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    Actuator for physical therapy
    2.
    发明授权
    Actuator for physical therapy 有权

    公开(公告)号：US11147731B2

    公开(公告)日：2021-10-19

    申请号：US16796240

    申请日：2020-02-20

    Applicant: Harmonic Bionics, Inc.

    Inventor： Rohit John Varghese ,  Youngmok Yun ,  William Wu

    IPC: A61H1/02 ,  B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J19/00

    Abstract: A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.

    Compliant Mechanism for Improving Reaction Torque Sensing in Robotic Actuators
    3.
    发明公开
    Compliant Mechanism for Improving Reaction Torque Sensing in Robotic Actuators 审中-公开

    公开(公告)号：US20230173659A1

    公开(公告)日：2023-06-08

    申请号：US18075515

    申请日：2022-12-06

    Applicant: Harmonic Bionics, Inc.

    Inventor： William Wu ,  Rohit John Varghese ,  Youngmok Yun

    IPC: B25J9/00 ,  A61H3/00 ,  B25J13/08

    CPC classification number: B25J9/0006 ,  A61H3/00 ,  B25J13/085

    Abstract: An embodiment includes a robotic system comprising: a shaft coupled to a robotic appendage; a bearing that couples the shaft to a housing; an actuator that includes a motor; a robotic joint to rotate the shaft and linkage via the bearing; a torque sensor to sense torque created when the motor rotates the appendage; and a bracket including: (a) a rod having an exterior wall, (b) first and second voids in the exterior wall; (c) a beam between the first and second voids, and (d) first and second ends; wherein the bracket is a compliant element and couples: (a) to the actuator via the first end, (b) to the housing via the second end, (c) the actuator to the housing.

    Compliant mechanism for improving axial load sensing in robotic actuators
    4.
    发明授权
    Compliant mechanism for improving axial load sensing in robotic actuators 有权

    公开(公告)号：US11541530B1

    公开(公告)日：2023-01-03

    申请号：US17588426

    申请日：2022-01-31

    Applicant: Harmonic Bionics, Inc.

    Inventor： William Wu ,  Rohit John Varghese ,  Youngmok Yun

    IPC: B25J9/00 ,  B25J13/08 ,  A61H1/02

    Abstract: An embodiment includes an exoskeleton robotic system including: a first linkage; a bearing coupled to the first linkage; a joint including a motor configured to move the first linkage along the bearing; an axial load sensor configured to sense an axial force transmitted to the axial load sensor via the joint, the axial force including one of tension or compression but not torque; a bracket including first and second bracket locations and first and second arms; and a housing that includes at least part of the joint and which couples the bracket to the bearing. The bracket couples to the housing at the first bracket location and couples to the axial load sensor at the second bracket location. The first arm couples the second arm to the first bracket location, and the second arm couples the first arm to the second bracket location.

    Compliant Mechanism for Improving Axial Load Sensing in Robotic Actuators
    6.
    发明申请
    Compliant Mechanism for Improving Axial Load Sensing in Robotic Actuators 有权

    公开(公告)号：US20230123289A1

    公开(公告)日：2023-04-20

    申请号：US18067141

    申请日：2022-12-16

    Applicant: Harmonic Bionics, Inc.

    Inventor： William Wu ,  Rohit John Varghese ,  Youngmok Yun

    IPC: B25J9/00 ,  B25J13/08 ,  A61H1/02

    Abstract: An embodiment includes an exoskeleton robotic system including: a first linkage; a bearing coupled to the first linkage; a joint including a motor configured to move the first linkage along the bearing; an axial load sensor configured to sense an axial force transmitted to the axial load sensor via the joint, the axial force including one of tension or compression but not torque; a bracket including first and second bracket locations and first and second arms; and a housing that includes at least part of the joint and which couples the bracket to the bearing. The bracket couples to the housing at the first bracket location and couples to the axial load sensor at the second bracket location. The first arm couples the second arm to the first bracket location, and the second arm couples the first arm to the second bracket location.

    ACTUATOR FOR PHYSICAL THERAPY
    7.
    发明申请
    ACTUATOR FOR PHYSICAL THERAPY 有权

    公开(公告)号：US20220031550A1

    公开(公告)日：2022-02-03

    申请号：US17502144

    申请日：2021-10-15

    Applicant: Harmonic Bionics, Inc.

    Inventor： Rohit John Varghese ,  Youngmok Yun ,  William Wu

    IPC: A61H1/02 ,  B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  B25J19/00

    Abstract: A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.

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