US 12,070,853 B2
Soft-rigid robotic joints controlled by deep reinforcement-learning
Ash Robbins, Santa Cruz, CA (US); and Mircea Teodorescu, Santa Cruz, CA (US)
Assigned to The Regents of the University of California, Oakland, CA (US)
Filed by The Regents of the University of California, Oakland, CA (US)
Filed on Mar. 2, 2022, as Appl. No. 17/684,489.
Claims priority of provisional application 63/217,854, filed on Jul. 2, 2021.
Claims priority of provisional application 63/155,490, filed on Mar. 2, 2021.
Prior Publication US 2022/0281123 A1, Sep. 8, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 17/00 (2006.01)
CPC B25J 17/00 (2013.01) [B25J 9/163 (2013.01); B25J 9/1671 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic arm comprising:
a first link;
a second link;
a joint interconnecting the first link and the second link, such that the first link is movable relative to the second link along an axis of motion, the joint including:
a socket component coupled to a distal end portion of the second link;
a ball component coupled to a proximal end portion of first link, the ball component configured to rotationally fit within the socket component; and
a flexible membrane encasing the socket component and the ball component.