Actuator for physical therapy
US11147731B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 20, 2020 |
| Grant date | Oct 19, 2021 |
| Priority date | — |
| Expiry date | Feb 20, 2040 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61H2201/5069
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.