TUNABLE ACTUATOR JOINT MODULES HAVING ENERGY RECOVERING QUASI-PASSIVE ELASTIC ACTUATORS FOR USE WITHIN A ROBOTIC SYSTEM

摘要

A tunable actuator joint module of a robotic assembly, 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 torque to rotate the output member about an axis of rotation; and a resilient component capable of dynamically tuning a joint stiffness value, wherein the quasi-passive resilient actuator comprises a linear pneumatic actuator, the resilient component capable of being moved in linear motion within the housing. and a piston cylinder and a piston rod, wherein the piston cylinder defines, at least in part, a compression chamber and an expansion chamber, wherein the quasi-passive resilient actuator is operable to selectively store energy upon a first rotation of the input member. and operable to selectively release energy upon a second rotation of the input member to apply an augmenting torque combined with torque from the primary actuator to assist rotation of the output member upon the second rotation. - A tunable actuator joint module is provided, comprising a passive resilient actuator.