Dynamic recruitment modulation in systems utilizing variable recruitment
AssigneeAdaract Technologies, Ltd.
InventorsJoseph Hill, Francis Budu-Manuel
Life of this patent
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Abstract
The present disclosure relates to variable recruitment actuator systems and related methods. In one embodiment, a variable recruitment actuator system utilizes a central hydraulic pump, an accumulator, a plurality of variable recruitment actuators, and a pressurized reservoir of hydraulic fluid to provide highly efficient hydraulic regenerative energy harvesting in systems requiring both eccentric and concentric motion. In another embodiment, a powered prosthetic or orthotic device, or a legged robot, utilizes a system as previously described to capture energy from the eccentric motion of the knee joint to provide concentric motion of both the knee and ankle joints later on in a gait cycle.
Claims18
A variable recruitment actuator system, comprising:
- a high-pressure fluid source to provide a working fluid at a first pressure;
- a lower-pressure fluid source to provide the working fluid at a second pressure;
- a plurality of actuators;
- a variable recruitment actuator mechanism to:
- selectively recruit a first subset of the plurality of actuators and to pressurize the first subset of the plurality of actuators with the working fluid from the high-pressure fluid source;
- and
- pressurize a second subset of the plurality of actuators with the working fluid from the lower-pressure fluid source;
- and
- a control system to control the variable recruitment actuator mechanism to selectively recruit the first subset of the plurality of actuators;
- wherein the second pressure prevents buckling of a Mckibben muscle.
A method of controlling a variable recruitment actuator system, comprising:
- providing, using a high-pressure fluid source, a working fluid at a first pressure;
- providing, using a lower-pressure fluid source, the working fluid at a second pressure;
- providing a plurality of actuators;
- selectively recruiting, using a variable recruitment actuator mechanism, a first subset of the plurality of actuators and to pressurize the first subset of the plurality of actuators with the working fluid from the high-pressure fluid source;
- pressurizing, using the variable recruitment actuator mechanism, a second subset of the plurality of actuators with the working fluid from the lower-pressure fluid source;
- and
- controlling, using a control system, the variable recruitment actuator mechanism to selectively recruit the first subset of the plurality of actuators;
- wherein the second pressure prevents buckling of a Mckibben muscle.
Dependencies are inferred from the claim text.