# US 10,480,590 B2 · Dual-mode transmission mechanism based on twisted string actuation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,480,590 B2 - Document ID: US10480590B2 - Status: Granted - Kind: B2 - Application number: 15/806,466 - Filed: 2017-11-08 - Published: 2018-09-20 - Granted: 2019-11-19 - Earliest claimed: 2017-03-16 - Assignees: Korea Advanced Institute of Science and Technology - Applicants: Korea Advanced Institute of Science and Technology - Inventors: Kyung Soo Kim; Seok Hwan Jeong; Jung Min Lim; Soo Hyun Kim - Web page: https://patentgrep.com/patent/US10480590B2 ## CPC - F16D 23/02: Arrangements for synchronisation, also for power-operated clutches (shape or mounting of interengaging parts of clutch members to facilitate engagement F16D11/08) - B25J 9/102: {Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)} - B25J 9/104: {with cables, chains or ribbons} - F16H 19/0654: {using twisting movement of flexible members to modify the axial length of the mechanism} - F16H 25/20: Screw mechanisms (with automatic reversal F16H25/12) - F16H 2200/0034: the gear ratios comprising two forward speeds - F16D: COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - F16H: GEARING ## Abstract A dual mode twisted string actuator using a clutch is provided. The twisted string actuator according to an exemplary embodiment of the present disclosure includes: a first actuator; a first coupler which is rotated by the first actuator; a shaft which is coupled to and interlocked with the first coupler; a second coupler which is selectively interlocked with the first coupler and comprises a plurality of string receiving portions; and a string which has one end fixed to the first coupler and the other end fixed to a moving body through the string receiving portions of the second coupler. Accordingly, it is possible to reduce the size of the existing large and heavy transmission system and to miniaturize and lighten the size of the entire drive system. ## Claims ### Claim 1 A twisted string actuator comprising: a first actuator; a first coupler which is rotated by the first actuator; a shaft which is coupled to and interlocked with the first coupler; a second coupler which is selectively interlocked with the first coupler and comprises a plurality of string receiving portions; and a string which has one end fixed to the first coupler and the other end fixed to a moving body through the string receiving portions of the second coupler. ### Claim 2 (depends on 1) The twisted string actuator of claim 1, further comprising a clutch configured to selectively transmit a rotational force of the first coupler to the second coupler. ### Claim 3 (depends on 2) The twisted string actuator of claim 2, wherein the clutch comprises: an idler which is rotated in association with the first coupler; and a synchronizer which is selectively coupled to and interlocked with the idler, and is coupled to and interlocked with the second coupler. ### Claim 4 (depends on 3) The twisted string actuator of claim 3, wherein, when the synchronizer is not coupled to the idler, the shaft coupled to the first coupler which is rotated by the first actuator is rotated, but the second coupler is not rotated, such that the string is twisted at the shaft. ### Claim 5 (depends on 3) The twisted string actuator of claim 3, wherein, when the synchronizer is coupled to the idler, the first coupler is rotated by the first actuator and the second coupler is rotated by the synchronizer which is rotated in association with the idler, such that the string is twisted outside the second coupler. ### Claim 6 (depends on 5) The twisted string actuator of claim 5, wherein a dog gear formed at one side of the synchronizer and a dog gear formed at one side of the idler are coupled to each other, such that the synchronizer and the idler are coupled to each other. ### Claim 7 (depends on 5) The twisted string actuator of claim 5, wherein the first coupler and the second coupler are rotated at a same speed. ### Claim 8 (depends on 5) The twisted string actuator of claim 5, wherein, when the synchronizer is not coupled to the idler, the synchronizer is coupled to a frame in which the first actuator, the first coupler, the second coupler, and the idler are mounted. ### Claim 9 (depends on 8) The twisted string actuator of claim 8, wherein a dog gear formed at the other side of the synchronizer and a dog gear formed at the frame are coupled to each other, such that the synchronizer is coupled to the frame. ### Claim 10 (depends on 3) The twisted string actuator of claim 3, wherein the clutch further comprises a second actuator configured to adjust a location such that the synchronizer is selectively coupled to the first coupler. ### Claim 11 (depends on 10) The twisted string actuator of claim 10, wherein the second actuator is a motor which adjusts a location of the synchronizer by rotating a screw screwed into a holder to which the synchronizer is coupled. ### Claim 12 (depends on 10) The twisted string actuator of claim 10, wherein the second actuator is a solenoid actuator which adjusts the location of the synchronizer by linearly moving a shaft to which the synchronizer is coupled. ### Claim 13 An apparatus comprising: a moving body; a first actuator; a first coupler which is rotated by the first actuator; a shaft which is coupled to and interlocked with the first coupler; a second coupler which is selectively interlocked with the first coupler and comprises a plurality of string receiving portions; and a string which has one end fixed to the first coupler and the other end fixed to the moving body through the string receiving portions of the second coupler.