U.S. patent application number 16/139070 was filed with the patent office on 2019-01-24 for motion system with plurality of stewart platform based actuators.
The applicant listed for this patent is SOC Robotics Inc.. Invention is credited to Siamak Arzanpour, Michael Peter McCrodan, Sohell Sadeqi, Stephen Glen Swift.
Application Number | 20190021937 16/139070 |
Document ID | / |
Family ID | 55073834 |
Filed Date | 2019-01-24 |
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United States Patent
Application |
20190021937 |
Kind Code |
A1 |
Swift; Stephen Glen ; et
al. |
January 24, 2019 |
MOTION SYSTEM WITH PLURALITY OF STEWART PLATFORM BASED
ACTUATORS
Abstract
Examples of a motion system are disclosed. The motion system
comprises a plurality of Stewart platform based actuators connected
one to each another forming a desired modular configuration. Each
of the plurality of actuators is controlled by a central controller
that is configured to independently control the plurality actuators
and adjust in real time their position, orientation and motion
trajectory. The plurality of actuators are arranged in the desired
configuration, shape and size to provide motion system that can
mimic a natural motion/gait of human or animal body.
Inventors: |
Swift; Stephen Glen; (North
Vancouver, CA) ; McCrodan; Michael Peter; (Fort
Langley, CA) ; Arzanpour; Siamak; (North Vancouver,
CA) ; Sadeqi; Sohell; (Vancouver, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SOC Robotics Inc. |
North Vancouver |
|
CA |
|
|
Family ID: |
55073834 |
Appl. No.: |
16/139070 |
Filed: |
September 23, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
14751004 |
Jun 25, 2015 |
10080697 |
|
|
16139070 |
|
|
|
|
62024523 |
Jul 15, 2014 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61H 1/0266 20130101;
B25J 9/0075 20130101; A61H 2201/5061 20130101; G05B 2219/50162
20130101; A61H 2201/5094 20130101; A61H 2201/1628 20130101; A61B
2034/304 20160201; A61H 1/0244 20130101; B25J 9/0006 20130101; A61H
2201/1215 20130101; A61H 2201/5007 20130101; A61H 2201/5064
20130101; A61H 3/00 20130101; A61H 2230/60 20130101; A61H 2201/1246
20130101; G05B 2219/50169 20130101; A61H 1/024 20130101; A61H
2201/0165 20130101; A61H 2201/165 20130101; B25J 9/0069 20130101;
A61H 2201/0192 20130101; A61H 2201/164 20130101; A61H 2201/123
20130101 |
International
Class: |
A61H 3/00 20060101
A61H003/00; B25J 9/00 20060101 B25J009/00; A61H 1/02 20060101
A61H001/02 |
Claims
1. A motion system comprising: a plurality of Stewart platform
based actuators connected one to each another forming a desired
modular configuration, the plurality of Stewart platform actuators
comprising an upper plate, a base plate, a plurality of kinematic
legs pivotally connected to the base plate and the upper plate
extending therein between and at least one driver in communication
with the plurality of kinematic legs configured to independently
drive each of the plurality of kinematic legs to change length,
orientation and/or speed of the legs, wherein a coordinated drive
of the plurality of legs moves one of the plate within six degrees
of freedom relative to the other plate; and a central controller
having an input unit, a processing unit and an output unit and
being in communication with the at least one driver of each of the
plurality of actuators to independently control length, orientation
and/or speed of each of the plurality of kinematic legs of each of
the plurality of actuators to adjust a segmental orientation and
position of each of the plurality of actuators.
2. The motion system of claim 1, wherein the central controller
comprises inertial measurement unit (IMU) sensors to estimate the
segmental orientations, positions and forces of the actuators.
3. The motion system of claim 2, wherein output signals of the
sensors are fed into the input unit of the central controller, the
processing unit processes the received signals from the sensors,
computes the length and orientation of the kinematic legs of the
actuators, and provides output signals to the at least one driver
of the least one of the actuators to adjust the length, orientation
and the trajectory of the plurality of kinematic legs of such
actuator in real time.
4. The motion system of claim 3, wherein the IMU sensors comprise
at least one of a 3-axial rate gyro, a 3-axial accelerometer and a
3-axial magnetometer.
5. The motion system of claim 4, wherein the IMU sensors comprise a
sensor algorithm programed to record a 3-axis acceleration, 3-axis
gyro, 3-axis magnetometer and a height (barometric pressure) in
real time along with corrected roll, pitch and yaw of the movable
plate.
6. The motion system of claim 3, wherein the central controller
compares the signals obtained from the IMU sensors against a
predetermined data set provided by an operator and generates output
signals to the at least one driver of the at least one
actuator.
7. The motion system of claim 1, further comprising a linking
element positioned between at least one pair of two neighboring
actuators thereby connecting them, the linking element being
selected from a group of a rigid bar, a spring and a linking
damper.
8. The motion system of claim 7, wherein the linking element
comprises a rigid bar.
