Sanctuary Cognitive Systems Corporation

Seymur Dadashov

Hessam Maleki

Connor Richard Shannon

Matthew Steven Hill

James Zhong Sheng Liu

A robotic wrist for a robotic arm includes a hybrid differential with a first cam, a second cam, a first differential input, and a second differential input. The first cam and the second cam are disposed about first and second pivots oriented along a first rotational axis. An abduction output is coupled to the second cam and has a second rotational axis transverse to the first rotational axis. The robotic wrist includes a first actuator, a second actuator, a first link coupling an output of the first actuator to the first differential input, and a second link coupling an output of the second actuator to the second differential input. Synchronous motion of the actuators causes flexion of the abduction output about the first rotation axis, and asynchronous motion of the actuators causes abduction motion of the abduction output about the second rotation axis.

Robotic arm

An actuator for a robotic joint includes an actuator housing. A motor is disposed within the actuator housing. The motor includes a stator that is rotationally fixed relative to the actuator housing and a rotor that is rotatable relative to the stator and actuator housing. An output shaft is coupled to a rotational motion of the rotor by a gear reducer. A first rotary encoder is coupled to the rotor to measure one or more parameters of the rotational motion of the rotor. A second rotary encoder is coupled to the output shaft to measure one or more parameters of a rotational motion of the output shaft.

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Richmond, Canada

Seymur Dadashov