Adjustable actuator joint module with energy recovery quasi passive elastic actuator used in robot system

摘要

PROBLEM TO BE SOLVED: To provide joint modules which enable passive gravity compensation and power saving in robot joints.SOLUTION: A tunable actuator joint module 120 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 122 such as a motor is operable to apply a torque to rotate the output member about the axis of rotation. A quasi-passive elastic actuator 124 comprising an elastic component is tunable to a joint stiffness value and selectively releases stored energy to assist rotation of the output member for reduction of 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).SELECTED DRAWING: Figure 2A