US 12,007,009 B2
Harmonic drive actuator gearhead
Dan Stoianovici, Reisterstown, MD (US); and Doru Petrisor, Lutherville, MD (US)
Assigned to The Johns Hopkins University, Baltimore, MD (US)
Appl. No. 17/773,829
Filed by THE JOHNS HOPKINS UNIVERSITY, Baltimore, MD (US)
PCT Filed Nov. 2, 2020, PCT No. PCT/US2020/058545
§ 371(c)(1), (2) Date May 2, 2022,
PCT Pub. No. WO2021/087457, PCT Pub. Date May 6, 2021.
Claims priority of provisional application 62/928,710, filed on Oct. 31, 2019.
Prior Publication US 2022/0373073 A1, Nov. 24, 2022
Int. Cl. F16H 49/00 (2006.01); H02K 7/116 (2006.01)
CPC F16H 49/001 (2013.01) [H02K 7/116 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A device assembly comprising:
a motor;
a gearhead actuator assembly, wherein the gearhead actuator assembly includes a static component and an output component;
a wave generator shaft, and,
wherein the gearhead actuator assembly is configured for the motor to sit in a space defined by the static component and the output component, and wherein the wave generator shaft comprises a thin, tubular shape over the motor.