US 11,938,044 B2
Series elastic power modulation for robotic locomotion
Mark Plecnik, Berkeley, CA (US); Ronald Fearing, Berkeley, CA (US); Duncan Haldane, Berkeley, CA (US); and Justin Yim, Berkeley, CA (US)
Assigned to The Regents of the University of California, Oakland, CA (US)
Appl. No. 16/340,051
Filed by The Regents of the University of California, Oakland, CA (US)
PCT Filed Oct. 6, 2017, PCT No. PCT/US2017/055642
§ 371(c)(1), (2) Date Apr. 5, 2019,
PCT Pub. No. WO2018/068006, PCT Pub. Date Apr. 12, 2018.
Claims priority of provisional application 62/405,844, filed on Oct. 7, 2016.
Prior Publication US 2020/0046522 A1, Feb. 13, 2020
Int. Cl. B62D 57/032 (2006.01); A61F 2/60 (2006.01); A61F 2/68 (2006.01); A61F 2/70 (2006.01); B25J 5/00 (2006.01); A61F 2/76 (2006.01)
CPC A61F 2/68 (2013.01) [A61F 2/60 (2013.01); B25J 5/00 (2013.01); B62D 57/032 (2013.01); A61F 2002/6827 (2013.01); A61F 2002/6836 (2013.01); A61F 2002/701 (2013.01); A61F 2002/704 (2013.01); A61F 2002/708 (2013.01); A61F 2002/7645 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
an energy storage element;
a link assembly comprising a plurality of links coupled, via one or more joints, at one or more pivot locations, the plurality of links having a relative length configured to achieve a variable mechanical advantage profile in which a mechanical advantage of the link assembly is at a minimum when the link assembly is in a crouched configuration, increases as the link assembly transitions from the crouched configuration to an extended configuration, and is at a maximum when the link assembly is in the extended configuration; and
an energy generator configured to output a first force, the first force causing an accumulation of energy in the energy storage element when the link assembly is in the crouched configuration, and the first force further transitioning the link assembly from the crouched configuration to the extended configuration,
wherein the energy storage element is configured to release the energy accumulated in the energy storage element when the link assembly is in the extended configuration, and
wherein the link assembly in the extended configuration is configured to amplify both the first force output by the energy generator and a second force associated with the energy released from the energy storage element, the amplified first force and second force triggering a motion of the apparatus, wherein a force amplification achieved by the link assembly is variable based on respective lengths of the plurality of links, respective masses of the plurality of links, and the one or more pivot locations.