9. The motion system of claim 7, wherein the rigid bar connects
together one pair of neighboring actuators and an another linking
element connects another pair of neighboring actuators, the another
linking element being a linking damper.
10. The motion system of claim 1, further comprising a reinforcing
damper rotatably connected to the upper plate and the base plate of
at least one of the actuator, the reinforcing damper having a
driver and a controller in communication with the reinforcing
damper driver to control and adjust the stiffness of such actuator
in real-time.
11. The motion system of claim 1, wherein at least one of the
plurality of kinematic legs is a reinforcing Magnetorheological
(MR) damper.
12. The motion system of claim 1, further comprising a plurality of
microcontrollers that are in communication with the central
controller, wherein the plurality of microcontrollers are
programmed to handle low-level calculations to drive the kinematic
legs of the actuators for a given time-variant trajectory while the
central controller conducts high-level commands to estimate the
orientation and position of the actuator over time.
13. The motion system of claim 1, wherein the central controller
further comprises a signal conditioning circuit.
14. A reinforced Stewart platform actuator comprising: an upper
plate; a base plate; a plurality of kinematic legs pivotally
connected to the base plate and the upper plate extending therein
between; at least one driver in communication with the plurality of
kinematic legs and configured to independently drive each of the
plurality of kinematic legs to change length, orientation and/or
speed of the legs, wherein coordinated drive of the plurality of
legs moves one of the plates within six degrees of freedom relative
to the other plate; a damper rotatably connected to the upper plate
and the base plate to reinforced the actuator, the damper having a
driver in communication to the damper to adjust damper's stiffness
in real-time; and a controller in communication with the driver of
the kinematic legs and the driver of the damper, the controller
comprising a processing unit programmed to adjust in real time a
length, orientation and trajectory of the plurality of kinematic
legs and a stiffness of the damper based on a received input
data.
15. The reinforced actuator of claim 14, wherein the controller
comprises inertial measurement unit (IMU) sensors to estimate a
segmental orientation, a position and a stiffness of the
actuator.
16. The reinforced actuator of claim 15, wherein output signals of
the sensors are fed into an input unit of the controller, the
processing unit processes the received signals from the sensors,
computes the length and the orientation of the kinematic legs of
the actuator, and provides output signals to the at least one
driver of the actuator to adjust the length, orientation and the
trajectory of the plurality of kinematic legs in real time.
17. The reinforced actuator of claim 15, wherein the IMU sensors
comprise a sensor algorithm programed to record a 3-axis
acceleration, 3-axis gyro, 3-axis magnetometer and a height
(barometric pressure) in real time along with corrected roll, pitch
and yaw of the movable plate.
18. The reinforced actuator of claim 15, wherein the central
controller compares the signals obtained from the IMU sensors
against a predetermined data set provided by an operator and
generates output signals to the at least one driver of the actuator
to adjust the length, orientations and/or speed of the kinematic
legs.
19. The reinforced actuator of claim 14, wherein the damper is a
Magnetorheological (MR) damper.
20. The reinforced actuator of claim 14, wherein at least one of
the plurality of kinematic legs is a reinforcing Magnetorheological
(MR) damper.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 14/751,004, filed Jun. 25, 2015, entitled
"MOTION SYSTEM WITH PLURALITY OF STEWART PLATFORM BASED ACTUATORS"
which claims the benefit of U.S. Provisional Application No.
62/024,523, filed Jul. 15, 2014, entitled "MOTION SYSTEM WITH
PLURALITY OF STEWART PLATFORM BASED ACTUATORS" all of which are
hereby incorporated by reference herein in their entireties.
TECHNICAL FIELD
[0002] The present disclosure generally relates to a high
performance actuators and more particularly relates to a motion
system with Stewart platform based actuators.
BACKGROUND
[0003] Unless otherwise indicated herein, the materials described
in this section are not prior art to the claims in this application
and are not admitted to be prior art by inclusion in this
section.
[0004] Linear/rotary hexapod (Stewart platform) actuators can be
used to directly mimic a motion of existing industrial (Cartesian)
robots and milling machines but have not been used in motion
systems that mimic human or animal locomotion. Human and animal
locomotion can be influenced by several factors such as
neuromuscular and joint disorders which can affect the
functionality of joints and can reduce their mobility. Many
individuals with limited mobility require mobility assistive
technologies to keep up with their daily life. A wearable
exoskeleton robot is an external structural mechanism with joints
and links corresponding to those of human body that are
synchronized with its motion to enhance or support natural body
movements. The exoskeleton transmits torques from its actuators
through rigid exoskeletal links to the human joints and thereby
augments human strength. Currently several lower limb exoskeleton
mobility assistive devices are known and available on the market.
