发明名称 |
Biomimetic joint actuators |
摘要 |
In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator. |
申请公布号 |
US9060883(B2) |
申请公布日期 |
2015.06.23 |
申请号 |
US201213417949 |
申请日期 |
2012.03.12 |
申请人 |
iWalk, Inc. |
发明人 |
Herr Hugh M.;Weber Jeff A.;Garlow David A.;Casler, Jr. Richard J. |
分类号 |
A61F2/48;A61F2/62;A61F2/68;A61F2/64;A61F2/66;A61F2/70;A61F2/76 |
主分类号 |
A61F2/48 |
代理机构 |
Kacvinsky Daisak Bluni PLLC |
代理人 |
Kacvinsky Daisak Bluni PLLC |
主权项 |
1. A powered actuator for supplying to a joint augmented by a powered human augmentation device at least one of an augmentation torque, joint equilibrium, and an impedance, the powered actuator comprising:
a motor having a dissipation constant less than about 50 W/(Nm)2, wherein the dissipation constant is given by R/kt2, where R refers to stator winding resistance and kt refers to motor torque constant; a transmission coupled directly to the motor; and an elastic element coupled to the joint and coupled, in series, to the transmission, to generate a normalized joint torque in a range from about −2.8 to about 2.8 Nm/kg. |
地址 |
Bedford MA US |