Torsional series elastic actuator
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United States of America Patent
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Sep 24, 2024
Grant Date -
Jul 13, 2023
app pub date -
Mar 9, 2023
filing date -
Mar 28, 2018
priority date (Note) -
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Abstract
A rotary-type series elastic actuator (SEA) for use in robotic applications. The SEA including a motor, gear transmission assembly, spring assembly, and sensors. In one example, a robotic joint may include the SEA as well as two links coupled with each other at the joint assembly. The two links may be designated as input and output links. Each link may have a joint housing body which may be concentrically connected via a joint bearing so that they freely rotate against each other. The housing frame of the SEA may be fixed at the joint housing body of the input link while the output mount of the spring assembly of the SEA may be concentrically coupled with the joint housing body of the output link. The rotation of the motor rotor causes the rotation of the output link with respect to the input link plus spring deflection of the spring assembly. When an external force or torque are applied between the two links, a control action of a control loop may cause a rotation and motive force of the motor that lead to the deflection of the spring assembly to balance with the external force/torque and inertial force from body masses moving together with the links.
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