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1. 发明授权

US08443694B2 Rotary series elastic actuator 有权
公开(公告)号：US08443694B2
公开(公告)日：2013-05-21
申请号：US13552965
申请日：2012-07-19
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： 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.

2. 发明申请

US20110067517A1 ROTARY SERIES ELASTIC ACTUATOR 有权
标题翻译：旋转系列弹性致动器
公开(公告)号：US20110067517A1
公开(公告)日：2011-03-24
申请号：US12564090
申请日：2009-09-22
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
IPC分类号： B25J18/00 , B25J17/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： 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.
摘要翻译：提供旋转致动器组件用于致动用于灵巧的人形机器人的上臂组件。用于人形机器人的上臂组件包括多个臂支撑框架，每个臂支撑框架限定轴线。多个旋转致动器组件分别围绕相应的轴安装到多个臂支撑框架中的一个。每个旋转致动器组件包括围绕相应轴安装的马达，可旋转地连接到马达的齿轮传动装置和扭转弹簧。扭力弹簧具有可旋转地连接到齿轮传动装置的输出端的弹簧输入端和连接到接头的输出端的弹簧输出端。

3. 发明授权

US08443693B2 Rotary series elastic actuator 有权
标题翻译：旋转系列弹性执行机构
公开(公告)号：US08443693B2
公开(公告)日：2013-05-21
申请号：US13552957
申请日：2012-07-19
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： 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.
摘要翻译：提供旋转致动器组件用于致动用于灵巧的人形机器人的上臂组件。用于人形机器人的上臂组件包括多个臂支撑框架，每个臂支撑框架限定轴线。多个旋转致动器组件分别围绕相应的轴安装到多个臂支撑框架中的一个。每个旋转致动器组件包括围绕相应轴安装的马达，可旋转地连接到马达的齿轮传动装置和扭转弹簧。扭力弹簧具有可旋转地连接到齿轮传动装置的输出端的弹簧输入端和连接到接头的输出端的弹簧输出端。

4. 发明申请

US20120279343A1 ROTARY SERIES ELASTIC ACTUATOR 有权
标题翻译：旋转系列弹性致动器
公开(公告)号：US20120279343A1
公开(公告)日：2012-11-08
申请号：US13552965
申请日：2012-07-19
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
IPC分类号： B25J17/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： 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.
摘要翻译：提供旋转致动器组件用于致动用于灵巧的人形机器人的上臂组件。用于人形机器人的上臂组件包括多个臂支撑框架，每个臂支撑框架限定轴线。多个旋转致动器组件分别围绕相应的轴安装到多个臂支撑框架中的一个。每个旋转致动器组件包括围绕相应轴安装的马达，可旋转地连接到马达的齿轮传动装置和扭转弹簧。扭力弹簧具有可旋转地连接到齿轮传动装置的输出端的弹簧输入端和连接到接头的输出端的弹簧输出端。

5. 发明申请

US20120279338A1 ROTARY SERIES ELASTIC ACTUATOR 有权
公开(公告)号：US20120279338A1
公开(公告)日：2012-11-08
申请号：US13552957
申请日：2012-07-19
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
IPC分类号： B25J17/00 , F16H57/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： 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.

6. 发明申请

US20100145510A1 PLANAR TORSION SPRING 有权
标题翻译：平面扭力弹簧
公开(公告)号：US20100145510A1
公开(公告)日：2010-06-10
申请号：US12331844
申请日：2008-12-10
申请人： Chris A. Ihrke , Adam H. Parsons , Joshua S. Mehling , Bryan Kristian Griffith
发明人： Chris A. Ihrke , Adam H. Parsons , Joshua S. Mehling , Bryan Kristian Griffith
IPC分类号： G06F19/00 , F16F1/14
CPC分类号： B25J17/0241 , B25J19/0091 , B25J19/06 , F16F1/025 , F16F2230/36 , F16F2236/085 , Y10T74/20305 , Y10T74/20329
摘要： A torsion spring comprises an inner mounting segment. An outer mounting segment is located concentrically around the inner mounting segment. A plurality of splines extends from the inner mounting segment to the outer mounting segment. At least a portion of each spline extends generally annularly around the inner mounting segment.
摘要翻译：扭转弹簧包括内部安装段。外部安装段同心地围绕内部安装段。多个花键从内部安装段延伸到外部安装段。每个花键的至少一部分大致环形地围绕内部安装段延伸。

