# US 10,766,133 B2 · Legged robotic device utilizing modifiable linkage mechanism

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- Number: US 10,766,133 B2
- Document ID: US10766133B2
- Status: Granted
- Kind: B2
- Application number: 14/704,925
- Filed: 2015-05-05
- Published: 2015-11-12
- Granted: 2020-09-08
- Earliest claimed: 2014-05-06
- Assignees: Sarcos LC
- Applicants: Sarcos LC
- Inventors: Fraser M. Smith
- Web page: https://patentgrep.com/patent/US10766133B2

## CPC

- B25J 9/0006: {Exoskeletons, i.e. resembling a human figure}
- A61H 1/024: {Knee (A61H1/0255 takes precedence)}
- A61H 1/0244: {Hip (A61H1/0255 takes precedence)}
- A61H 1/0266: {Foot}
- A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003})
- B25J 9/02: characterised by movement of the arms, e.g. cartesian coordinate type (B25J9/06 takes precedence)
- B25J 9/10: characterised by positioning means for manipulator elements
- A61H 2201/0165: Damping, vibration related features
- A61H 2201/1215: Rotary drive
- A61H 2201/1238: with hydraulic or pneumatic drive
- A61H 2201/1436: Special crank assembly
- A61H 2201/1628: Pelvis
- A61H 2201/164: Feet or leg, e.g. pedal
- A61H 2201/165: Wearable interfaces
- A61H 2201/5058: Sensors or detectors
- A61H 2201/5061: Force sensors
- Y10T 74/20305: Robotic arm
- 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})
- A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N)
- Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION

## Abstract

A legged robotic device is disclosed. The legged robotic device can include a mechanism formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of a human leg. The legged robotic device can also include a primary drive actuator operable to apply a force or a torque to the support members in a first of the plurality of degrees of freedom. In addition, the legged robotic device can include a second actuator operable to apply a force or a torque to the support members in a second of the plurality of degrees of freedom. The mechanism can be configured to move in a gait-like motion that emulates human gait. The primary drive actuator can be sufficient to actuate the mechanism to move the mechanism in the gait-like motion. The mechanism can be dynamically modified by actuating the second actuator.

## Claims

### Claim 1

A legged robotic device, comprising:
a mechanism formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of elements of a human leg, wherein the mechanism is configured to move in a gait-like motion that emulates human gait;
a primary drive actuator operable to apply a force or a torque to the support members in a first degree of freedom of the plurality of degrees of freedom; and
a secondary actuator operable to apply a force or a torque to the support members in a second degree of freedom of the plurality of degrees of freedom,
wherein, with the secondary actuator inactive, the primary drive actuator is operable to provide sufficient force to actuate the mechanism to move the mechanism in the gait-like motion, and
wherein the secondary actuator is operable to be selectively activated in real-time during operation of the legged robotic device to dynamically modify the mechanism in response to a given operator command scenario to facilitate at least one of tuning of the gait-like motion or the performance of a non-gait motion, and
wherein the mechanism is dynamically modifiable to tune the gait-like motion of the mechanism in response to a change in stride length.

### Claim 2 (depends on 1)

The legged robotic device of claim 1, wherein the gait is a walking gait or a running gait.

### Claim 3 (depends on 1)

The legged robotic device of claim 1, wherein an end of the mechanism moves in a trajectory that emulates movement of a human foot during gait.

### Claim 4 (depends on 1)

The legged robotic device of claim 1, wherein the mechanism is dynamically modified to facilitate the non-gait motion.

### Claim 5 (depends on 1)

The legged robotic device of claim 1, wherein the non-gait motion comprises squatting, kneeling, crouching, ascending/descending a stair, ascending/descending a ladder, ascending/descending an incline, or a combination thereof.

### Claim 6 (depends on 1)

The legged robotic device of claim 1, wherein the secondary actuator is actuated to vary a length of a linkage of the mechanism to facilitate the non-gait motion.

### Claim 7 (depends on 1)

The legged robotic device of claim 1, wherein the secondary actuator is actuated to move at least one of the plurality of support members to facilitate the non-gait motion.

