Robotic pronator
AssigneeThe Regents of the University of Michigan
InventorsEvelyn Sorgenfrei, Vasil lakimovitch, Revanth Damerla
Life of this patent
Estimating the term…
Abstract
An assembly comprising a crank configured to rotate about an output axis; a first motor configured to rotate a first screw; and a first nut assembly configured to translate along the first screw in response to rotation of the first screw. The first nut assembly is coupled to the crank. The assembly further includes a second motor configured to rotate a second screw; and a second nut assembly configured to translate along the second screw in response to rotation of the second screw. The second nut assembly is coupled to the crank. Translation of the first nut assembly along the first screw is out of phase with translation of the second nut assembly along the second screw.
Claims29
An assembly comprising:
- a frame;
- a motor coupled to the frame and movable with respect to the frame about a pivot axis;
- a screw rotationally driven by the motor;
- a nut coupled to the screw and configured to translate along the screw in response to rotation of the screw;
- and
- a crank configured to rotate about an output axis;
- wherein the nut is coupled to the crank and configured to drive the crank about the output axis.
An assembly comprising:
- a crank configured to rotate about an output axis;
- a first motor configured to rotate a first screw;
- a first nut assembly configured to translate along the first screw in response to rotation of the first screw;
- the first nut assembly coupled to the crank;
- a second motor configured to rotate a second screw;
- and
- a second nut assembly configured to translate along the second screw in response to rotation of the second screw, the second nut assembly coupled to the crank;
- wherein translation of the first nut assembly along the first screw is out of phase with translation of the second nut assembly along the second screw.
A system comprising:
- an active two degree of freedom assembly configured to move with a first degree of freedom and a second degree of freedom;
- wherein the first degree of freedom is a pitch motion and the second degree of freedom is a yaw motion;
- and
- an active single degree of freedom assembly coupled in series with the active two degree of freedom assembly, the active single degree of freedom assembly configured to move with a single degree of freedom that is a roll motion,
- wherein the active two degree of freedom assembly is an active wrist assembly, and the active single degree of freedom assembly is an active pronator assembly;
- and wherein the active wrist assembly and the active pronator assembly are positioned within a robotic or prosthetic forearm.
Dependencies are inferred from the claim text.