公开(公告)号：US11241801B2

公开(公告)日：2022-02-08

申请号：US16237609

申请日：2018-12-31

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Brian J. Maclean

IPC: B25J15/00 ,  B25J15/10 ,  B25J15/02 ,  B25J9/14

Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.

公开(公告)号：US10919161B2

公开(公告)日：2021-02-16

申请号：US15810101

申请日：2017-11-12

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J17/02 ,  B25J19/00 ,  B25J9/00 ,  F16D28/00 ,  F16D25/04 ,  F16D13/52 ,  F16D23/12 ,  F16D25/0638 ,  F16D48/02 ,  F16H1/28

Abstract: A clutched joint module comprising an output member and an input member rotatable relative to each other about an axis of rotation; a primary actuator operable to apply a primary torque to rotate the output member about the axis of rotation; and a clutch mechanism operable between an engaged state and a disengaged state to facilitate application of the primary torque. The clutch mechanism can comprise a plurality of plates and an actuator operable to compress the plurality of plates to cause the clutch mechanism to function in the engaged state. The actuator can be a ball-ramp clutch device. A quasi-passive elastic actuator can be coupled to the input member and can be operable, via the clutch mechanism, to release stored energy to apply an augmented torque to assist rotation of the output member. Associated methods and systems are disclosed.

公开(公告)号：US20190184576A1

公开(公告)日：2019-06-20

申请号：US15846038

申请日：2017-12-18

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J13/02 ,  B25J13/08

CPC classification number: B25J13/025 ,  B25J13/087 ,  B25J13/088 ,  B25J17/00 ,  B25J19/0004 ,  B25J19/068

Abstract: A stiffening element to provide variable resistance to movement between a pair of members at a joint, The stiffening element comprises a filler with particles flowable in a bladder. A pressure source is coupled to the bladder to vary a pressure within the bladder and collapse the bladder. Collapsing the bladder varies a flow characteristic of the filler within the bladder, Varying the flow characteristics of the filler varies resistance of the bladder to movement of the bladder, and thus a pair of movable members and the joint.

公开(公告)号：US20190176320A1

公开(公告)日：2019-06-13

申请号：US15835280

申请日：2017-12-07

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J3/04 ,  B25J9/16

Abstract: A master robotic system for translating a force at a slave robotic system to the master robotic system comprises a plurality of master brake joints rotatably coupling a plurality of robotic links. Each master brake joint corresponds to a respective slave joint of a slave robotic system. Each master brake joint comprises a first braking component (e.g., sheet disk(s)) coupled to a first robotic link and a second braking component (e.g., sheet disk(s)) coupled to a second robotic link, and an actuator operable to act upon the first braking component and the second braking component, to generate a braking force between the first braking component and the second braking component, in response to a control signal corresponding to a sensed force sensed by the slave robotic system. The actuator can comprise a bi-directional actuator, or a cam, piezoelectric, dielectric, or hydraulic actuator, each having minimal power requirements to maximize the braking force of the master brake joint.

公开(公告)号：US20180193172A1

公开(公告)日：2018-07-12

申请号：US15810108

申请日：2017-11-12

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier ,  Glenn Colvin

IPC: A61F2/70 ,  A61F2/64

CPC classification number: A61F2/70 ,  A61F2/64 ,  A61F2002/5003 ,  A61F2002/5018 ,  A61F2002/701 ,  A61F2002/745 ,  B25J9/0006 ,  B25J9/148 ,  B25J17/0241

Abstract: A tunable actuator joint module of a robotic assembly comprises an output member and an input member, where the output member is rotatable about an axis of rotation. A primary actuator (e.g., a motor) is operable to apply a torque to rotate the output member about the axis of rotation. A quasi-passive elastic actuator (e.g., rotary or linear pneumatic actuator) comprising an elastic component is tunable to a joint stiffness value and is operable to selectively release stored energy to apply an augmented torque to assist rotation of the output member and to minimize power consumption of the primary actuator. The tunable actuator joint module comprises a control system having a valve assembly controllably operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state during respective portions of movement of the robotic assembly (e.g., a hip or knee joint of an exoskeleton). Associated systems and methods are provided.

