System and method for tensioning a robotically actuated tendon

US8618762B2 · kind B2 · utility

Assignees

• GM GLOBAL TECHNOLOGY OPERATIONS LLC · US
• The United States of America as represented by the Administrator of the National Aeronautics and Space Administration · US

Inventors

• Matthew J. Reiland · Oxford, US
• Myron A. Diftler · Houston, US

Key dates

• Filing date: Jan 27, 2011
• Grant date: Dec 31, 2013
• Expiry date: Jul 6, 2032

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J15/0009
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current.