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US 6,870,343 B2Granted
Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness
AssigneeUniversity of Michigan
InventorsJohann Borenstein, Grzegorz Granosik
Life of this patent
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Abstract
An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.
Claims16
An apparatus comprising:
- a plurality of segments each having a first wall and a second wall;
- an integrated joint actuator assembly having a plurality of bellows-type actuators individually interconnecting at least a portion of said segments, each of said plurality of bellows-type actuators extending only between said first wall of a first of said plurality of segments and said second wall of a second of said plurality of segments;
- a plurality of drive mechanisms operably coupled to each of said plurality of segments, said plurality of drive mechanisms generally disposed about a periphery of each of said plurality of segments to provide traction at any position about said periphery;
- a power source;
- and
- a power transmission system interconnecting said power source and said plurality of drive mechanisms to drive said plurality of drive mechanisms.
3 more elements
An apparatus comprising:
- a plurality of segments;
- an integrated joint actuator assembly having a plurality of bellows-type actuators individually interconnecting at least two of said segments;
- a plurality of drive mechanisms operably coupled to each of said plurality of segments, said plurality of drive mechanisms generally disposed about a periphery of each of said plurality of segments to provide traction at any position about said periphery;
- a power source;
- a power transmission system interconnecting said power source and said plurality of drive mechanisms to drive said plurality of drive mechanisms;
- and
- a controller for individually actuating each of said plurality of bellows-type actuators, said controller operable to maintain a desired position and a desired stiffness in said plurality of bellows-type actuators.
4 more elements
Dependencies are inferred from the claim text.