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51. 发明申请

US20210069892A1 Tunable Actuator Joint Modules Having Energy Recovering Quasi-Passive Elastic Actuators with Internal Valve Arrangements 有权
公开(公告)号：US20210069892A1
公开(公告)日：2021-03-11
申请号：US17093487
申请日：2020-11-09
申请人： Sarcos Corp.
发明人： Fraser M. Smith , Marc X. Olivier , Brian J. Maclean , Michael Myers
IPC分类号： B25J9/00 , A61F2/64 , B25J13/08 , A61F2/68 , B25J9/14 , A61F2/70
摘要： A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising a first support member, a second support member, and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom. The quasi-passive elastic actuator can comprise a first vane device and a second vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. The system can further comprise a valve assembly, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation, and a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly. The valve assembly is operable to position the valve device in an open position to open the shunt circuit to place the quasi-passive elastic actuator in an inelastic state, and to position the valve device in a closed position to close the shunt circuit to place the quasi-passive elastic actuator in an elastic state.

52. 发明申请

US20210069891A1 Tunable Actuator Joint Modules Having Energy Recovering Quasi-Passive Elastic Actuators with Internal Valve Arrangements 有权
公开(公告)号：US20210069891A1
公开(公告)日：2021-03-11
申请号：US17093475
申请日：2020-11-09
申请人： Sarcos Corp.
发明人： Fraser M. Smith , Marc X. Olivier , Brian J. Maclean , Michael Myers
IPC分类号： B25J9/00 , A61F2/64 , B25J13/08 , A61F2/68 , B25J9/14 , A61F2/70
摘要： A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state comprising configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module. The method further comprises configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, supporting a valve assembly about the axis of rotation of the joint through the first vane device, and configuring a shunt circuit to facilitate fluid flow between compression and expansion chambers through the valve assembly. The method can further comprise configuring the valve assembly with a valve device disposed in an opening of a shaft of the first vane device, the valve device being actuatable between an open position to open the shunt circuit and a closed position to close the shunt circuit.

53. 发明申请

US20200334032A1 Version History Management Using a Blockchain 审中-公开
公开(公告)号：US20200334032A1
公开(公告)日：2020-10-22
申请号：US16389840
申请日：2019-04-19
申请人： Sarcos Corp.
发明人： Fraser M. Smith
IPC分类号： G06F8/658 , G06F8/71 , H04L9/06
摘要： A technology is described for managing and securing a software version history for a device using a blockchain. An example method can include receiving device information for a device configured to receive software updates, where a device history for the device can be contained in a blockchain distributed among multiple network nodes. The device information can be validated against the device history contained in the blockchain to confirm an identity of the device, and a software update can be initiated for the device. An indication that the software update was installed on the device can be received and a block can be generated to include information for the software update installed on the device. The block can be sent to the network nodes configured to determine acceptance of the block and append the block to the blockchain when the block is accepted.

54. 发明申请

US20200206947A1 Robotic End Effector with Dorsally Supported Actuation Mechanism 审中-公开
公开(公告)号：US20200206947A1
公开(公告)日：2020-07-02
申请号：US16237609
申请日：2018-12-31
申请人： Sarcos Corp.
发明人： Fraser M. Smith , Brian J. Maclean
IPC分类号： B25J15/00 , B25J9/06
摘要： A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.

55. 发明授权

US10512583B2 Forward or rearward oriented exoskeleton 有权
公开(公告)号：US10512583B2
公开(公告)日：2019-12-24
申请号：US14704964
申请日：2015-05-05
申请人： Sarcos LC
发明人： Fraser M. Smith
IPC分类号： A61H1/02 , A61H3/00 , B25J9/00
摘要： An exoskeleton is disclosed. The exoskeleton can include support members rotatably coupled together about a joint. The joint can define a degree of freedom, which can correspond to a degree of freedom of a human extremity, such as hip medial/lateral rotation, ankle medial/lateral rotation, shoulder medial/lateral rotation, or wrist pronation/supination rotation. One or more parasagittal planes through the human extremity can intersect the joint to minimize a gravity-induced moment on the first joint during operation of the exoskeleton.

56. 发明申请

US20180193999A1 Teleoperated Robotic System 审中-公开
公开(公告)号：US20180193999A1
公开(公告)日：2018-07-12
申请号：US15786472
申请日：2017-10-17
申请人： Sarcos LC
发明人： Stephen C. Jacobsen , Fraser M. Smith , John McCullough , Glenn Colvin, JR. , Wayco Scroggin , Marc X. Olivier
IPC分类号： B25J3/04 , B25J5/00 , B25J13/02
CPC分类号： B25J3/04 , B25J5/005 , B25J13/025
摘要： A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

57. 发明授权

US09521946B2 Transparent endoscope head defining a focal length 有权
标题翻译：透明内窥镜头限定焦距
公开(公告)号：US09521946B2
公开(公告)日：2016-12-20
申请号：US14248184
申请日：2014-04-08
申请人： Sarcos LC
发明人： Stephen C. Jacobsen , Fraser M. Smith
IPC分类号： A61B1/00 , A61B1/05 , A61B1/015
CPC分类号： A61B1/00188 , A61B1/0008 , A61B1/00082 , A61B1/00147 , A61B1/00177 , A61B1/015 , A61B1/05 , A61B1/051
摘要： A catheter configured for imaging objects substantially in focus is described herein. An imaging device is disposed on the distal end of the catheter. The imaging device has an effective focal plane that is located in front of the imaging device. The catheter also includes a transparent focal instrument that has an outer periphery that is positioned at the effective focal plane of the imaging device, to enable objects in contact with the outer periphery of the transparent focal instrument to be imaged substantially in focus.
摘要翻译：这里描述了配置用于基本上聚焦的成像物体的导管。成像装置设置在导管的远端。成像装置具有位于成像装置前方的有效焦平面。导管还包括透明焦点仪器，其具有位于成像装置的有效焦平面处的外周边，以使得与透明焦点仪器的外周接触的物体能够被基本聚焦成像。

