Title:
可変剛性直列弾性アクチュエータ、ロボットマニピュレータ、並びにアクチュエータ関節の剛性を制御する方法
Document Type and Number:
Japanese Patent JP6994766
Kind Code:
B2
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.
Inventors:
Schmels, Joseph M
Burnhard, Andrew
Rice, Jacob
Burnhard, Andrew
Rice, Jacob
Application Number:
JP2018553192A
Publication Date:
February 04, 2022
Filing Date:
April 14, 2017
Export Citation:
Assignee:
Market University
International Classes:
B25J19/00; B25J17/00; F16H35/00
Domestic Patent References:
| JP2016522366A | ||||
| JP201183884A | ||||
| JP201497548A |
Foreign References:
| US20150330458 | ||||
| CN104608142A |
Attorney, Agent or Firm:
Nagai International Patent Office
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