Apptronik

Abstract A linear actuator includes a housing; a motor module that includes a motor; and a drivetrain module coupled to the motor module. The drivetrain module includes a ball screw coupled to the motor, a ball nut coupled to and configured to linearly ride on the ball screw during rotation of the ball screw, a rod coupled to the ball nut and configured to extend or retract from the housing based on the ball nut linearly riding on the ball screw during rotation of the ball screw, and an anti-rotation bushing coupled to the rod and including at least one slot configured to engage with and linearly ride on a key coupled to an inner surface of the housing based on the ball nut linearly riding on the ball screw during rotation of the ball screw. The anti-rotation bushing is further configured to restrain the rod against rotation during extension and retraction.

Abstract An increased transparency exoskeleton is provided that includes a hip joint assembly. The exoskeleton includes a hip joint assembly connecting a leg assembly to a torso portion. The hip joint assembly has a hip abduction/adduction to hip internal/external rotation to hip flexion/extension kinematic chain.

Abstract A robotic manipulator comprises a plurality of spring compensated joints, each including a four-bar linkage mechanism, a gravity compensating spring, a spring adjustment mechanism, a spring adjustment actuator and an inertial actuator. The gravity compensating spring is coupled between two links of the four-bar linkage mechanism at two different spring attachment points to provide a lifting force opposing a gravitational load force. The spring adjustment mechanism is coupled to alter a position of one of the spring attachment points. The spring adjustment actuator is coupled to move the spring adjustment mechanism to alter the position of the spring attachment point and adjust the amount of lifting force provided by the spring. The inertial actuator is coupled between links of the four-bar linkage mechanism to effectuate rotational movement of the four-bar linkage mechanism and apply an adjustable amount of force to accelerate and manipulate a payload handled by the robotic manipulator.

Abstract An exoskeleton device in accordance with the present disclosure may generally include a series elastic actuator (SEA), a slider-crank mechanism and a four bar linkage mechanism. The SEA includes a motor and a ball screw coupled to a shaft of the motor via a shaft coupler, which transfers rotational motion of the shaft directly to the ball screw. The slider-crank mechanism includes a ball nut and a crank. As the ball screw rotates, the ball nut converts rotational motion of the ball screw into linear motion of the ball nut to drive the crank. The crank converts linear motion of the ball nut back into rotational motion at the input of the four bar linkage mechanism. The four bar linkage mechanism is coupled to an output of the crank and configured to provide a complex motion profile that emulates kinematics of a wearer's joint.