Variable stiffness series elastic actuator
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United States of America Patent
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Dec 7, 2021
Grant Date -
May 2, 2019
app pub date -
Apr 14, 2017
filing date -
Apr 14, 2016
priority date (Note) -
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Abstract
A variable stiffness actuator comprises a flexure plate which comprises a first cantilevered beam that extends inwards from an outer periphery of the flexure plate. A housing and the flexure plate rotatable about a common joint axis. A first contactor is pivotably secured at a revolute joint to the housing. The first contactor rotates about the revolute joint at a first rotation axis. The first rotation axis offset on the housing from the joint axis. The first contactor engages the first cantilevered beam at a variable angle about the rotation axis to adjust a stiffness of a mechanical connection between the flexure plate and the housing.
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