US 12,128,553 B2 · Infinite-rotation infinite-stiffness variable stiffness actuator (IRISVSA) with application for compliant supernumerary robotic limb

Abstract

A supernumerary robotic limb (SRL) system can include a plurality of rigid links, a joint that connects one rigid link to another rigid link in the plurality of rigid arms, and two variable stiffness actuators (VSAs) configured to drive the plurality of rigid links in order to complete at least one task. The VSAs can exhibit infinite rotation and infinite stiffness. The VSAs can include an output link. Additionally, the VSAs can include a set of elastic elements mounted on the output link. The VSAs can include an input link configured to provide kinetic energy for the output link. The VSAs can include a dynamic chassis configured to connect with the input link. Additionally, the VSAs can include a stiffness adjustor included in the dynamic chassis and configured to adjust an elastic transmission between at least one elastic element of the set of elastic elements and the output link.

Claims19

Dependent claims

A supernumerary robotic limb (SRL) system comprising:

a plurality of rigid links;
at least one joint configured to connect a first rigid link to a second rigid link of the plurality of rigid links;
a first variable stiffness actuator (VSA) of two VSAs extending along a first vertical axis and configured to rotate about the first vertical axis;
and
a second VSA of the two VSAs extending along a second vertical axis and configured to rotate about the second vertical axis, wherein the second vertical axis is horizontally offset from the first vertical axis, wherein the first vertical axis and the second vertical axis are parallel to one another, wherein the first VSA and the second VSA are coupled with the first rigid link and the second rigid link and configured to drive the plurality of rigid links, wherein a bracket of the first VSA holds the second VSA, and wherein the bracket is configured to move with movement of the first VSA.

2 more elements

Dependencies are inferred from the claim text.

Infinite-rotation infinite-stiffness variable stiffness actuator (IRISVSA) with application for compliant supernumerary robotic limb

Life of this patent

Infinite-rotation infinite-stiffness variable stiffness actuator (IRISVSA) with application for compliant supernumerary robotic limb

Life of this patent

Abstract

Claims19