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Pub. No.:    WO/2010/025409    International Application No.:    PCT/US2009/055429
Publication Date: 04.03.2010 International Filing Date: 28.08.2009
A61F 2/68 (2006.01), B25J 13/00 (2006.01), B25J 9/16 (2006.01)
Applicants: RAYTHEON SARCOS, LLC [US/US]; 870 Winter Street Waltham, MA 02451 (US) (For All Designated States Except US).
JACOBSEN, Stephen, C. [US/US]; (US) (For US Only).
OLIVIER, Marc [US/US]; (US) (For US Only).
MACLEAN, Brian [US/US]; (US) (For US Only)
Inventors: JACOBSEN, Stephen, C.; (US).
OLIVIER, Marc; (US).
MACLEAN, Brian; (US)
Agent: NORTH, Vaughn, W.; (US)
Priority Data:
61/092,699 28.08.2008 US
Abstract: front page image
(EN)A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.
(FR)La présente invention concerne une articulation mécanique biomimétique permettant de générer un couple variable entre les éléments de support d'un dispositif robotique biomimétique, comprenant un élément de support de base, un élément de support rotatif couplé en rotation à l'élément de support de base, et une poulie à rayon variable couplée en fonctionnement entre l'élément de support de base et l'élément de support rotatif. La poulie à rayon variable comprend un corps de galet présentant un rayon variable et une ou plusieurs rainures de tendon formées dans la surface externe circonférentielle. L'articulation mécanique comprend en outre un ou plusieurs tendons flexibles et des paires d'actionneurs antagonistes, chaque paire d'actionneurs étant couplée à un ou plusieurs tendons et configurée pour actionner le tendon autour de la poulie à rayon variable dans l'une ou l'autre direction pour créer un couple variable entre les éléments de support de base et rotatif.
Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IS, JP, KE, KG, KM, KN, KP, KR, KZ, LA, LC, LK, LR, LS, LT, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PE, PG, PH, PL, PT, RO, RS, RU, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW.
African Regional Intellectual Property Organization (BW, GH, GM, KE, LS, MW, MZ, NA, SD, SL, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, MD, RU, TJ, TM)
European Patent Office (AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, ML, MR, NE, SN, TD, TG).
Publication Language: English (EN)
Filing Language: English (EN)