable mechanical impedance. Such a mechanical actuator system may be used to effectuate a degree of freedom in a robot, i.e., to control speed, output torque and direction of movement of a robotic component, such as a joint, wheel, arm, wrist or grabber. Mechanical impedance, i.e., an amount of “resistance” the robot presents to a human user, can be controlled for safety and rehabilitation purposes. The mechanical actuator system includes a mechanical differential and two adjustable-engagement clutches driven by motor. Advantageously, the motor may turn at a constant speed and direction, yet the mechanical actuator system can be controlled to turn in either direction and at a desired speed. The adjustable-engagement clutches may be electrorheological (ER) fluid clutches, magnetorheological (MR) fluid clutches, conventional dry friction clutches or any other type of clutch whose degrees of engagement can be controlled.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.