Sri International

Yamaha Hatsudoki Kabushiki Kaisha

Alexander Steele Kernbaum

Roy D Kornbluh

Thomas P Low

Richard Mahoney

Paul Michael Birkmeyer

Katherine Goss Witherspoon

Brian Keith McCoy

Murphy Kitchell

Adam Arnold Edward Ziemba

Thomas D Egan

Curt Michael Salisbury

Riley Shear

Joseph S Eckerle

Hitoshi Watanabe

Bryan Chavez

Regis Vincent

Reuben Daniel Brewer

John R Marlow

Hirokatsu Muramatsu

Stephen Morfey

Hiroyuki Morita

Seungkook Yun

Keiji Nishimura

Shirou Watanabe

Toshifumi Uchiyama

Akira Satou

Hiroshi Saijou

Leonard Gerard

Thomas De Candia

Marisa De Souza

Curt Salisbury

A variety of transmission mechanisms are provided that include 'radially inverted' pulleys that are nested within each other or otherwise overlap in order to exert ‘inward’ forces onto a compressive belt that transmits power between the pulleys. By exerted forces ‘inward’ onto the belt, the belt can be subjected to net compression everywhere along its length. This allows the belt to be less complex and to have a lower cost than belts of transmissions that exert forces ‘outward’ from pulleys onto a belt, thus requiring expensive and technically challenging belt packs or other elements to sustain the longitudinal tensions experienced by such belts, even when such belts are operated as 'push' belts. Transmissions that include such ‘radially inverted’ pulleys can exhibit reduced size and cost and increased power capacity compared to transmissions that employ ‘non-radially inverted’ pulleys.

Transmission with radially inverted pulleys

A variety of shifter mechanisms are provided for controlling the axial distance between half-pulleys of a split pulley variable transmission, thus controlling the transmission ratio of the variable transmission. Some of these embodiments include a differential such that a variable transmission can be driven and shifted differentially by two inputs. A torque or rotation difference between the inputs results in a change in the transmission ratio and in-common torque or rotation is transmitted through the transmission to an output. The same motors used to drive the output of the transmission are thus also able to effect shifts in the transmission ratio. Accordingly, motor mass that is not being used to effect high-speed shifts may be used to drive the transmission output, and vice versa. The provided shifter embodiments are well-suited to application to nested-pulley variable transmissions, including nested-pulley infinitely variable transmissions.

Shifting mechanisms for split-pulley variable transmissions

A variety of mechanisms are provided for coupling the rotation of shafts or other mechanical elements having parallel but offset axes of rotation. The coupling mechanisms can couple such input and output elements via pins that are in contact with the input and output elements. The pins, upon rotation of the input and output elements, can engage in substantially pure roiling motion with respect to respective contact surfaces on the input and output members. Accordingly, the pins can reduce the number of bearings and increase efficiency relative to alternative coupling mechanisms. Such couplings may be employed in a variety of applications, including the coupling of rotations between elements of a cycloidal drive or a transmission that includes a member that undergoes cycloidal motion. For example, this coupling could replace the cage gear of a cycloidal drive in coupling the output to the cycloidal disc of a cycloidal drive.

Shaft couplings

A variety of transmission mechanisms are provided that include split pulleys nested within each other in order to reduce the size of the transmissions, to provide infinitely variable transmission ratios that include forward and reverse ratios, or to provide some other benefits. These transmissions include 'W'-shaped belts, having both contact surfaces that are directed outward from the belt and inward, toward a center-line of the belt, to contact the pulleys with respective different inward- and outward-directed contact surfaces. Accordingly, the surfaces at which the belt contacts the different pulleys may be substantially the same with respect to a hinge or other structure of the belt. This improvement may permit higher levels of power transmission, increased efficiency, and increased transmission lifetime. Additionally, variable-eccentricity variable transmissions are provided wherein the eccentricity of rotation of an inner, nested pulley varies with changes in the transmission ratio of the transmission.

Belt for continuously variable transmission

A variety of flexible body harnesses are provided to distribute loads comfortably and evenly across one or more segments of the human body. The trajectories of load-bearing straps of the provided body harnesses apply shear to underlying portions of skin of a body segment evenly across the length of the load-bearing straps. Such trajectories can approximate catenary curves as the straps encircle the body segment. The trajectories of such straps around a body segment are maintained by attaching the straps to an underlayer, by incorporating the straps into a flexible material, and/or by weaving further straps around the load-bearing straps to maintain their relative location and/or curvature. Such body harnesses can be provided as part of assistive, rehabilitative, prosthetic, or strength-enhancing systems configured to apply forces to the body via the body harnesses.