For example, the devices developed by Argo Medical Technologies
Ltd. (ReWalk-I.TM. and ReWalk-P.TM.); Esko Bionics Inc. (eLEG.TM.);
Cyberdyne Inc. (HAL.TM.); Rex Bionix (REX.TM.); University of
California at Berkeley (BLEEXD.TM.), can assist with sitting,
turning and climbing and descending stairs and slopes. All of these
mechanisms are designed as serial manipulators which consist of a
number of rigid links connected in serial by the connecting joints
which forces each actuator to support the weight of its successor
links and results in a low payload-to-weight ratio characteristics
with poor force exertion capabilities. The accuracy in positioning
the payload and speed of manipulation is another drawback of the
known serial robots.
[0005] There is a need for a precise and accurate actuators that
can be used in mobility assistive devices and/or other robotic
applications that overcome the limitations of the known prior art
actuators.
SUMMARY
[0006] In one aspect, a motion system is provided. The motion
system comprises a plurality of Stewart platform based actuators
connected one to another forming a desired modular configuration.
The plurality of Stewart platform actuators comprise an upper
plate, a base plate, a plurality of kinematic legs pivotally
connected to the base plate and the upper plate extending therein
between and at least one driver in communication with the plurality
of kinematic legs configured to independently drive each of the
plurality of kinematic legs to change length, orientation and/or
speed of the legs, such that a coordinated drive of the plurality
of legs moves one of the plate within six degrees of freedom
relative to the other plate. A system further comprises a central
controller that has an input unit, a processing unit and an output
unit. The central controller is in communication with the at least
one driver of each of the plurality of actuators to independently
control length, orientation and/or speed of each of the plurality
of kinematic legs of each of the plurality of actuators to adjust a
segmental orientation and position of each of the plurality of
actuators.
[0007] The motion system further comprises inertial measurement
unit (IMU) sensors to estimate the segmental orientations,
positions and forces of the actuators. Output signals of the
sensors are fed into the input unit of the central controller. The
processing unit processes the received signals from the sensors,
computes the length and orientation of the kinematic legs of the
actuators and provides output signals to the at least one driver of
the least one of the actuators to adjust the length, orientation
and the trajectory of the plurality of kinematic legs of such
actuator in real time. The IMU sensors comprise a sensor algorithm
programed to record a 3-axis acceleration, 3-axis gyro, 3-axis
magnetometer and a height (barometric pressure) in real time along
with corrected roll, pitch and yaw of the movable plate
[0008] In another aspect, the central controller compares the
signals obtained from the IMU sensors against a predetermined data
set provided by an operator and generates output signals to the at
least one driver of the at least one actuator.
[0009] In one aspect, the motion system comprises a linking element
to connect two of the neighboring actuators. The linking element
can be a rigid bar. The rigid bar can connect together one pair of
neighboring actuators and an another linking element can connect
another pair of neighboring actuators. The another linking element
can be a linking damper.
[0010] In one aspect, the motion system further comprises a
plurality of microcontrollers that are in communication with the
central controller. The plurality of microcontrollers are
programmed to handle low-level calculations to drive the kinematic
legs of the actuators for a given time-variant trajectory while the
central controller conducts high-level commands to estimate the
orientation and position of the actuator over time.
[0011] In one aspect, a reinforced actuator is provided. The
reinforced actuator comprises a Stewart platform with a base plate,
an upper plate, a plurality of adjustable legs pivotally connected
to the upper plate and the base plate, and a driver in
communication to the plurality of legs. The leg's driver is
configured to adjust a length, orientation and velocity of each of
the plurality of legs. The actuator is reinforced with a damper
that is rotatably connected to the upper plate and the base plate
of the Stewart platform. The damper comprises a driver that adjusts
in real time stiffness of the damper and thus the mobility of the
actuator. The actuator further comprises a controller that is in
communication with the driver of the legs and the driver of the
damper. The controller is configured to calculate a position,
orientation and a motion trajectory of the plurality of legs and
adjust in real time the length, orientation and the trajectory of
the plurality of legs and a stiffness of the damper.
[0012] In addition to the aspects and embodiments described above,
further aspects and embodiments will become apparent by reference
to the drawings and study of the following detailed
description.
BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Throughout the drawings, reference numbers may be re-used to
indicate correspondence between referenced elements. The drawings
are provided to illustrate example embodiments described herein and
are not intended to limit the scope of the disclosure. Sizes and
relative positions of elements in the drawings are not necessarily
drawn to scale. For example, the shapes of various elements and
angles are not drawn to scale, and some of these elements are
arbitrarily enlarged and positioned to improve drawing
legibility.
[0014] FIGS. 1A and 1B are perspective views of Stewart platform
actuator with a damper according to an embodiment of the present
invention.
[0015] FIG. 2A is a perspective view of an example of a damper for
reinforcing an actuator of FIGS. 1A and 1B.
[0016] FIG. 2B is a perspective view of the damper of FIG. 2A with
a transparent housing to provide view of a movable member.
[0017] FIG. 3A is a perspective view of a motion system with two
Stewart platform actuators with a flexible link between the two
actuators.
[0018] FIG. 3B is a side view of a motion system with two Stewart
platform actuators with a damper linking the two actuators.
[0019] FIG. 4 is a cross-sectional side view of another example of
a reinforcing damper of the present invention.