7. 发明授权

US08291788B2 Rotary series elastic actuator 有权
标题翻译：旋转系列弹性执行机构
公开(公告)号：US08291788B2
公开(公告)日：2012-10-23
申请号：US12564090
申请日：2009-09-22
申请人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
发明人： Chris A. Ihrke , Joshua S. Mehling , Adam H. Parsons , Bryan Kristian Griffith , Nicolaus A. Radford , Frank Noble Permenter , Donald R. Davis , Robert O. Ambrose , Lucien Q. Junkin
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J9/126 , B25J17/025 , Y10T74/19637 , Y10T74/19642 , Y10T74/20317 , Y10T74/20329
摘要： 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.
摘要翻译：提供旋转致动器组件用于致动用于灵巧的人形机器人的上臂组件。用于人形机器人的上臂组件包括多个臂支撑框架，每个臂支撑框架限定轴线。多个旋转致动器组件分别围绕相应的轴安装到多个臂支撑框架中的一个。每个旋转致动器组件包括围绕相应轴安装的马达，可旋转地连接到马达的齿轮传动装置和扭转弹簧。扭力弹簧具有可旋转地连接到齿轮传动装置的输出端的弹簧输入端和连接到接头的输出端的弹簧输出端。

8. 发明授权

US08176809B2 Planar torsion spring 有权
标题翻译：平面扭簧
公开(公告)号：US08176809B2
公开(公告)日：2012-05-15
申请号：US12331844
申请日：2008-12-10
申请人： Chris A. Ihrke , Adam H. Parsons , Joshua S. Mehling , Bryan Kristian Griffith
发明人： Chris A. Ihrke , Adam H. Parsons , Joshua S. Mehling , Bryan Kristian Griffith
IPC分类号： B25J17/00 , F16F1/26
CPC分类号： B25J17/0241 , B25J19/0091 , B25J19/06 , F16F1/025 , F16F2230/36 , F16F2236/085 , Y10T74/20305 , Y10T74/20329
摘要： A torsion spring comprises an inner mounting segment. An outer mounting segment is located concentrically around the inner mounting segment. A plurality of splines extends from the inner mounting segment to the outer mounting segment. At least a portion of each spline extends generally annularly around the inner mounting segment.
摘要翻译：扭转弹簧包括内部安装段。外部安装段同心地围绕内部安装段。多个花键从内部安装段延伸到外部安装段。每个花键的至少一部分大致环形地围绕内部安装段延伸。

9. 发明申请

US20100077867A1 PHALANGE TACTILE LOAD CELL 有权
公开(公告)号：US20100077867A1
公开(公告)日：2010-04-01
申请号：US12241320
申请日：2008-09-30
申请人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
发明人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
IPC分类号： G01D7/00
CPC分类号： G01L1/2243 , B25J13/084 , G01L5/226
摘要： A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.
摘要翻译：一种触觉测力传感器，具有特殊应用，可用于测量灵巧机器人系统中的趾骨上的载荷。称重传感器包括柔性应变元件，该柔性应变元件具有第一和第二端部，该第一和第二端部可用于将测力传感器安装到趾骨上，以及可用于将适当的接触表面安装到测力传感器的中心部分。应变元件还包括第一S形构件，其包括连接到第一端部和中心部分的至少三个部分和包括联接到第二端部和中心部分的至少三个部分的第二S形部件。称重传感器还包括八个应变计对，其中每个应变计对都安装在S形构件的其中一个部分的相对表面上，其中应变仪对以六自由度提供应变测量。

10. 发明授权

US07784363B2 Phalange tactile load cell 有权
标题翻译： Phalange触觉测力传感器
公开(公告)号：US07784363B2
公开(公告)日：2010-08-31
申请号：US12241320
申请日：2008-09-30
申请人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
发明人： Chris A. Ihrke , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Bryan Kristian Griffith
IPC分类号： G01D7/00
CPC分类号： G01L1/2243 , B25J13/084 , G01L5/226
摘要： A tactile load cell that has particular application for measuring the load on a phalange in a dexterous robot system. The load cell includes a flexible strain element having first and second end portions that can be used to mount the load cell to the phalange and a center portion that can be used to mount a suitable contact surface to the load cell. The strain element also includes a first S-shaped member including at least three sections connected to the first end portion and the center portion and a second S-shaped member including at least three sections coupled to the second end portion and the center portion. The load cell also includes eight strain gauge pairs where each strain gauge pair is mounted to opposing surfaces of one of the sections of the S-shaped members where the strain gauge pairs provide strain measurements in six-degrees of freedom.
摘要翻译：一种触觉测力传感器，具有特殊应用，可用于测量灵巧机器人系统中的趾骨上的载荷。称重传感器包括柔性应变元件，该柔性应变元件具有第一和第二端部，该第一和第二端部可用于将测力传感器安装到趾骨上，以及可用于将适当的接触表面安装到测力传感器的中心部分。应变元件还包括第一S形构件，其包括连接到第一端部和中心部分的至少三个部分和包括联接到第二端部和中心部分的至少三个部分的第二S形部件。称重传感器还包括八个应变计对，其中每个应变计对都安装在S形构件的其中一个部分的相对表面上，其中应变仪对以六自由度提供应变测量。

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