Twisted string transmission
AssigneeRedwood Robotics, Inc.
InventorsAaron Edsinger, Jeff Weber, Philip Mullins, Lee Magnusson
Life of this patent
Estimating the term…
Abstract
A twisted string transmission system comprises a twisted string actuator, a force sensor, and a controller. The twisted string actuator is for converting a rotational motion into a linear force. The force sensor is for sensing the linear force. The controller is for receiving sensor information regarding the linear force from the force sensor and for providing control information to control the rotational motion based at least in part on the sensor information.
Claims19
A twisted string transmission system, comprising:
- a twisted string actuator for converting a rotational motion into a linear force;
- a force sensor for sensing the linear force;
- a controller for:
- receiving sensor information regarding the linear force from the force sensor;
- and
- providing control information to control the rotational motion based at least in part on the sensor information;
- and
- a block for extending the actuator throw of the twisted string actuator, wherein the block comprises two pulleys and each string of the twisted string actuator is wrapped around a separate pulley and is separately anchored beyond the separate pin such that beyond the pin, strings of the twisted string actuator are untwisted.
A method for a twisted string transmission system, comprising:
- receiving sensor information regarding a linear force of a twisted string actuator of the twisted string transmission system from a force sensor;
- providing control information to control a rotational motion of the twisted string actuator based at least in part on the sensor information, wherein the control information controls the rotational motion that is converted into the linear force using the twisted string actuator;
- and
- extending the actuator throw of the twisted string actuator using a block, wherein the block comprises two pulleys and each string of the twisted string actuator is wrapped around a separate pulley and is separately anchored beyond the separate pin such that beyond the pin, strings of the twisted string actuator are untwisted.
A computer program product for a twisted string transmission system, the computer program product being embodied in a tangible non-transitory computer readable storage medium and comprising computer instructions for:
- receiving sensor information regarding a linear force of a twisted string actuator of the twisted string transmission system from a force sensor;
- providing control information to control a rotational motion of the twisted string actuator based at least in part on the sensor information, wherein the control information controls the rotational motion that is converted into the linear force using the twisted string actuator;
- determining an output angle of the twisted string actuator from an output angle sensor;
- determining a motor angle of the twisted string actuator from a motor angle sensor;
- and
- comparing the output angle to the motor angle over time to determine elongation or breakage of a string of the twisted string actuator.
Dependencies are inferred from the claim text.