[0020] FIG. 5 is a perspective view of an example of a lower limb
exoskeleton mobility assistive device of the present invention.
[0021] FIG. 6 is a perspective view of an example of a full body
robot made with a Stewart platform based actuators.
[0022] FIG. 7 is a diagram showing a motion system with a motion
capture unit, a motion simulation unit and a motion actuation
unit.
DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS
[0023] A Stewart platform actuator (also called hexapod) can be
used in motion simulators or robotic structures to mimic in a
controllable manner certain motions. For example, Stewart platforms
can be used in exoskeleton robots to closely reproduce the natural
movements/gait of human body. The Stewart platform actuator
comprises a body with a top plate connected to a base plate by six
individual struts (kinematic legs). Each of these six legs is
connected to both plates by universal joints. In this architecture,
the load is distributed among several parallel kinematic chains
which thereby provide a high nominal load-to-weight ratio with high
positioning accuracy and speed. The stress induced in each link is
mostly of a traction-compression nature which is quite suitable for
linear actuators and therefore contributes to the rigidity of the
manipulator.
[0024] The Stewart (hexapod) based actuators can be used in motion
systems such as, an exoskeleton robot or full body robot to mimic
human gait or any other desired movement. For example, such motion
system (examples illustrated in FIGS. 5 and 6) can have a modular
body having a plurality of Stewart platform actuators stuck to each
other and arranged in the desired configuration, shape and size.
Each of the actuators is independently control by controlling a
length/orientation and speed of each of the legs in the actuators.
The actuators can be joined to each other directly or can be
connected with a flexible or rigid linking element. In one motion
system some of the actuators can be stuck to each other directly
while others can be connected with a linking element. For example,
FIG. 6 shows a full body robot having a plurality of actuators
(e.g. group of actuators indicated with reference number 60) that
are connected to each other directly (no linking elements) while
some of the actuators (e.g. group of actuators indicated by
reference 62) can be connected with linking elements. The actuators
in the motion system can be used as joints or bony/muscular
structure.
[0025] The Stewart platform based actuator can be described with
reference to FIGS. 1A and 1B that illustrate an example of the
hexapod (Stewart platform with six kinematic legs) based actuator
100. The actuator 100 comprises an upper plate 10 and a base plate
12 that are connected in an articulated manner by a plurality of
legs 14. The illustrated example of the actuator 100 is defined as
a hexapod which utilizes six kinematic legs 14 that in combination,
control a selected position of the upper movable plate 10 within
six degrees of freedom relative to the base plate 12 (three
translation axes and three rotation axes), at the same time.
Alternate designs can include more than six legs 14 or less than
six legs 14 without departing from the scope of the invention. A
plurality of connecting joints 13 pivotally attaches the legs 14 to
the base 12. For example, the joints 13 can be a U-joint ball
receptor formed at an inner surface of the base 12 and a U-joint
ball located at a lower end 14a of the leg 14, so that the leg 14
can be pivotally attached to the base 12. Alternatively, the leg 14
can be rotatably attached to the base 12 using any other universal
joint such as a single U-joint, a double U-joint, a pin and block
U-joint, a needle bearing U-joint or any other known means for
rotatably connecting the lower end 14a of the leg 14 to the base
12. The upper plate 10 comprises an inner surface, an outer surface
and a plurality of connecting joints 17 (see FIG. 1B) that
rotatably connect an upper end 14b of the leg 14 to the upper plate
10. The connecting joints 13 and 17 can be of the same type or
different type without departing from the scope of the invention.
When used herein, the phrase "rotatably attached", when describing
the attachment between two or more parts or elements, means that
the referenced parts or elements are attached to one another in
such a manner that allows rotation thereinbetween. The base plate
12 can be dimensioned to have a surface area that is greater than,
less than or equal to the surface area of the upper plate 10. The
actuator 100 can be flipped around so that its upper plate becomes
a base plate and vice versa without departing from the scope of the
invention as long as there are two plates connected with a
plurality of kinematic legs. The upper plate 10 and the base 12 may
be constructed in various manners, out of various materials, and in
various shapes and sizes. For example, they may consist of
one-piece or multiple-pieces.
