Flexure elements for series elastic actuators and related methods

Abstract

An arcuate metal element for detecting a rotary force and generating a deformation in response thereto is applied to an actuator for a robotic system. Embodiments are related in particular to series elastic actuators (SEAs).

Description

[0001] related application [0002] This application claims the benefit of and priority to US Patent Application No. US 13 / 446,564, filed April 13, 2012, the entire disclosure of which is hereby incorporated by reference. field of invention [0003] Embodiments of the present invention relate generally to series elastic actuators (SEAs), and more particularly to series elastic actuators (SEAs) that are inexpensive to manufacture and minimize energy loss during robotic operation. Background technique [0004] Robots are designed to manipulate objects and interact with the environment. Safely detecting and controlling forces applied by robotic actuators to robotic components and / or the environment avoids unnecessary hazards. Traditionally, rigid actuators have been used to generate large forces / torques that can be measured by force sensors. But the force exerted by a rigid actuator is difficult to measure precisely: a small error in the deflection detected by the sensor can...

AI Technical Summary

Problems solved by technology

But these elements are often expensive to manufacture and the forces applied can be non-uniformly distributed across them, leading to permanent deformation or fatigue failure of multiple parts of the element

[0007] Therefore, it remains a challenge to design such a compliant serial elastic actuator (SEA) that is cheap to manufacture, has limited energy loss (e.g. due to friction) and achieves desired stiffness and detectable positional deflection. optimal balance between curvatures while not exceeding the fatigue limit (or linear force range) of the material

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