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Rotary series elastic actuatorA rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
Document ID
20120016330
Acquisition Source
Headquarters
Document Type
Other - Patent
Authors
Ihrke, Chris A.
Mehling, Joshua S.
Parsons, Adam H.
Griffith, Bryan Kristian
Radford, Nicolaus A.
Permenter, Frank Noble
Davis, Donald R.
Ambrose, Robert O.
Junkin, Lucien Q.
Date Acquired
August 26, 2013
Publication Date
October 23, 2012
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
Patent
US-Patent-8,291,788
Patent Application
US-Patent-Appl-SN-12/564,090
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