Learning-based tensegrity robot joint
AssigneeThe University of Hong Kong
InventorsKa-Wai Kwok, Yifeng Hao
Life of this patent
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Abstract
A tensegrity joint comprising: a first inner structure having a first frame and a first strut extending orthogonally from the first frame; a second inner structure having a second frame and a second strut extending orthogonally from the second frame; at least three actuation tendons, each being fixed at a respective hole at the first frame and being guided and allowed to slide through a respective hole at the second frame; a central tendon connecting an apex of the first strut and an apex of the second strut such that the central tendon is in balance with the pulling forces exerted by the at least three actuation tendons; and an outer elastic protection sheath configured to wrap around a cylindrical surface between the first and second inner structures.
Claims20
A tensegrity joint comprising:
- a first inner structure having a first frame and a first strut extending orthogonally from the first frame;
- a second inner structure having a second frame and a second strut extending orthogonally from the second frame;
- at least three actuation tendons, each being fixed at a respective hole at the first frame and being guided and allowed to slide through a respective hole at the second frame;
- a central tendon connecting an apex of the first strut and an apex of the second strut such that the central tendon is in balance with the pulling forces exerted by the at least three actuation tendons;
- an outer elastic protection sheath configured to wrap around a cylindrical surface between the first and second inner structures;
- and
- a fiber-Bragg-gratings sensor wounded helically around and embedded inside the outer elastic protection sheath and configured for sensing configurations of the tensegrity joint in real time for closed-loop feedback control.
Dependencies are inferred from the claim text.