[0026] The legs 14 are positioned between the base plate 12 and the
upper plate 10. The legs 14, in combination, control the position
of the upper plate 10 within six degrees of freedom relative to the
base plate 12 (and vice versa can control the position of the base
plate 12 within six degrees of freedom relative to the upper plate
10). Each of the legs 14 is preferably similar in construction to
one another. The legs 14 are adjustable (length-wise and
orientation-wise) and controllable using a controller 15. Each of
the legs 14 can be adjusted (length or orientation) independently
by the other legs 14 of the actuator 100. In the example
illustrated in FIG. 1B, each of the legs 14 comprises a rod 16a and
a tube 16b that is shaped and sized so that the rod 16a can slide
partially within the tube 16b. The rod 16a and the tube 16b of the
leg 14 are telescopically connected. The length and orientation of
each of the legs 14 can be adjusted by sliding or rotating the rod
16a in relation to the tube 16b. The actuator 100 can further
comprise six drivers 19 in communication with each of the legs 14
to drive each of the legs 14 in linear or rotational fashion. The
driver 19 can be electrical, hydraulic/pneumatic or mechanical
driver. Each of the drivers 19 is in communication with the
controller 15. FIG. 1A shows only one driver 19 (for clarity only)
that is in communication with only one of the legs 14, however the
actuator 100 comprises plurality of drivers to drive each of the
legs 14 independently from each other. The controller 15 is
configured to accurately control length and orientation of each leg
14. The controller 15 can comprise an input/output unit and a
processing unit. For example the controller 15 can be a 32 bit
system with 6-axis control, 100BaseT and USB 2.0 interface, 6
quadrature decoding channels and smart limit switch support. The
controller 15 can be located remotely from the actuator 100 and can
be in communication with the drivers 19 of the legs 14.
[0027] In one implementation, the actuator 100 can further comprise
a plurality of sensors 23, such as inertial measurement unit (IMU)
sensors that can comprise a tri-axial accelerometer, tri-axial rate
gyro and tri-axial magnetometer. The sensors measure the position
of each of the legs 14 in real time and provide such information to
the controller 15 as an input. FIG. 1A shows only one sensor 23 for
clarity reasons, however it should be understood that the actuator
100 can comprise a plurality of sensors 23 position at the actuator
100 and/or remotely from it. Based on such input the controller 15
can make calculations of the lengths, orientation and velocities of
each of the legs 14 in real time and can provide output signals
(step/direction signals) that can be sent to the leg's drivers 19
(e.g. linear axis stepper motor or DC servo motor) to adjust the
length and orientation of the legs 14 of the actuator 100. In one
implementation, the leg's driver 19 can be any suitable electrical,
pneumatic, hydraulic or mechanical driver that can adjust the
length, orientation and/or speed of the legs 14 in real time based
on the input received from the controller 15. In addition the
controller 15 can comprise a signal conditioning circuit. Outputs
from the sensors 23 can be processed by the signal conditioning
circuit before being processed by the control processing unit.
Output from the processing unit is transferred to the power drive
to provide the required drive signal (e.g. voltage) to the leg's
drivers 19.
[0028] In one implementation, the sensors 23 can be omitted and the
controller 15 can be designed such that the user can provide inputs
that allow changing of the desired conditions or user preferences
of motion conditions (flat surfaces, slopes, etc.). In another
implementation, such input can be fed into the controller 15 by the
sensors 23 and the user. So the controller 15 can receive input
from the one or more sensors 23 and/or as user inputs and can
provide commands for the leg's drivers 19 based on such input. The
sensors 23 can be IMU sensors that can record 3-axis acceleration,
3-axis gyro, 3-axis magnetometer and height (barometric pressure)
in real time along with corrected roll, pitch and yaw using a
proprietary sensor algorithm. The output of the IMU sensors 23 can
be fed directly into the controller 15. The controller 15 can then
compare such input data against a predetermined data set (e.g. set
up by the user) and can then adjust, if necessary, the output
signals transferred to the leg's drivers 19. In one implementation,
every leg 14 can comprise a separate microcontroller in
communication to the controller 15. In one implementation, only
selected legs 14 can be in communication with the controller 15
while the rest are passive or compliant, such as they are manually
adjusted but are not motorized or remotely driven.
[0029] In the example of the actuator 100 illustrated in FIGS. 1A
and 1B the actuator 100 is further reinforced with a damper 20. For
example, the damper 20 can be positioned between the upper plate 10
and the base 12 and can be configured to adjust the stiffness of
the actuator 100. The damper 20 can be configured to increase the
payload capacity and can provide high stiffness, speed, and load
capability of the actuator 100. In one implementation, the damper
20 can be a Magnetorheological (MR) damper or an Electrorheological
(ER) damper or any other suitable damper. A MR damper uses
magnetorheological (MR) materials as dry particles or particles
dispersed in fluid to provide controllable damping forces. The
particles are comprised of magneto-soft particles. For example, the
housing of the damper can be filled with suspension of micron-sized
magnetizable particles (e.g. iron particles) in an appropriate
carrier fluid. The MR fluid is controlled by a magnetic field,
usually using an electromagnet. This allows the damping
characteristics of the MR damper to be continuously controlled by
varying the power of the electromagnet. When the MR fluid is
subjected to a magnetic field, the iron particles align along the
magnetic lines thus solidifying the suspended iron particles and
restricting the fluid movement. The damping force is only dependent
on the magnetic field applied to the MR fluid/particles and can be
adjusted up to 1,000 times in a second. This means that the MR
dampers can respond in real time and can be highly and accurately
controllable. The polarizable particles are the basic difference
between ER and MR dampers. ER damper uses smaller particles that
polarize when directly exposed to an electric current. MR damper
uses larger particles that polarize when surrounded by a magnetic
field. Any other known suitable damper can be used with the
platform 100 to increase its payload capacity and stiffness.
