Tunable actuator joint modules having energy recovering quasi- passive elastic actuators with internal valve arrangements
US11759944B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 9, 2020 |
| Grant date | Sep 19, 2023 |
| Priority date | — |
| Expiry date | Oct 30, 2041 |
Classification
- Technology area (CPC F)Mechanical Engineering; Lighting; Heating
- CPC primaryF15B2211/7058
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state comprising configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module. The method further comprises configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, supporting a valve assembly about the axis of rotation of the joint through the first vane device, and configuring a shunt circuit to facilitate fluid flow between compression and expansion chambers through the valve assembly. The method can further comprise configuring the valve assembly with a valve device disposed in an opening of a shaft of the first vane device, the valve device being actuatable between an open position to open the shunt circuit and a closed position to close the shunt circuit.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.