US 12,246,439 B2
Robotic joint having a spherical linkage
Joshua Lee, Burnaby (CA); and Connor Richard Shannon, Vancouver (CA)
Assigned to Sanctuary Cognitive Systems Corporation, Vancouver (CA)
Filed by Sanctuary Cognitive Systems Corporation, Vancouver (CA)
Filed on May 16, 2023, as Appl. No. 18/197,915.
Claims priority of provisional application 63/342,414, filed on May 16, 2022.
Prior Publication US 2023/0364808 A1, Nov. 16, 2023
Int. Cl. B25J 15/08 (2006.01); B25J 9/10 (2006.01); B25J 9/14 (2006.01); B25J 15/00 (2006.01); B25J 17/00 (2006.01); B25J 19/00 (2006.01)
CPC B25J 15/08 (2013.01) [B25J 9/106 (2013.01); B25J 9/144 (2013.01); B25J 15/0009 (2013.01); B25J 17/00 (2013.01); B25J 19/0029 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A robotic joint comprising:
a first portion comprising a first actuator and a second actuator;
a first spherical linkage having a first end mechanically coupled to the first actuator and a second end mechanically coupled to a second portion of the robotic joint, the first spherical linkage comprising a first segment of a spherical shell; and
a second spherical linkage having a third end mechanically coupled to the second actuator and a fourth end mechanically coupled to the second portion, the second spherical linkage comprising a second segment of the spherical shell, wherein the first spherical linkage and the second spherical linkage are positioned about a center of the spherical shell, and wherein the first actuator and the second actuator are operable in combination to control movement of the second portion relative to the first portion with two degrees of freedom, wherein a first degree of freedom of the two degrees of freedom includes at least one of a flexion or an extension and a second degree of freedom of the two degrees of freedom includes at least one of an abduction or an adduction, and wherein the first actuator and the second actuator each cause a first respective movement in the same direction as each other to control the at least one of a flexion or an extension and the first actuator and the second actuator each cause a second respective movement in opposite directions to each other to control the at least one of an abduction or an adduction.