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:
Oct. 23, 2012
Filed:
Sep. 22, 2009
Chris A. Ihrke, Hartland, MI (US);
Joshua S. Mehling, League City, TX (US);
Adam H. Parsons, Tulsa, OK (US);
Bryan Kristian Griffith, Webster, TX (US);
Nicolaus A. Radford, League City, TX (US);
Frank Noble Permenter, Webster, TX (US);
Donald R. Davis, Brighton, MI (US);
Robert O. Ambrose, Houston, TX (US);
Lucien Q. Junkin, Houston, TX (US);
Chris A. Ihrke, Hartland, MI (US);
Joshua S. Mehling, League City, TX (US);
Adam H. Parsons, Tulsa, OK (US);
Bryan Kristian Griffith, Webster, TX (US);
Nicolaus A. Radford, League City, TX (US);
Frank Noble Permenter, Webster, TX (US);
Donald R. Davis, Brighton, MI (US);
Robert O. Ambrose, Houston, TX (US);
Lucien Q. Junkin, Houston, TX (US);
GM Global Technology Operations LLC, Detroit, MI (US);
The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration, Washington, DC (US);
Abstract
A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.