In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2.
In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.
대표청구항▼
1. A powered actuator for supplying to a joint augmented by a powered human augmentation device at least one of an augmentation torque, joint equilibrium, and an impedance, the powered actuator comprising: a motor having a dissipation constant less than about 50 W/(Nm)2, wherein the dissipation cons
1. A powered actuator for supplying to a joint augmented by a powered human augmentation device at least one of an augmentation torque, joint equilibrium, and an impedance, the powered actuator comprising: a motor having a dissipation constant less than about 50 W/(Nm)2, wherein the dissipation constant is given by R/kt2, where R refers to stator winding resistance and kt refers to motor torque constant;a transmission coupled directly to the motor; andan elastic element coupled to the joint and coupled, in series, to the transmission,to generate a normalized joint torque in a range from about −2.8 to about 2.8 Nm/kg. 2. The powered actuator of claim 1, wherein the motor comprises a high-torque motor supplying motor torque of at least about 0.06 Nm/kg. 3. The powered actuator of claim 1, wherein the motor comprises a low revolutions per minute (RPM) motor having an RPM less than about 1500. 4. The powered actuator of claim 1, wherein the motor comprises a transverse-flux motor. 5. The powered actuator of claim 1, wherein the actuator is adapted to be backdrivable. 6. The powered actuator of claim 1, wherein the transmission has a gear ratio less than about 80:1. 7. The powered actuator of claim 1, wherein the transmission comprises a ball-screw transmission having a ball nut coupled to the elastic element. 8. The powered actuator of claim 7, wherein the ball-screw transmission comprises a screw having a pitch in a range of about 2 mm up to about 10 mm, thereby resulting in the gear ratio of less than about 80:1. 9. The powered actuator of claim 7, wherein the elastic element comprises a spring, the powered actuator further comprising a cable and a joint output pulley, the cable being coupled to both the spring and the joint output pulley. 10. The powered actuator of claim 1, wherein the transmission comprises a ball-screw transmission having a ball nut coupled to the motor rotor and the screw coupled to the elastic element. 11. The powered actuator of claim 1, wherein: the motor comprises a motor having an external rotor; andthe transmission comprises a cable and a joint output pulley, the cable coupling the external rotor and the joint output pulley. 12. The powered actuator of claim 11, wherein the cable is selected from the group consisting of a synthetic cable, a steel cable, a belt, and a chain. 13. The powered actuator of claim 1, further comprising: a motor encoder adapted to measure angular displacement of a rotor of the motor with respect to a stator of the motor; anda joint encoder adapted to measure angular displacement of the joint about a joint pivot. 14. The powered actuator of claim 13, wherein at least one of the motor encoder and the joint encoder comprises an absolute encoder. 15. The powered actuator of claim 13, wherein at least one of the motor encoder and the joint encoder comprises a magnetic encoder having at least 13-bit resolution. 16. A powered human augmentation device, comprising: an artificial joint;a motor constructed and arranged to supply torque to the artificial joint, the motor having a dissipation constant of less than about 50 W/(Nm)2, wherein the dissipation constant is given by R/kt2, where R refers to stator winding resistance and kt refers to motor torque constant;a transmission coupled directly to the motor; andan elastic element coupled to the joint and coupled, in series, to the transmission, to generate a normalized joint torque in a range from about −2.8 to about 2.8 Nm/kg. 17. The device of claim 16, wherein the motor comprises a transverse-flux motor. 18. The powered actuator of claim 16, wherein the motor comprises a high-torque motor supplying motor torque of at least about 0.06 Nm/kg. 19. The powered actuator of claim 16, wherein the motor comprises a low revolutions per minute (RPM) motor having an RPM less than about 1500. 20. The powered actuator of claim 16, wherein the actuator is adapted to be backdrivable. 21. The powered actuator of claim 16, wherein the transmission has a gear ratio less than about 80:1.
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