US 11,926,044 B2
Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
Fraser M. Smith, Salt Lake City, UT (US); and Marc X. Olivier, Salt Lake City, UT (US)
Assigned to Sarcos Corp., Salt Lake City, UT (US)
Filed by Sarcos Corp., Salt Lake City, UT (US)
Filed on Aug. 4, 2023, as Appl. No. 18/365,903.
Application 18/365,903 is a division of application No. 17/087,544, filed on Nov. 2, 2020, granted, now 11,772,283.
Application 17/087,544 is a division of application No. 15/810,102, filed on Nov. 12, 2017, granted, now 10,821,614, issued on Nov. 3, 2020.
Claims priority of provisional application 62/421,175, filed on Nov. 11, 2016.
Prior Publication US 2023/0373110 A1, Nov. 23, 2023
Int. Cl. B25J 18/04 (2006.01); B25J 9/00 (2006.01); B25J 17/02 (2006.01); B25J 19/00 (2006.01); F16D 23/12 (2006.01); F16D 27/14 (2006.01); F16H 1/28 (2006.01)
CPC B25J 19/0041 (2013.01) [B25J 9/0006 (2013.01); B25J 17/0241 (2013.01); F16D 23/12 (2013.01); F16D 27/14 (2013.01); F16H 1/28 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for configuring a clutched joint module for use within a robotic system, the method comprising:
configuring an output member to couple to a first support member of a robotic system;
configuring an input member to couple to a second support member of the robotic system;
configuring a primary actuator to apply a primary torque to the output member to rotate the first and second support members relative to one another about an axis of rotation of the clutched joint module;
coupling a quasi-passive elastic actuator to the input member;
configuring the quasi-passive elastic actuator, upon select operation of the clutched joint module, to apply an augmented torque to the output member that combines with the primary torque applied by the primary actuator to rotate the output member about the axis of rotation;
coupling a clutch mechanism to the primary actuator and the quasi-passive elastic actuator, such that the primary actuator comprises a primary axis of rotation substantially collinear with the axis of rotation of the clutched joint module; and
configuring the clutch mechanism, upon select operation of the clutched joint module, to operate in an engaged state and a disengaged state, wherein, in the engaged state, the clutch mechanism operates to place the quasi-passive elastic actuator in an elastic state, and to facilitate application of the augmented torque.