US 12,384,057 B2
Flexible robotic limbs including rolling contact joints
Haruhiko Asada, Lincoln, MA (US); and Kentaro Barhydt, Cambridge, MA (US)
Assigned to Massachusetts Institute of Technology, Cambridge, MA (US)
Filed by Massachusetts Institute of Technology, Cambridge, MA (US)
Filed on Feb. 16, 2024, as Appl. No. 18/443,618.
Claims priority of provisional application 63/497,751, filed on Apr. 24, 2023.
Prior Publication US 2024/0351225 A1, Oct. 24, 2024
Int. Cl. B25J 18/06 (2006.01); B25J 9/06 (2006.01)
CPC B25J 18/06 (2013.01) [B25J 9/06 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic limb comprising:
a plurality of serially arranged rolling contact joints, wherein each rolling contact joint includes:
a pair of adjacent links, and wherein each link of the pair of adjacent links includes a first set of pulley structures; and
at least one cord loop engaged with the first set of pulley structures of each link of the pair of adjacent links, and wherein the pair of adjacent links are configured to roll against one another; and
at least one flexible actuator attached to the plurality of serially arranged rolling contact joints at a plurality of connections serially arranged along a length of the at least one flexible actuator, wherein the at least one flexible actuator is configured to control a length between the plurality of connections.