B25J 9/1025
Harmonic drives
Official title: {Harmonic drives (in general: F16H49/001)}
B25J9/1025 (Harmonic drives) appears on 190 US grants and 167 published applications in this corpus.
Search patents in B25J- Granted patents
- 190
- Published applications
- 167
- Assignees
- 117
- Inventors
- 415
- Latest grant
- 15 Sep 2026
Filings by year
| Year | Granted patents | Published applications |
|---|---|---|
| 1977 | 3 | 0 |
| 1978 | 2 | 0 |
| 1979 | 0 | 0 |
| 1980 | 0 | 0 |
| 1981 | 1 | 0 |
| 1982 | 1 | 0 |
| 1983 | 4 | 0 |
| 1984 | 2 | 0 |
| 1985 | 11 | 0 |
| 1986 | 10 | 0 |
| 1987 | 7 | 0 |
| 1988 | 4 | 0 |
| 1989 | 3 | 0 |
| 1990 | 1 | 0 |
| 1991 | 1 | 0 |
| 1992 | 2 | 0 |
| 1993 | 3 | 0 |
| 1994 | 1 | 0 |
| 1995 | 0 | 0 |
| 1996 | 1 | 0 |
| 1997 | 0 | 0 |
| 1998 | 0 | 0 |
| 1999 | 0 | 0 |
| 2000 | 0 | 0 |
| 2001 | 0 | 0 |
| 2002 | 0 | 0 |
| 2003 | 0 | 0 |
| 2004 | 0 | 0 |
| 2005 | 0 | 0 |
| 2006 | 0 | 1 |
| 2007 | 0 | 1 |
| 2008 | 0 | 1 |
| 2009 | 0 | 1 |
| 2010 | 1 | 2 |
| 2011 | 2 | 4 |
| 2012 | 0 | 1 |
| 2013 | 3 | 4 |
| 2014 | 2 | 2 |
| 2015 | 2 | 1 |
| 2016 | 1 | 2 |
| 2017 | 3 | 2 |
| 2018 | 1 | 8 |
| 2019 | 5 | 13 |
| 2020 | 7 | 22 |
| 2021 | 14 | 22 |
| 2022 | 18 | 16 |
| 2023 | 22 | 21 |
| 2024 | 18 | 18 |
| 2025 | 22 | 13 |
| 2026 | 12 | 12 |
By publication year. Applications have been published since 2001. 2026 runs to 8 Oct.
Recent patents
- Humanoid robot with advanced wiring assembly15 Sep 2026US 12,734,717 B2Figure Ai Inc.
- Method for controlling an output shaft in a drive unit8 Sep 2026US 12,728,528 B2Schaeffler Technologies AG & Co. KG
- Humanoid robot with advanced wiring assembly18 Aug 2026US 12,709,029 B2Figure Ai Inc.
- Humanoid robot with advanced wiring assembly4 Aug 2026US 12,697,741 B2Figure Ai Inc.
- Rigid-flexible coupling robotic arm type measurement platform and method for plant phenotype information28 Jul 2026US 12,691,570 B2Nanjing Forestry University
- Clutch with radial spring24 Sep 2026US 2026/0287025 A1Boston Dynamics, Inc.
- Robot power transmission mechanism for transmitting rotational force and robot drive unit3 Sep 2026US 2026/0257344 A1Fanuc Corporation
- Drive device and robot equipped with drive device27 Aug 2026US 2026/0249447 A1Fanuc Corporation
- Actuator apparatus25 Jun 2026US 2026/0175411 A1Iuvo S.R.L.
- Harmonic reducer18 Jun 2026US 2026/0168567 A1ABB Schweiz AG
Most cited
By later US patents
- Industrial robot with servo175US 5,155,423 ARobotics Research Corporation · 1992
- Harmonic electric actuator111US 4,398,110 AWestinghouse Electric Corp. · 1983
- Anthropomorphic master/slave manipulator system107US 4,046,262 AThe United States of America as represented by the Administrator of the National Aeronautics and Space Administration · 1977
- Industrial robot with servo94US 5,581,166 ARobotics Research Corporation · 1996
- Controller for inspection robot traversing an obstacle87US 11,148,292 B2Gecko Robotics, Inc. · 2021