Sarcos Corp.

Michael J Myers

Fraser M Smith

Marc X Olivier

Brian J Maclean

Chris Hirschi

A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising a first support member, a second support member, and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom. The quasi-passive elastic actuator can comprise a first vane device and a second vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. The system can further comprise a valve assembly, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation, and a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly. The valve assembly is operable to position the valve device in an open position to open the shunt circuit to place the quasi-passive elastic actuator in an inelastic state, and to position the valve device in a closed position to close the shunt circuit to place the quasi-passive elastic actuator in an elastic state.

Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements

A robotic joint system is provided that facilitates efficient movement of a ground-contacting robotic system, such as during a gait cycle. The robotic joint system can comprise a first support member, a second support member, and a joint assembly rotatably coupling the first support member to the second support member about an axis of rotation. The joint assembly can comprise a passive actuation system coupled between the first and second support members. The passive actuation system can comprise a passive actuator operable to store energy and to release energy to apply a torque to the joint assembly and the first and second support members, and a length adapter coupled to the passive actuator operable to selectively direct the output of the stored energy of the passive actuator.

Robotic joint system with length adapter

A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state comprising configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module. The method further comprises configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, supporting a valve assembly about the axis of rotation of the joint through the first vane device, and configuring a shunt circuit to facilitate fluid flow between compression and expansion chambers through the valve assembly. The method can further comprise configuring the valve assembly with a valve device disposed in an opening of a shaft of the first vane device, the valve device being actuatable between an open position to open the shunt circuit and a closed position to close the shunt circuit.

Tunable actuator joint modules having energy recovering quasi- passive elastic actuators with internal valve arrangements

A robotic joint system with integrated safety can include a first support member, a second support member, and a tunable actuator joint assembly including a joint having an axis of rotation about which the first support member and the second support member rotate. The tunable actuator joint assembly can include a primary actuator and a quasi-passive linear pneumatic actuator coupled between the first and second support members. The quasi-passive linear pneumatic actuator can comprise an active state in which the quasi-passive linear pneumatic actuator stores energy upon a first rotation of the first and second support members and releases energy upon a second rotation of the first and second support members opposite the first rotation, and an inactive state that facilitates return of the first and second support members to a default position.

Robotic joint system with integrated safety

A quasi-passive elastic actuator operable within a robotic system comprising a housing comprising an output member operable to couple to a first support member of a robotic system, a first vane device supported by the housing and comprising an input member operable to couple to a second support member of the robotic system, a second vane device coupled to the housing and interfaced with the first vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. A valve assembly is located and operable at the joint of the robotic system, and is operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state, the valve assembly comprising a valve device disposed through an opening of the first vane device along an axis of rotation of the first vane device. The valve assembly defines, at least in part, a shunt circuit that facilitates fluid flow between the compression and expansion chambers through the valve assembly.

Growing community of inventors

Salt Lake City, UT, United States of America

Michael J Myers