RECONFIGURABLE ROTARY SERIES ELASTIC ACTUATOR
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United States of America
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Issued Date -
Nov 14, 2024
app pub date -
Jun 10, 2022
filing date -
Jun 10, 2022
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Abstract
Disclosed is a reconfigurable rotary series elastic element (RSEE) comprising: an inner tension spring mount: an outer tension spring mount; and a plurality of tension springs connected between the inner tension spring mount and outer 5 tension spring mount. A position at which each spring connects to one or both of the inner tension spring mount and outer tension spring mount: can be changed to adjust a relationship between an output torque and deflection angle of the RSEE; and is configured such that, during relative rotation of the inner tension spring mount and outer tension spring mount, an amount of tension in 10 at least one said tension spring differs from an amount of tension in at least one other said tension spring.
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