### Claim 8 (depends on 1)

The legged robotic device of claim 1, wherein the mechanism is dynamically modified by actuating only the secondary actuator.

### Claim 9 (depends on 1)

The legged robotic device of claim 1, wherein the mechanism is dynamically modified by actuating the primary actuator in conjunction with the secondary actuator.

### Claim 10 (depends on 1)

The legged robotic device of claim 1, wherein the mechanism comprises a plurality of linkages formed at least in part by the plurality of support members.

### Claim 11 (depends on 10)

The legged robotic device of claim 10, wherein at least one of the plurality of linkages comprises at least one of the plurality of support members and the secondary actuator.

### Claim 12 (depends on 11)

The legged robotic device of claim 11, wherein the secondary actuator is configured to vary an axial distance between two coaxial support members.

### Claim 13 (depends on 11)

The legged robotic device of claim 11, wherein the secondary actuator is configured to vary a relative rotational orientation between two coaxial support members.

### Claim 14 (depends on 1)

The legged robotic device of claim 1, wherein the mechanism comprises a robotic joint synchronous drive system to transmit torque and provide a synchronous motion sequence for two or more of the plurality of support members via actuation of the primary drive actuator.

### Claim 15 (depends on 14)

The legged robotic device of claim 14, wherein the synchronous drive system comprises at least one of a gear, a belt, and a chain.

### Claim 16 (depends on 1)

The legged robotic device of claim 1, wherein the first of the plurality of degrees of freedom corresponds to one of a hip flexion/extension degree of freedom, a knee flexion/extension degree of freedom, and an ankle flexion/extension degree of freedom.

### Claim 17 (depends on 1)

The legged robotic device of claim 1, wherein the elements of the human leg comprises at least one of a hip or an ankle or a knee, or combinations thereof.

### Claim 18 (depends on 1)

The legged robotic device of claim 1, wherein the secondary actuator is one of a plurality of secondary actuators of the legged robotic device, each secondary actuator operable to apply at least one of a force or a torque to the support members in a respective degree of freedom of the plurality of degrees of freedom, wherein at least one of the plurality of secondary actuators is recruitable to be selectively activated in real-time during operation of the legged robotic device to dynamically modify the mechanism in response to an operator command scenario.

### Claim 19

A legged robotic device, comprising:
a mechanism comprising a plurality of linkages formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of elements of a human leg, wherein the mechanism is configured to move in a gait-like motion that emulates human gait;
a primary drive actuator operable to apply a force or a torque to the support members in a first degree of freedom of the plurality of degrees of freedom corresponding to a hip flexion/extension degree of freedom of the respective element of the human leg; and
a secondary actuator operable to apply a force or a torque to the support members in a second degree of freedom of the plurality of degrees of freedom corresponding to a knee flexion/extension degree of freedom of the respective element of the human leg, wherein at least one of the plurality of linkages comprises at least one of the plurality of support members and the secondary actuator,
wherein, with the secondary actuator inactive, the primary drive actuator is operable to provide sufficient force to actuate the mechanism to move the mechanism in the gait-like motion,
wherein the secondary actuator is operable to be selectively activated in real-time during operation of the legged robotic device to dynamically modify the mechanism in response to a given operator command scenario to facilitate at least one of tuning of the gait-like motion or the performance of a non-gait motion, and
wherein the secondary actuator is configured to vary at least one of an axial distance between two coaxial support members or a relative rotational orientation between two coaxial support members.

### Claim 20 (depends on 19)

The legged robotic device of claim 19, wherein an end of the mechanism moves in a trajectory that emulates movement of a human foot during gait.

### Claim 21 (depends on 19)

The legged robotic device of claim 19, wherein the elements of the human leg comprises at least two of a hip or an ankle or a knee.