公开(公告)号：US20180133906A1

公开(公告)日：2018-05-17

申请号：US15810102

申请日：2017-11-12

Applicant: Sarcos Corp.

Inventor： Fraser M. Smith ,  Marc X. Olivier

IPC: B25J19/00 ,  F16D23/12 ,  F16D27/14

CPC classification number: B25J19/0041 ,  B25J9/0006 ,  B25J17/0241 ,  F16D23/12 ,  F16D27/14 ,  F16H1/28

Abstract: A clutched joint module of a robotic system comprising an output member operable to couple to a first support member of a robotic system; an input member operable to couple to a second support member of the robotic system; a primary actuator operable to apply a primary torque to the output member to rotate the first and second support members relative to one another about an axis of rotation of the clutched joint module; a quasi-passive elastic actuator coupled to the input member and operable to apply an augmented torque to the output member that combines with the primary torque to rotate the output member about the axis of rotation: and a clutch mechanism operably coupled to the primary actuator and the quasi-passive elastic actuator operable in an engaged state or a disengaged state to actuate and deactivate the quasi-passive elastic actuator and to facilitate application or removal of the augmented torque.

公开(公告)号：WO2022125464A1

公开(公告)日：2022-06-16

申请号：PCT/US2021/062055

申请日：2021-12-06

Applicant: SARCOS CORP. [US]/[US]

Inventor： SMITH, Fraser, M. ,  OLIVIER, Marc, X.

IPC: B25J9/16 ,  B25J9/00

Abstract: An exoskeleton operable in a safety mode comprises at least one joint mechanism rotatably coupling two of a plurality of support structures, and a plurality of sensors associated with the at least one joint mechanism. The exoskeleton comprises a controller configured to generate a plurality of command signals according to a plurality of respective control policies, to generate each command signal based on sensor output data from at least one sensor, and to control operation of the at least one joint mechanism according to a selected control policy, based on at least one of an identified discrepancy between at least some of the plurality of command signals or a determination whether each of the plurality of sensors satisfies at least one self-test defined criterion or a comparison criterion between the output signal of two or more sensors, or both of these.

公开(公告)号：WO2022125462A1

公开(公告)日：2022-06-16

申请号：PCT/US2021/062053

申请日：2021-12-06

Applicant: SARCOS CORP. [US]/[US]

Inventor： SMITH, Fraser, M. ,  OLIVIER, Marc, X.

IPC: B25J9/16 ,  B25J9/00

Abstract: An exoskeleton comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor suite discrepancy detection system can be operable to interrogate the suite of sensors within the exoskeleton, and can comprise a plurality of sensor groups, each associated with a respective joint mechanism, and each comprising a plurality of sensors from a suite of sensors. A controller can be configured to recruit at least one substitute sensor from a first sensor group of based on an identified discrepancy between the sensor output data of at least two sensors within the first sensor group and a target sensor within the first sensor group, and to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.

公开(公告)号：WO2021236237A2

公开(公告)日：2021-11-25

申请号：PCT/US2021/025465

申请日：2021-04-01

Applicant: SARCOS CORP.

Inventor： SMITH, Fraser M.

IPC: G06K9/00

Abstract: Systems and methods are disclosed for scanning a predetermined area of an aerial landscape with one or more cameras for an airborne target and capturing a plurality of images of the airborne target with the one or more cameras, the one or more cameras in communication with a processor. Microscopic temporal variations between the plurality of images of the airborne target are amplified including a change in the geometry of a two-dimensional image of the airborne target.

公开(公告)号：WO2020142460A1

公开(公告)日：2020-07-09

申请号：PCT/US2019/068998

申请日：2019-12-30

Applicant: SARCOS CORP.

Inventor： SMITH, Fraser M. ,  MACLEAN, Brian J.

IPC: B25J9/10 ,  B25J15/00 ,  B25J15/02

Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.