Clutched joint modules for a robotic system

A robotic system comprising a robotic limb having at least one rotatable joint, the robotic assembly comprising:

• a plurality of support members;
• and
• a plurality of clutched joint modules defining respective joints of the robotic limb, each clutched joint module rotatably coupling together at least two of the plurality of support members, and comprising:
• a joint rotatable about an axis of rotation and defining a degree of freedom;
• a primary actuator operable to apply a primary torque to rotate the joint;
• a clutch mechanism coupled to the primary actuator and operable between an engaged state, a semi-engaged state and a disengaged state, wherein the engaged state and the semi-engaged state facilitate selective application of the primary torque to rotate the joint, wherein the clutch mechanism and the primary actuator each have a central axis of rotation substantially parallel to each other;
• and
• a quasi-passive elastic actuator operable with the clutch mechanism and arranged in parallel with the primary actuator, the quasi-passive elastic actuator operable to store and release energy upon the clutch mechanism being in one of an engaged state or a semi-engaged state.

A clutched joint module for use within a robotic assembly, comprising:

• an output member operable to couple to a first support member of a robotic system;
• an input member operable to couple to a second support member of the robotic system;
• a primary actuator operable to apply a primary torque to the output member to rotate the first and second support members relative to one another about an axis of rotation of the clutched joint module;
• a quasi-passive elastic actuator coupled to the input member and operable to apply an augmented torque to the output member that combines with the primary torque applied by the primary actuator to rotate the output member about the axis of rotation;
• and
• a clutch mechanism operably coupled to the primary actuator and the quasi-passive elastic actuator, the clutch mechanism operable in an engaged state, a semi-engaged state, or a disengaged state, wherein, in the engaged state, the clutch mechanism operates to place the quasi-passive elastic actuator in an elastic state, and to facilitate application of the augmented torque,
• wherein the clutch mechanism and the primary actuator each have a central axis of rotation substantially parallel to each other.

A robotic system comprising a robotic limb having at least one rotatable joint, the robotic assembly comprising:

• a plurality of support members;
• and
• a plurality of clutched joint modules defining respective joints of the robotic limb, each clutched joint module rotatably coupling together at least two of the plurality of support members, and comprising:
• a joint rotatable about an axis of rotation and defining a degree of freedom;
• a primary actuator operable to apply a primary torque to rotate the joint, wherein the primary actuator comprises a motor and a transmission operatively coupled to the motor;
• and
• a clutch mechanism coupled to the primary actuator and operable between an engaged state, a semi-engaged state and a disengaged state, wherein the engaged state and the semi-engaged state facilitate selective application of the primary torque to rotate the joint,
• wherein the clutch mechanism, the motor, and the transmission are arranged along and operable about the axis of rotation, and
• wherein one of the plurality of clutched joint modules comprises a quasi-passive elastic actuator comprising an elastic element of a first type, and wherein another one of the plurality of clutched joint modules comprises a quasi-passive elastic actuator comprising an elastic element of a different type.

A robotic system comprising a robotic limb having at least one rotatable joint, the robotic assembly comprising:

• a plurality of support members;
• and
• a plurality of clutched joint modules defining respective joints of the robotic limb, each clutched joint module rotatably coupling together at least two of the plurality of support members, and comprising:
• a joint rotatable about an axis of rotation and defining a degree of freedom;
• a primary actuator operable to apply a primary torque to rotate the joint, wherein the primary actuator comprises a motor and a transmission operatively coupled to the motor;
• and
• a clutch mechanism coupled to the primary actuator and operable between an engaged state, a semi-engaged state and a disengaged state, wherein the engaged state and the semi-engaged state facilitate selective application of the primary torque to rotate the joint,
• wherein the clutch mechanism, the motor, and the transmission are arranged along and operable about the axis of rotation, and
• wherein the quasi-passive elastic actuator is selectively switchable in real-time between an elastic state, a semi-elastic state, and an inelastic state via the clutch mechanism.