### Claim 22

A lower body exoskeleton, comprising:
a base member configured to be located about and secured to a user; and
a dynamically tunable gait emulating legged robotic device supported about the base member, comprising:
a mechanism comprising a plurality of linkages formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of elements of a human leg, wherein the mechanism is configured to move in a gait-like motion that emulates human gait,
a primary drive actuator operable to apply a force or a torque to the support members in a first degree of freedom of at least some of the plurality of degrees of freedom, and
a secondary actuator operable to apply a force or a torque to the support members in a second degree of freedom of at least some of the plurality of degrees of freedom, wherein at least one of the plurality of linkages comprises at least one of the plurality of support members and the secondary actuator,
wherein, with the secondary actuator inactive, the primary drive actuator is operable to provide sufficient force to actuate the mechanism to move the mechanism in the gait-like motion,
wherein the secondary actuator is operable to be selectively activated in real-time during operation of the legged robotic device to dynamically modify the mechanism in response to a given operator command scenario to facilitate at least one of tuning of the gait-like motion or the performance of a non-gait motion, and
wherein the secondary actuator is configured to vary at least one of an axial distance between two coaxial support members or a relative rotational orientation between two coaxial support members.

### Claim 23 (depends on 22)

The lower body exoskeleton of claim 22, wherein the elements of the human leg comprises at least two of a hip or an ankle or a knee, or combinations thereof.

### Claim 24

A method for facilitating emulation of lower body movements of an operator, the method comprising:
providing a legged robotic device having
a mechanism comprising a plurality of linkages formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of elements of a human leg,
a primary drive actuator operable to apply a force or a torque to the support members in a first degree of freedom of at least some of the plurality of degrees of freedom, and
a secondary actuator operable to apply a force or a torque to the support members in a second degree of freedom of at least some of the plurality of degrees of freedom, wherein at least one of the plurality of linkages comprises at least one of the plurality of support members and the secondary actuator
wherein the mechanism is configured to move in a gait-like motion that emulates human gait,
wherein, with the secondary actuator inactive, the primary drive actuator is operable to provide sufficient force to actuate the mechanism to move the mechanism in the gait-like motion; and
facilitating selective activation of the secondary actuator in real-time during operation of the legged robotic device to dynamically modify the mechanism in response to a given operator command scenario, wherein the secondary actuator is configured to vary at least one of an axial distance between two coaxial support members or a relative rotational orientation between two coaxial support members.

### Claim 25 (depends on 24)

The method of claim 24, wherein facilitating a dynamic modification of the mechanism comprises actuating at least one of the primary drive actuator and the secondary actuator.

### Claim 26 (depends on 24)

The method of claim 24, wherein the elements of the human leg comprises at least two of a hip or an ankle or a knee, or combinations thereof.

### Claim 27 (depends on 24)

The method of claim 24, wherein the secondary actuator is one of a plurality of secondary actuators of the legged robotic device, and the method further comprises facilitating recruitment of at least one secondary actuator of the plurality of secondary actuators of the legged robotic device to dynamically modify the mechanism in response to a given operator command scenario.

### Claim 28

A legged robotic device, comprising:
a mechanism formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of a elements of a human leg, wherein the mechanism is configured to move in a gait-like motion that emulates human gait;
a primary drive actuator operable to apply a force or a torque to the support members in a first degree of freedom of the plurality of degrees of freedom; and
a plurality of secondary actuators each operable to apply a force or a torque to the support members in a second degree of freedom of the plurality of degrees of freedom,
wherein at least one of the plurality of secondary actuators is recruitable and operable to be selectively activated to dynamically modify the mechanism, and
wherein a first secondary actuator of the plurality of secondary actuators is operable to apply a force to the support members to be moved in a degree of freedom corresponding to ankle flexion/extension, and wherein a second secondary actuator of the plurality of secondary actuators is operable to apply a force to the support members to be moved in a degree of freedom corresponding to knee flexion/extension, and wherein a third secondary actuator of the plurality of secondary actuators is operable to apply a force to the support members to vary a relative rotational orientation between two coaxial support members situated between an ankle joint and a knee joint of the legged robotic device.