58. 发明申请

US20160252910A1 Method and System for Deploying a Surveillance Network 审中-公开
标题翻译：部署监控网络的方法和系统
公开(公告)号：US20160252910A1
公开(公告)日：2016-09-01
申请号：US14596008
申请日：2015-01-13
申请人： Sarcos LC
发明人： Stephen C. Jacobsen , Marc X. Olivier , Ralph W. Pensel , Fraser M. Smith
IPC分类号： G05D1/02 , B64D17/00 , B64D1/02 , G05D1/00 , G05D1/04
CPC分类号： G05D1/0287 , B64D1/02 , B64D17/00 , F41H13/00 , F42B12/365 , F42B12/58 , G05D1/0011 , G05D1/0206 , G05D1/048 , Y10S901/01
摘要： A method and system for gathering information from and setting up a surveillance network within an earth-surface environment that includes inserting one or more mobile robotic devices having a sensing subsystem, a communications subsystem, and a navigation subsystem into an earth-surface environment. The mobile robotic device may be configured into a traveling pose selected from a plurality of available traveling poses, and directed using the navigation subsystem to a sensing location within the earth-surface environment. The environment may be monitored and sensed information collected may be stored or communicated to a remote location. The mobile robotic device may be configured to operate with a vehicle carrier to facilitate insertion and deployment of the robotic vehicle into the earth-surface environment.
摘要翻译：一种用于在地球表面环境内收集信息并建立监视网络的方法和系统，其包括将具有感测子系统，通信子系统和导航子系统的一个或多个可移动机器人设备插入到地球表面环境中。移动机器人装置可以被配置成从多个可用行进姿势中选择的行进姿态，并且使用导航子系统指导到地球表面环境内的感测位置。可以监测环境并且收集的感测信息可以被存储或传送到远程位置。移动机器人装置可以被配置为与车辆载体一起操作，以便于将机器人车辆插入和展开到地球表面环境中。

59. 发明申请

US20150323135A1 Rapidly Modulated Hydraulic Supply for a Robotic Device 审中-公开
标题翻译：用于机器人设备的快速调制液压供应
公开(公告)号：US20150323135A1
公开(公告)日：2015-11-12
申请号：US14704960
申请日：2015-05-05
申请人： Sarcos LC
发明人： Fraser M. Smith , Marc X. Olivier , Shane Olsen
IPC分类号： F17C13/04
摘要： A rapidly modulated hydraulic supply is disclosed. The rapidly modulated hydraulic supply can include a chamber for receiving fluid. The rapidly modulated hydraulic supply can also include a displacement member operable to displace the fluid from the chamber. In addition, the rapidly modulated hydraulic supply can include a flow modulation system operable to vary the flow rate of the fluid output from the chamber. A first flow rate corresponds to a first output pressure, and is different from a second flow rate corresponding to a second output pressure for a like movement of the displacement member.
摘要翻译：公开了一种快速调制的液压源。快速调制的液压供应可以包括用于接收流体的室。快速调制的液压供应还可以包括可操作以从腔室移动流体的位移构件。此外，快速调制的液压供应可以包括流动调节系统，其可操作以改变从室输出的流体的流量。第一流量对应于第一输出压力，并且不同于用于位移构件的类似运动的对应于第二输出压力的第二流量。

60. 发明申请

US20150321342A1 Energy Recovering Legged Robotic Device 审中-公开
标题翻译：能量恢复腿式机器人装置
公开(公告)号：US20150321342A1
公开(公告)日：2015-11-12
申请号：US14704872
申请日：2015-05-05
申请人： Sarcos LC
发明人： Fraser M. Smith , Marc X. Olivier
IPC分类号： B25J9/00
CPC分类号： B25J9/0009 , A61H1/0237 , A61H3/00 , B25J9/0006 , B25J19/005 , Y10T74/20305 , Y10T74/20317
摘要： A legged robotic device is disclosed. The legged robotic device can include a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, which can correspond to degrees of freedom of a human leg. The legged robotic device can also include actuators to apply forces or torques to the support members in the degrees of freedom. In addition, the legged robotic device can include potential energy storage mechanisms associated with the degrees of freedom operable to store potential energy as a result of relative movement of the support members in the degrees of freedom and to provide at least a portion of the stored potential energy to the support members as compensating forces or torques to assist the actuators. In one aspect, elastic potential energy can be stored. A spring rate and/or a zero position of the potential energy storage mechanisms can be dynamically variable.
摘要翻译：公开了一种腿式机器人装置。有腿的机器人装置可以包括耦合在一起的多个支撑构件，用于限定多个自由度的相对运动，其可以对应于人腿的自由度。有腿的机器人装置还可以包括以自由度将力或扭矩施加到支撑构件的致动器。此外，有腿的机器人装置可以包括与自由度相关联的潜在的能量存储机构，其可操作以由于支撑构件在自由度中的相对运动而存储潜在的能量，并且提供存储的电位的至少一部分作为补偿力或扭矩来辅助致动器的支撑构件的能量。一方面，可以存储弹性势能。潜在能量存储机构的弹簧速率和/或零位置可以是动态变化的。

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