A clutched joint module for use within a robotic assembly, comprising:

• an output member operable to couple to a first support member of a robotic system;
• an input member operable to couple to a second support member of the robotic system;
• a primary actuator operable to apply a primary torque to the output member to rotate the first and second support members relative to one another about an axis of rotation of the clutched joint module, wherein the primary actuator comprises an electric motor having a central void, and a planetary drive transmission rotatably coupled to the electric motor, the planetary drive transmission being at least partially disposed within the central void of the electric motor;
• a quasi-passive elastic actuator coupled to the input member and operable to apply an augmented torque to the output member that combines with the primary torque applied by the primary actuator to rotate the output member about the axis of rotation;
• and
• a clutch mechanism operably coupled to the primary actuator and the quasi-passive elastic actuator, the clutch mechanism operable in an engaged state, a semi-engaged state, or a disengaged state, wherein, in the engaged state, the clutch mechanism operates to place the quasi-passive elastic actuator in an elastic state, and to facilitate application of the augmented torque.

A clutched joint module for use within a robotic assembly, comprising:

• an output member operable to couple to a first support member of a robotic system;
• an input member operable to couple to a second support member of the robotic system;
• a primary actuator operable to apply a torque to rotate the output member about an axis of rotation;
• a clutch mechanism operably coupled between the input member and the output member, the clutch mechanism operable in an engaged state, a semi-engaged state, or a disengaged state, wherein the engaged state and the semi-engaged state facilitate selective application of the primary torque to the output member, wherein the clutch mechanism and the primary actuator each have a central axis of rotation substantially parallel to each other;
• and
• a quasi-passive elastic actuator coupled to the input member and arranged in parallel with the primary actuator, the quasi-passive elastic actuator operable to store and release energy upon the clutch mechanism being in one of the engaged state or the semi-engaged state.

A clutched joint module for use within a robotic assembly, comprising:

• an output member operable to couple to a first support member of a robotic system;
• an input member operable to couple to a second support member of the robotic system;
• a primary actuator operable to apply a torque to rotate the output member about an axis of rotation, the primary actuator comprising a motor and a first transmission disposed at least partially within the motor;
• a clutch mechanism operably coupled between the input member and the output member, the clutch mechanism operable in an engaged state, a semi-engaged state, or a disengaged state, wherein the engaged state and the semi-engaged state facilitate selective application of the primary torque to the output member, wherein the clutch mechanism and the primary actuator each have a central axis of rotation substantially parallel to each other, wherein the clutch mechanism comprises:
• a clutch housing coupled to the input member;
• a plurality of input plates retained by the clutch housing;
• a plurality of output plates rotatably supported by the clutch housing and rotatably engaged with the plurality of input plates;
• and
• an actuator operable to apply a compression force to the output plates and the input plates, upon receiving a clutch control signal, to cause the clutch mechanism to operate in the engaged state;
• and
• a second transmission operatively coupled between the first transmission and the clutch mechanism.

A robotic system comprising a robotic limb having at least one rotatable joint, the robotic assembly comprising:

• a plurality of support members;
• and
• a plurality of clutched joint modules defining respective joints of the robotic limb, each clutched joint module rotatably coupling together at least two of the plurality of support members, and comprising:
• a joint rotatable about an axis of rotation and defining a degree of freedom;
• a primary actuator operable to apply a primary torque to rotate the respective joint, wherein the primary actuator comprises a motor and a transmission operatively coupled to the motor;
• and
• a clutch mechanism coupled to the primary actuator and operable between an engaged state, a semi-engaged state and a disengaged state, wherein the engaged state and the semi-engaged state facilitate selective application of the primary torque to rotate the respective joint, wherein the clutch mechanism and the primary actuator each have a central axis of rotation substantially parallel to each other, and wherein the clutch mechanism, the motor, and the transmission are arranged along and operable about the respective axis of rotation;
• and
• a quasi-passive elastic actuator selectively switchable in real-time between an elastic state, a semi-elastic state, and an inelastic state via the clutch mechanism.