公开(公告)号：US20220129075A1

公开(公告)日：2022-04-28

申请号：US17497821

申请日：2021-10-08

Applicant: HAPTX, INC.

Inventor： LEIF KJOS ,  DONALD LEE ,  MICHAEL EICHERMUELLER

IPC: G06F3/01 ,  B25J9/00

Abstract: Improved actuator and retraction mechanisms for force feedback exoskeletons are described. An actuator assembly for a force-feedback exoskeleton comprising: a rotating body coupled to a tendon and to a spring, said spring configured to produce a torque on the rotating body; and a second body having a surface configured to apply a variable force to a surface of the rotating body by means of a membrane enclosing a volume fluidically coupled to at least one control valve and to a pressurized fluid source, wherein the volume enclosed by the membrane comprises: a first pressure state in which the rotating body contacts the second body; and a second pressure state in which the rotating body does not contact the second body.