### Claim 29 (depends on 28)

The legged robotic device of claim 28, wherein the at least one of the plurality of secondary actuators is recruitable by a control system in real-time during operation of the legged robotic device in response to a given operator command sensed by the control system.

### Claim 30

A legged robotic device, comprising:
a mechanism formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of elements of a human leg, wherein the mechanism is configured to move in a gait-like motion that emulates human gait;
a primary drive actuator operable to apply a force or a torque to the support members in a first degree of freedom of the plurality of degrees of freedom; and
a secondary actuator operable to apply a force or a torque to the support members in a second degree of freedom of the plurality of degrees of freedom,
wherein, with the secondary actuator inactive, the primary drive actuator is operable to provide sufficient force to actuate the mechanism to move the mechanism in the gait-like motion, and
wherein the secondary actuator is operable to be selectively activated in real-time during operation of the legged robotic device to dynamically modify the mechanism in response to a given operator command scenario to facilitate at least one of tuning of the gait-like motion or the performance of a non-gait motion, and
wherein the secondary actuator is actuated to vary a length of a linkage of the mechanism to facilitate the non-gait motion.

### Claim 31

A legged robotic device, comprising:
a mechanism formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of elements of a human leg, wherein the mechanism is configured to move in a gait-like motion that emulates human gait;
a primary drive actuator operable to apply a force or a torque to the support members in a first degree of freedom of the plurality of degrees of freedom; and
a secondary actuator operable to apply a force or a torque to the support members in a second degree of freedom of the plurality of degrees of freedom,
wherein, with the secondary actuator inactive, the primary drive actuator is operable to provide sufficient force to actuate the mechanism to move the mechanism in the gait-like motion, and
wherein the secondary actuator is operable to be selectively activated in real-time during operation of the legged robotic device to dynamically modify the mechanism in response to a given operator command scenario to facilitate at least one of tuning of the gait-like motion or the performance of a non-gait motion, and
wherein the mechanism is dynamically modified by actuating only the secondary actuator.

### Claim 32

A legged robotic device, comprising:
a mechanism comprising a plurality of linkages formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of elements of a human leg, wherein the mechanism is configured to move in a gait-like motion that emulates human gait;
a primary drive actuator operable to apply a force or a torque to the support members in a first degree of freedom of the plurality of degrees of freedom; and
a secondary actuator operable to apply a force or a torque to the support members in a second degree of freedom of the plurality of degrees of freedom,
wherein at least one of the plurality of linkages comprises at least one of the plurality of support members and the secondary actuator,
wherein, with the secondary actuator inactive, the primary drive actuator is operable to provide sufficient force to actuate the mechanism to move the mechanism in the gait-like motion,
wherein the secondary actuator is operable to be selectively activated in real-time during operation of the legged robotic device to dynamically modify the mechanism in response to a given operator command scenario to facilitate at least one of tuning of the gait-like motion or the performance of a non-gait motion, and
wherein the secondary actuator is configured to vary an axial distance between two coaxial support members.

### Claim 33

A legged robotic device, comprising:
a mechanism comprising a plurality of linkages formed at least in part by a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least some of the plurality of degrees of freedom corresponding to degrees of freedom of elements of a human leg, wherein the mechanism is configured to move in a gait-like motion that emulates human gait;
a primary drive actuator operable to apply a force or a torque to the support members in a first degree of freedom of the plurality of degrees of freedom; and
a secondary actuator operable to apply a force or a torque to the support members in a second degree of freedom of the plurality of degrees of freedom,
wherein at least one of the plurality of linkages comprises at least one of the plurality of support members and the secondary actuator,
wherein, with the secondary actuator inactive, the primary drive actuator is operable to provide sufficient force to actuate the mechanism to move the mechanism in the gait-like motion,
wherein the secondary actuator is operable to be selectively activated in real-time during operation of the legged robotic device to dynamically modify the mechanism in response to a given operator command scenario to facilitate at least one of tuning of the gait-like motion or the performance of a non-gait motion, and
wherein the secondary actuator is configured to vary a relative rotational orientation between two coaxial support members.