The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 07, 2021
Filed:
Oct. 13, 2017
Sony Corporation, Tokyo, JP;
SONY CORPORATION, Tokyo, JP;
Abstract
A joint driving actuator that includes an ultrasonic motor that generates driving force for driving a joint, the ultrasonic motor including a stator fixed to a side of one arm that relatively rotates in the joint and a rotor fixed to a side of another arm that relatively rotates in the joint, the stator including a piezoelectric element that generates ultrasonic vibration, a torque sensor that detects external force applied to the joint, and an encoder that detects a rotational angle of the ultrasonic motor, the encoder being mounted on the one arm, the stator being fixed on the side thereof, and the torque sensor being mounted on the another arm, the rotor being fixed on the side thereof.