초록 ▼

The invention provides an elastic actuator consisting of a motor and a motor drive transmission connected at an output of the motor. An elastic element is connected in series with the motor drive transmission, and this elastic element is positioned to alone support the full weight of any load connec

The invention provides an elastic actuator consisting of a motor and a motor drive transmission connected at an output of the motor. An elastic element is connected in series with the motor drive transmission, and this elastic element is positioned to alone support the full weight of any load connected at an output of the actuator. A single force transducer is positioned at a point between a mount for the motor and an output of the actuator. This force transducer generates a force signal, based on deflection of the elastic element, that indicates force applied by the elastic element to an output of the actuator. An active feedback force control loop is connected between the force transducer and the motor for controlling the motor. This motor control is based on the force signal to deflect the elastic element an amount that produces a desired actuator output force. The produced output force is substantially independent of load motion. The invention also provides a torsional spring consisting of a flexible structure having at least three flat sections each connected integrally with and extending radially from a central section. Each flat section extends axially along the central section from a distal end of the central section to a proximal end of the central section.

대표청구항 ▼

[ We claim:] [1.] An elastic actuator having force control, the actuator comprising:a motor;a motor drive transmission connected at an output of the motor;at least one torsional spring connected in series with the motor drive transmission, the at least one torsional spring positioned to fully suppor

[ We claim:] [1.] An elastic actuator having force control, the actuator comprising:a motor;a motor drive transmission connected at an output of the motor;at least one torsional spring connected in series with the motor drive transmission, the at least one torsional spring positioned to fully support along either direction of an actuation axis, a load connected at least one output of the actuator, as the load is actuated along either direction the actuation axis, the torsional spring comprising a flexible structure having at least three flat segments, each segment connected integrally with and extending radially from a central section, and each segment extending axially along the central section from a distal end of the central section to a proximal end of the central section;a single force transducer positioned at a point between a mount for the motor and at least one output of the actuator, the force transducer generating a force signal indicating force applied by the torsional spring to at least one output of the actuator; andan active feedback force controller connected between the torsional spring and the motor for controlling the motor, based on the force signal, to twist the torsional spring an amount that produces a desired actuator output force, the output force being substantially independent of load motion.