[0030] FIGS. 2A and 2B show in details an example of the damper 20.
The damper 20 can have an elongated body with a first end 20a
configured to be connected to one of the plates of the actuator 100
(e.g. plate 10), and a second end 20b configured to be connected to
the opposite plate of the actuator 100 (e.g. base 12). A joint 201
(e.g. a U-joint ball) located at the first end 20a can be used to
pivotally attached to a U-joint ball receptor 202 that is attached
to the upper plate 10 of the actuator 100. Similarly, a U-joint
ball 203 located at the second end 20b can be used to pivotally
attached to a U-joint ball receptor 204 that is attached to the
base 12 of the actuator 100. Alternatively, the damper 20 can be
attached to the upper plate 10 and the base 12 using any other
universal joint configured to pivotally attach the damper 20 to the
respective plates 10, 12 of the actuator 100. The damper 20 can
comprise a housing 210 that contains a magnetically controllable
particles/fluid and a movable member 206 (FIG. 2B) mounted for
movement through the particles/fluid in the housing 210. In the
illustrated example, the movable member 206 is a piston that is
connected to the first end 20a of the damper 20 through a rod 208.
The housing 210 is hollow having an inner bore with a diameter
slightly bigger than an outer diameter of the piston 206 so that
the piston 206 and the housing 210 can move in relation to each
other in linear or rotatable fashion. The damper 20 can further
comprise one or more bearings and seals (not shown) to prevent any
fluid leakage out of the housing 210. A small volume of
magnetically controllable fluid can be provided in the inner bore
of the housing 210. A magnetic field generator 21 (see FIG. 1A)
produces a magnetic field for directing the magnetic flux to
desired regions of the MR fluid. For example, the magnetic field
generator can comprise an electromagnetic coil and a power circuit
in communication with the coil to generate magnetic field to
increase the stiffness of the damper 20. In one embodiment, the
electromagnetic coil can be located inside the piston 206. The rod
208 can be hollow and can be configured to house a power line
between the electromagnetic coil and a power source so that when
the power source is on, the coil is energized generating a magnetic
field. In another embodiment, the electromagnetic coil can be
mounted around the housing 210. When the coil is energized by
applying a voltage, the fluid in the housing 210 becomes solid thus
locking together the piston 206 and the housing 210. By placing the
damper 20 between the upper and base plates 10, 12 of the actuator
100, the stiffness of the overall actuator is controllable. The
damper 20 can adjust it's length to accommodate the motion of the
upper plate 10 with respect to the base plate 12 of the platform
100 meaning that when the power source is turned off and the coil
is de-energized the piston 206 can freely move (linearly or in
rotational fashion) in relation to the housing 210 in accordance to
the movement of the upper plate 10 and/or the base plate 12.
Additionally and alternatively, the damper 20 can be in
communication with a controller that can be configured to control
the driver of the damper (i.e. magnetic field generator 21) and
thus can control the magnetic field and the stiffness of the damper
20 in real time.
[0031] In one implementation, one or more (or all) of the legs 14
can be provided with a housing enclosing at least a portion of the
legs 14. A coil can be provided around the housing so that the legs
14 can have a function of a damper when such coil is energized to
provide a magnetic field to a MR/ER particles/fluid provided in the
housing. The controller that controls the damper 20 can be separate
or the same as with the controller 15 of the actuator 100. For
example, based on the data fed from the sensors 23 or inputted by
the user the controller 15 can send output signals to the leg's
drivers 19 and at desired time to the damper's driver 21 to adjust
the stiffness (e.g. magnetic field) of the damper 20. Person
skilled in the art would understand that the damper 20 can have
different configuration than the one illustrated in the FIGS. 2A,
2B without departing from the scope of the invention. For example,
FIG. 4 shows an example of a damper in which instead of piston 206
a spring element is utilized.
[0032] FIGS. 3A and 3B depict a motion system 1000 that comprises
at least two Stewart platform based actuators 100. FIGS. 3A and 3B
show two actuators 100 connected with a linking element 2000,
however the linking element can be omitted and the motion system
1000 can include at least two actuators 100 connected one to
another directly with no linking element in between. In the
illustrated example at FIG. 3A the linking element is one or more
springs 2001 while FIG. 3B shows a linking element that is a damper
that is similar to the damper 20 described herein above with
reference to FIGS. 2A and 2B. Person skilled in the art would
understand that the linking element 2000 connecting any two
actuators 100 can be any rigid or flexible element with or without
dampening element.
