US 12,128,553 B2
Infinite-rotation infinite-stiffness variable stiffness actuator (IRISVSA) with application for compliant supernumerary robotic limb
Mohammed Ismail Awad, Abu Dhabi (AE); Mohammed Ahmed Ramadan, Abu Dhabi (AE); Basma Bashir Mohamed Hasanen, Abu Dhabi (AE); Irfan Hussain, Abu Dhabi (AE); and Seneviratne Mudigansalage Seneviratne, Abu Dhabi (AE)
Assigned to Khalifa University of Science and Technology, Abu Dhabi (AE)
Filed by Khalifa University of Science and Technology, Abu Dhabi (AE)
Filed on Oct. 18, 2022, as Appl. No. 18/047,561.
Prior Publication US 2024/0123636 A1, Apr. 18, 2024
Int. Cl. B25J 9/12 (2006.01); B25J 9/10 (2006.01); B25J 19/06 (2006.01); F16F 1/04 (2006.01)
CPC B25J 19/068 (2013.01) [B25J 9/102 (2013.01); B25J 9/126 (2013.01); F16F 1/042 (2013.01); B25J 9/1005 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A supernumerary robotic limb (SRL) system comprising:
a plurality of rigid links;
at least one joint configured to connect a first rigid link to a second rigid link of the plurality of rigid links;
a first variable stiffness actuator (VSA) of two VSAs extending along a first vertical axis and configured to rotate about the first vertical axis; and
a second VSA of the two VSAs extending along a second vertical axis and configured to rotate about the second vertical axis, wherein the second vertical axis is horizontally offset from the first vertical axis, wherein the first vertical axis and the second vertical axis are parallel to one another, wherein the first VSA and the second VSA are coupled with the first rigid link and the second rigid link and configured to drive the plurality of rigid links, wherein a bracket of the first VSA holds the second VSA, and wherein the bracket is configured to move with movement of the first VSA.