CLUTCHED JOINT MODULES HAVING A QUASI-PASSIVE ELASTIC ACTUATOR FOR A ROBOTIC ASSEMBLY

摘要

A clutched 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 primary torque to the output member to rotate the first and second support members relative to each other about an axis of rotation of the clutched joint module; A torsion coil spring having a first end coupled to the input member and operable to apply an augmenting torque to the output member in combination with a primary torque applied by the primary actuator to rotate the output member about an axis of rotation Including, quasi-passive elastic actuator; and a clutch mechanism operatively coupled to the primary actuator and the quasi-passive resilient actuator, wherein the clutch mechanism is operable in an engaged state and a disengaged state, wherein in the engaged state, the clutch mechanism causes the quasi-passive resilient actuator to be in the resilient state. A clutched joint module is provided, including a clutch mechanism, operative to position it and assist in application of the build-up torque.