Flexgrip

A variety of brake and/or clutch mechanisms, and improvements thereof, are provided having improved braking power, reduced size and weight, and other benefits. The braking mechanisms include a wrap spring clutch that is operable to mechanically couple a rotating member to a brake rotor that is in consistent contact with a brake pad. Actuation of the wrap spring clutch allows the wrap spring to engage with the rotating member, coupling the rotating member to the brake rotor thus braking the rotating member. The combination of the wrap spring clutch with the brake rotor and pad provides an overall braking mechanism that exhibits the decreased power cost, weight, size, and engagement time of the wrap spring clutch while having a braking power that can be moderated by specifying the area, engagement force, coefficient of friction, or other properties of the brake rotor and pad.

Failsafe brake device for robotic and other applications

A variety of transmissions, and improvements thereof, are provided having improved efficiency and other benefits. The transmissions include one or more inner members that are driven by one or more cams or other means to engage in precessional rotation about an axis of rotation that, itself, orbits about a primary axis of rotation. A plurality of shaped rollers are in contact with shaped cutouts on the inner member(s) and on a ground member such that an input rotation/torque applied via the cam is realized as an output rotation/torque at an output member that is coupled to the inner member(s). Tire rollers and contact surfaces are shaped such that the rollers engage in rolling motion relative to the contact surfaces, providing improved efficiency. Multiple inner members, and corresponding sets of shaped rollers, can be provided to increase power capacity, reduce torque ripple, reduce wobble, or provide other benefits.

Pure rolling cycloid transmissions with variable effective diameter rollers and roller constraints

A variety of transmission mechanisms are provided that include split pulleys nested within each other in order to reduce the size of the transmissions, to provide infinitely variable transmission ratios that include forward and reverse ratios, or to provide some other benefits. The transmissions include multiple inner split pulleys nested within an outer split pulley. Two, three, or more inner split pulleys can be disposed within the transmission to balance the mass of the inner split pulleys in order to reduce vibration and internal stresses experienced by the transmission. This can increase the lifespan of the transmission, reduce wear, and increase efficiency. Additionally, providing multiple inner split pulleys in a nested configuration can allow for reduction of loads transmitted through bearings of the transmission.

Variable transmissions with nested pulleys

A flexible exosuit includes rigid and flexible elements configured to couple forces to a body of a wearer. Further, the flexible exosuit includes flexible linear actuators and clutched compliance elements to apply and/or modulate forces and/or compliances between segments of the body of the wearer. The flexible exosuit further includes electronic controllers, power sources and sensors. The flexible exosuit can be configured to apply forces to the body of the wearer to enable a variety of applications. In some examples, the flexible exosuit can be configured to augment the physical strength or endurance of the wearer. In some examples, the flexible exosuit can be configured to train the wearer to perform certain physical tasks. In some examples, the flexible exosuit can be configured to record physical activities of the wearer.

Electrolaminate clutches for an exosuit system

An example system includes a vehicle, a robot, and a controller. The vehicle may include an accelerator operator and a steering operator. The robot may include as accelerator actuator configured to operate the accelerator operator, and a steering actuator configured to operate-the steering operator. The controller is configured to: in response to an accelerator command, send a first signal to the accelerator actuator to operate the accelerator operator of the vehicle, and in response to a steering command, send a second, signal to the steering actuator to steer the vehicle.

Robot and robot control system

An apparatus includes a first ring having an open annular space and a variable-width groove disposed on an interior peripheral surface of the first ring; a second ring rotatable within the open annular space of the first ring, where the second ring has a respective variable-width groove disposed on an exterior peripheral surface of the second ring; and a plurality of rollers disposed between, and configured to roll on, the interior peripheral surface of the first ring and the exterior peripheral surface of the second ring and rotatable therebetween.

Pure rolling cycloids with variable effective diameter rollers

A variable transmission may include a segmented pulley and a nested pulley located at least partially within the segmented pulley. The spacing between the components of the first segmented pulley may be varied to alter the transmission ratio of the variable transmission by altering the effective diameter of the segmented pulley. The nested pulley may also be a segmented pulley. In some embodiments, one of the pulleys may be rotationally fixed, and the variable transmission may comprise a compact infinitely variable transmission. The eccentricity of the compact infinitely variable transmission may be significantly less than the eccentricity of other infinitely variable transmission designs. In other embodiments, a nested pulley structure may be used to provide a compact continuously variable transmission.

Compact infinitely variable transmission

An apparatus includes a housing that includes an inner space, an inlet connected to the inner space, and a plurality of outlets connected to the inner space. The housing allows an inner cable of a Bowden cable to pass therethrough such that the inner cable passes through the inlet, the inner space, and any of the plurality of outlets. The apparatus also includes an inner hub rotatably mounted in the inner space of the housing. The inner hub is configured to receive and guide the inner cable passing through the housing such that the inner cable forms a curved path about the inner hub. The apparatus includes a socket configured to receive the Bowden cable. The socket can be coupled to the housing at a plurality of different positions to select any of the plurality outlets such that the inner cable of the Bowden cable passes through the selected outlet.

Growing community of inventors

Sunnyvale, CA, United States of America

Alexander Steele Kernbaum