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公开(公告)号：US20160166409A1
公开(公告)日：2016-06-16
申请号：US15049826
申请日：2016-02-22
Applicant: VANDERBILT UNIVERSITY
Inventor： Michael Goldfarb , Skyler Dalley , Huseyin Atakan Varol , Tuomas Wiste
CPC classification number: A61F2/586 , A61F2/583 , A61F2/68 , A61F2/72 , A61F2002/587 , A61F2002/701 , A61F2002/704 , A61F2002/7615 , Y10T74/20317 , Y10T74/20329
Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.
Abstract translation: 提供了一种接合的机械装置。 该装置包括具有固定端和可偏转端的至少一个元件。 该装置还包括至少一个致动结构，其具有联接到元件的至少可偏转端部的第一端，其中致动结构包括与至少一个非弹性元件串联的至少一个弹性元件。 该装置还包括至少一个力致动器，该致动器构造成将致动器力施加到致动结构的第二端。 另外，该装置包括用于根据至少一个致动输入，致动器力的量和由力致动器产生的位移量来调节力致动器的操作的控制系统。
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公开(公告)号：US20190125550A1
公开(公告)日：2019-05-02
申请号：US16209474
申请日：2018-12-04
Applicant: VANDERBILT UNIVERSITY
Inventor： Michael Goldfarb , Skyler Dalley , Huseyin Atakan Varol , Tuomas Wiste
Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.
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公开(公告)号：US10172725B2
公开(公告)日：2019-01-08
申请号：US15049826
申请日：2016-02-22
Applicant: VANDERBILT UNIVERSITY
Inventor： Michael Goldfarb , Skyler Dalley , Huseyin Atakan Varol , Tuomas Wiste
Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.
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