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. 29, 2013
Filed:
Apr. 02, 2010
Nikos G. Tsagarakis, Genoa, IT;
Darwin G. Caldwell, Serra Ricco', IT;
Matteo Laffranchi, Genoa, IT;
Bram Vanderborght, Boechout, BE;
Nikos G. Tsagarakis, Genoa, IT;
Darwin G. Caldwell, Serra Ricco', IT;
Matteo Laffranchi, Genoa, IT;
Bram Vanderborght, Boechout, BE;
Fondazione Istituto Italiano di Tecnologia, Genoa, IT;
Abstract
An actuator and a method for controlling the actuator are described. The actuator comprises: an output member rotatable around an axis of rotation; an input member rotatable around the axis and connected for rotation with the output member via a plurality of cylindrical helical springs; a motor assembly arranged to drive the input member to rotate around the axis of rotation; first and second sensors for detecting the angular position of the input member and the relative angular position between the input member and the output member; and an electronic control unit arranged to determine a desired angular velocity of the input member on the basis of a desired value for the impedance of the actuator and to control the motor assembly on the basis of the error between the desired angular velocity of the input member and the angular velocity of the input member.