[0033] In the example illustrated in FIG. 3A, the link 2000 can be
a spring 2001 connecting the two actuators 100. By connecting the
two actuators 100 together with the spring 2001 the relative motion
of the two actuators 100 with respect to each other can be softened
while still preserving a degree of stiffness. In the embodiment
illustrated in FIG. 3B, the linking element can been updated to add
dampening element to the spring 2001 (becoming a linking damper
2005) by surrounding the spring 2001 with a housing, i.e. a sleeve
2002, that contains MR particles/fluid (see FIG. 4). The sleeve
2002 can be made of any other suitable material and can envelop the
spring 2001 in a fluidly tight manner so that no fluid can leak out
of the sleeve 2002. In the illustrated example the sleeve 2002 has
multiple folds or any other elastic configuration so that its
length can be adjusted to accommodate the spring 2001 in its
extended and/or retracted position. A coil 2004 (see FIG. 4) can be
wrapped around the spring 2001 or the sleeve 2002 and the MR
particles/fluid can be inserted in the sleeve 2002, such that the
spring's stiffness can be controlled by a voltage applied to the
coil 2004. The coil 2004 is in electrical communication with a
power supply (not shown). The linking damper 2005 and each of the
actuators 100 can be control by the system's central controller
(not shown) that independently control and adjust the
position/orientation/velocity/stiffness of each of the actuators
100 and the linking damper 2005 in real time to mimic natural or
required motion. The adjustable linking dampers 2005 and/or other
types of flexible or rigid linking elements 2000 in addition to the
actuators 100 can help with the load distribution as well as
mimicking the natural flexibility of the body links in extensions
and contraction. In one embodiment, each of the actuators 100 in
the motion system 1000 and/or each of the linking element/damper
can be controlled by a separate microcontroller what are in
communication with the central system controller. The high-level
commands can be made by the central controller to estimate position
of each of the actuators 100 over time while the microcontrollers
can be provided to handle low-level calculations required to drive
the legs 14 of the actuators 100 for a given desired trajectory
which may be time variant.
[0034] The motion system 1000 can comprise more than two actuators
100 that can be connected with the linking elements/dampers or can
be connected to each other directly with no linking elements in
between. In one implementation, the motion system 1000 can comprise
plurality of actuators 100 where some of the actuators 100 can be
stuck to each other directly while others can be connected with
linking elements. Even though the motion system 1000 illustrated in
FIGS. 3A and 3B comprises actuators 100 reinforced with damper 20,
person skilled in the art would understand that that the actuators
100 can be Stewart platform based actuators with no reinforcing
damper 20. In fact, FIGS. 5 and 6 show two examples of a motion
system 1000 in which the actuators 100 are without reinforcing
damper 20.
[0035] FIG. 5 shows a motion system 5000 that is a lower limb
exoskeleton mobility assistive device with four actuators 100
connected with linking elements 2000. The linking elements can be
rigid bars or flexible springs or a combination thereof. In some
embodiments some or all of the linking elements can be a damper as
the one described with reference to FIGS. 2-4. The advantage of
using actuators 100 in human exoskeletal suits is that the
actuators 100 have a high strength and can change the
length/stiffness thereby reducing pressure points. Such exoskeletal
suit is anti-chafing and can change the length during usage. For
example, such exoskeletal suit can change the length depending on
the performed motion by changing the length and/or orientation of
the legs 14 of the actuators 100. Additionally and alternatively,
the motion system 5000 can have a high adjustability of the
structure design to accommodate different wearers by adjusting the
length and design of the actuators 100 and the linking elements
2000.
[0036] In one possible application, the system 1000 can be used in
a full body hexapod based robot--hexosapian 6000, an example of
which is illustrated in FIG. 6. As shown in FIGS. 5 and 6 the
multiple actuators 100 can act as joints (e.g. hip, knee, ankle) or
skeletal/muscular structure. Some of the actuators 100 in such
motion systems can be linked with adjustable flexible links or
rigid links or linking dampers (e.g. linking element 600), while
some of the actuators 100 can be connected directly with no linking
elements in between. For example FIG. 6 shows the full body robot
6000 in which at least one group of three actuators 60 is connected
with no linking elements in between. The group 60 comprises three
actuators that are connected together directly with no linking
elements. The upper plate of the actuators 601 and 602 is adapted
to act as a common upper plate for the both actuators. As
illustrated in FIG. 6, some of the actuators in the same motion
system 6000 can be connected with linking element (e.g. group of
actuators 62 comprising actuators 601 and 603 connected with the
linking element 600).
[0037] The damper's controlling unit can be the same or separate
unit and can be incorporated in the actuator's controller 15 or
system's central controller. In one implementation, the system's
central controller can comprise IMU sensors that can estimate
necessary parameters, i.e. segmental orientations, positions and
forces of the actuators 100 and/or the connecting elements/dampers
2000, 2005. The central controller can be capable of computing
accurately the orientation estimations by fusing raw signals
obtained from the sensors (i.e. signals obtained from a tri-axial
accelerometer, tri-axial rate gyro and tri-axial magnetometer)
accurately calculating the lengths and velocities of each of the
legs 14 in each of the actuators 100 of the motion system 1000 and
convert such signals into step/direction signals that can be sent
to the leg's drivers 19. In one implementation, the central
controller can receive the input data from a user/operator. By
employing IMU sensors the balance stability of the system 1000 can
be quantified and potential falls can be detected.
