# US 2014/0190289 A1 · Motorized drive system and method for articulating a joint > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0190289 A1 - Document ID: US20140190289A1 - Status: Published application - Kind: A1 - Application number: 14/236,655 - Filed: 2012-08-06 - Published: 2014-07-10 - Earliest claimed: 2011-08-05 - Assignees: Ohio University - Applicants: Ohio University - Inventors: Jianchao Zhu - Web page: https://patentgrep.com/patent/US20140190289A1 ## CPC - F16H 21/16: for interconverting rotary motion and reciprocating motion - B25J 9/104: {with cables, chains or ribbons} - B62D 57/02: with ground-engaging propulsion means, e.g. walking members - A61H 1/0262: {Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence)} - 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}) - Y10T 74/18832: including flexible drive connector [e.g., belt, chain, strand, etc.] - Y10T 74/18848: with pulley - F16H: GEARING - 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}) - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - 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 motorized drive system and method for articulating an articulated joint having a motor and an elastic cable. The elastic cable is operatively connected to both the motor and the articulated joint such that the motor articulates the joint via the elastic cable. In addition, the elastic cable is adapted to be sufficiently elastic such that the motorized drive system is configured to use one motor for each degree of freedom through which the articulated joint moves. ## Claims ### Claim 1 A motorized drive system for an articulated joint assembly, comprising; a motor operatively connected to an elastic cable; and an articulated joint operatively coupled to said elastic cable, wherein said motor is configured to actuate said articulated joint via said elastic cable such that one motor is used for each degree of freedom of the articulated joint. ### Claim 2 (depends on 1) The motorized drive system of claim 1 further comprising: a pulley mounted to said motor, said pulley engaging the elastic cable and adapted to be rotatably driven by said motor. ### Claim 3 (depends on 2) The motorized drive system of claim 2 wherein said pulley has a variable radius and said elastic cable has an elastically variable length, said variable radius adapted to said elastically variable length of the elastic cable for actuating the articulated joint. ### Claim 4 (depends on 3) The motorized drive system of claim 3 wherein a guide groove is positioned on said pulley, said guide groove being configured to direct said variable length of said elastic cable along said variable radius of said pulley. ### Claim 5 (depends on 1) The motorized drive system of claim 1 wherein said articulated joint is actuated by said motor via two of said elastic cables. ### Claim 6 (depends on 1) The motorized drive system of claim 1 further comprising: a plurality of guide rings for being operatively affixed to the articulated joint assembly, wherein said elastic cable extends through said plurality of guide rings for directing the actuation of said articulated joint along a predetermined path. ### Claim 7 (depends on 1) The motorized drive system of claim 1 wherein the elasticity of the elastic cable accommodates the variation of the elastic cable during full travel, while being adapted to provide the required tension to transfer torque to the articulated joint. ### Claim 8 An articulated joint assembly and motorized drive system for use with a robot, comprising; a main body; a motor operatively mounted to said main body; a pulley operatively mounted to said main body and configured to be rotatably driven by said motor; a first leg member rotatably mounted to said main body at a hip joint; a second leg member rotatably mounted to said first leg member at an articulated joint; a plurality of guide rings operatively affixed to said first and second leg members; an elastic cable extending through said plurality of guide rings, said elastic cable engaging said pulley, wherein said plurality of guide rings provide a predetermined path for said elastic cable such that said motor operatively actuates said elastic cable via said pulley to articulate said hip joint and actuate said articulated joint, one motor being used for each degree of freedom of the articulated joint. ### Claim 9 (depends on 8) The articulated joint assembly and motorized drive system of claim 8 further comprising: a first guide member having said plurality of guide rings attached thereto, said first guide member and said plurality of guide rings extending perpendicularly from said first leg member; and a second guide member having said plurality of guide rings attached thereto, said second guide member and said plurality of guide rings extending perpendicularly from said second leg member; wherein said first and second guide members are respectively affixed to said first and second leg members such that said articulated joint is positioned therebetween. ### Claim 10 (depends on 9) The articulated joint assembly and motorized drive system of claim 9 wherein said elastic cable is adapted to slide through a first portion of said plurality of guide rings. ### Claim 11 (depends on 10) The articulated joint assembly and motorized drive system of claim 10 wherein said elastic cable is affixed to a second portion of said plurality of guide rings, said second portion of said plurality of guide rings being attached to said second guide member. ### Claim 12 (depends on 8) The articulated joint assembly and motorized drive system of claim 8 further comprising a base member, said base member being rotatably attached to said second leg member at an ankle joint. ### Claim 13 (depends on 8) The articulated joint assembly and motorized drive system of claim 8 wherein said motor is directly mounted to said main body. ### Claim 14 (depends on 13) The articulated joint assembly and motorized drive system of claim 13 wherein said pulley is directly mounted to said motor. ### Claim 15 (depends on 8) The articulated joint assembly and motorized drive system of claim 8 wherein said pulley has a variable radius and said elastic cable has an elastically variable length, said variable radius adapted to said elastically variable length of the elastic cable for actuating the articulated joint. ### Claim 16 The articulated joint assembly and motorized drive system of 15 wherein a guide groove is positioned on said pulley, said guide groove being configured to direct said variable length of said elastic cable along said variable radius of said pulley. ### Claim 17 (depends on 1) The articulated joint assembly and motorized drive system of claim 1 wherein the elasticity of the elastic cable accommodates the variation of the elastic cable during full travel, while providing the required tension to transfer torque to the articulated joint. ### Claim 18 The method of actuating an articulated joint having a first leg member connected to articulate relative to a second leg member at said articulated joint with a motorized drive system, comprising; actuating an elastic cable operatively connected to the motorized drive unit and the articulated joint; elastically stretching said elastic cable from a first length to a second length; and actuating the articulated joint with one motor for each degree of freedom of the articulated joint. ### Claim 19 (depends on 18) The method of claim 18 further comprising: elastically releasing said elastic cable from said second length to said first length. ### Claim 20 (depends on 18) The method of claim 18 further comprising: guiding the elastic cable with a plurality of guide rings; and actuating the articulated joint along a defined path.