[0038] Additionally and alternatively, the system 1000 can comprise
a motion simulating unit 3001 (FIG. 7) that is in communication
with a motion capture unit 3002 and a motion actuation unit 3003 of
the system 1000. The motion capture unit 3002 comprises a plurality
of motion sensors. For example, the motion sensors can be surface
electromyography (sEMG) sensors that can be positioned remotely
from the system 1000. The signals from the motion sensors are
process by the motion simulating unit 3001 which then provides
signals to the motion actuation unit 3003. The motion actuation
system 3003 can be the motion system 1000 with the plurality of
actuators 100. So, the signals from the motion sensors are process
by the motion simulating unit 3001 which then provides signals to
the central controller of the motion system 1000 to accordingly
actuate the actuators 100 to mimic the predetermined motion
trajectory that was simulated by the simulating unit 3001. In one
implementation the plurality of sensors (sEMG sensors) can be
located to a trainer (e.g. a human being). In such implementation,
the motion sensors located at a specific parts of the human body
can detect the bioelectrical potential generated by muscle cells
and the signals can be sent to a simulating unit 3001 to analyze
and detect the activity of the wearer's target muscles (and his/her
intention). The signals from the simulating unit 3001, and in some
implementations signals from the sensors (motion capture unit 3002)
can be fed into the motion actuation unit 3003 (e.g. the system's
central controller) as input to generate output signals (driving
signals) to the actuators 100 of the system 1000 to control the
motion (movements) of the system 1000. For example the motion
simulating system illustrated in FIG. 7 can be used in applications
where the trainer can remotely control the movement of a robotic
structure.
[0039] Additionally and alternatively, a safety assembly can be
provided to protect against potential falls which may occur due to
reasons such as collision with objects, slippery surfaces, etc. The
safety assembly may comprise a rechargeable polyurethane foam bag,
an airbag system or any other system used for protecting fragile
structures and mechanisms. The safety assembly is in communication
with the controller that can trigger such safety mechanism based on
the input it receives from the sensors (IMU sensors).
[0040] While particular elements, embodiments and applications of
the present disclosure have been shown and described, it will be
understood, that the scope of the disclosure is not limited
thereto, since modifications can be made by those skilled in the
art without departing from the scope of the present disclosure,
particularly in light of the foregoing teachings. Thus, for
example, in any method or process disclosed herein, the acts or
operations making up the method/process may be performed in any
suitable sequence and are not necessarily limited to any particular
disclosed sequence. Elements and components can be configured or
arranged differently, combined, and/or eliminated in various
embodiments. The various features and processes described above may
be used independently of one another, or may be combined in various
ways. All possible combinations and subcombinations are intended to
fall within the scope of this disclosure. Reference throughout this
disclosure to "some embodiments," "an embodiment," or the like,
means that a particular feature, structure, step, process, or
characteristic described in connection with the embodiment is
included in at least one embodiment. Thus, appearances of the
phrases "in some embodiments," "in an embodiment," or the like,
throughout this disclosure are not necessarily all referring to the
same embodiment and may refer to one or more of the same or
different embodiments. Indeed, the novel methods and systems
described herein may be embodied in a variety of other forms;
furthermore, various omissions, additions, substitutions,
equivalents, rearrangements, and changes in the form of the
embodiments described herein may be made without departing from the
spirit of the inventions described herein.
[0041] Various aspects and advantages of the embodiments have been
described where appropriate. It is to be understood that not
necessarily all such aspects or advantages may be achieved in
accordance with any particular embodiment. Thus, for example, it
should be recognized that the various embodiments may be carried
out in a manner that achieves or optimizes one advantage or group
of advantages as taught herein without necessarily achieving other
aspects or advantages as may be taught or suggested herein.
[0042] Conditional language used herein, such as, among others,
"can," "could," "might," "may," "e.g.," and the like, unless
specifically stated otherwise, or otherwise understood within the
context as used, is generally intended to convey that certain
embodiments include, while other embodiments do not include,
certain features, elements and/or steps. Thus, such conditional
language is not generally intended to imply that features, elements
and/or steps are in any way required for one or more embodiments or
that one or more embodiments necessarily include logic for
deciding, with or without operator input or prompting, whether
these features, elements and/or steps are included or are to be
performed in any particular embodiment. No single feature or group
of features is required for or indispensable to any particular
embodiment. The terms "comprising," "including," "having," and the
like are synonymous and are used inclusively, in an open-ended
fashion, and do not exclude additional elements, features, acts,
operations, and so forth. Also, the term "or" is used in its
inclusive sense (and not in its exclusive sense) so that when used,
for example, to connect a list of elements, the term "or" means
one, some, or all of the elements in the list.
[0043] The example calculations, simulations, results, graphs,
values, and parameters of the embodiments described herein are
intended to illustrate and not to limit the disclosed embodiments.
Other embodiments can be configured and/or operated differently
than the illustrative examples described herein.
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