JP5607629B2 - 生体模倣機械継ぎ手 - Google Patents
生体模倣機械継ぎ手 Download PDFInfo
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- JP5607629B2 JP5607629B2 JP2011525252A JP2011525252A JP5607629B2 JP 5607629 B2 JP5607629 B2 JP 5607629B2 JP 2011525252 A JP2011525252 A JP 2011525252A JP 2011525252 A JP2011525252 A JP 2011525252A JP 5607629 B2 JP5607629 B2 JP 5607629B2
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Public Health (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Vascular Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Transplantation (AREA)
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- Manipulator (AREA)
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Description
Claims (24)
- 生体模倣ロボット装置の支持部材の間に可変トルクを発生させる生体模倣機械継ぎ手であって、
ベース支持部材と、
前記ベース支持部材と回転可能に結合する回転支持部材と、
前記ベース支持部材の周りの前記回転支持部材の回転を補助するために、当該ベース支持部材と当該回転支持部材との間に動作可能に結合する半径可変プーリであって、
外周外側表面とピボットポイントとを備え、当該外側表面と当該ピボットポイントとの間の半径方向距離が当該外側表面の長さ方向に沿って変更可能である、滑車本体と、
腱降着表面と側壁とを備え、前記外側表面に形成される少なくとも1つの腱溝と、
前記少なくとも1つの腱溝の中に腱取り付けポイントと、を備えるプーリと、
第1の自由端部分および第2の自由端部分が、前記腱溝の中で反対方向に前記プーリの周りを囲み、前記腱取り付けポイントと結合している少なくとも1つの柔軟な腱と、
前記プーリの周りの前記腱をいずれの方向にも選択的に動作させ、前記ベース支持部材と前記回転支持部材との間に可変トルクを生成するように構成され、一対の端部コネクタで前記第1の自由端部分と前記第2の自由端部分と結合している、少なくとも1つの拮抗アクチュエータ対と、を具備する機械継ぎ手であって、
前記腱取り付けポイントと実質的に反対側の前記滑車本体の前記側壁に切除部をさらに備え、
前記切除部は、前記プーリがいずれかの最遠の回転位置まで回転すると、端部コネクタを受容するように構成される、機械継ぎ手。 - 請求項1に記載の機械継ぎ手において、
前記拮抗アクチュエータ対のそれぞれのアクチュエータは、枢動運動が可能なように支持され、前記アクチュエータの長軸と、前記腱と前記プーリとの間の接線方向の接触ポイントの配置を維持する機械継ぎ手。 - 請求項1に記載の機械継ぎ手において、
前記拮抗アクチュエータ対のそれぞれのアクチュエータは、油圧パワーシリンダー、空気圧パワーシリンダー、電気リニアモータ、および電気回転モータからなる群から選択される機械継ぎ手。 - 請求項1に記載の機械継ぎ手において、
前記プーリの前記滑車本体は、円形であり、前記ピボットポイントが円の中心から偏心している機械継ぎ手。 - 請求項1に記載の機械継ぎ手において、
前記腱取り付けポイントは、前記滑車本体の前記外周表面に形成される横スロットに挿入される腱取り付けブロックをさらに備える機械継ぎ手。 - 請求項1に記載の機械継ぎ手において、
前記第1の自由端部分および前記第2の自由端部分のそれぞれは、端部コネクタの周りで輪になり、
前記自由端部分の先端は、前記腱取り付けポイントと結合する機械継ぎ手。 - 請求項1に記載の機械継ぎ手において、
前記滑車本体は、前記ベース支持部材に対して固定され、
前記アクチュエータ対は、前記回転支持部材に結合される機械継ぎ手。 - 請求項1に記載の機械継ぎ手において、
前記拮抗アクチュエータ対は、前記ベース支持部材と結合され、
前記滑車本体は、前記回転支持部材に対して固定される機械継ぎ手。 - 請求項1に記載の機械継ぎ手において、
前記ベース支持部材は、生体模倣ロボット装置の胴体を備える機械継ぎ手。 - 請求項1に記載の機械継ぎ手において、
前記ベース支持部材は、隣接する生体模倣機械継ぎ手の回転支持部材を備える機械継ぎ手。 - 請求項1に記載の機械継ぎ手において、
前記生体模倣ロボット装置は、外骨格である機械継ぎ手。 - 生体模倣ロボット装置の支持部材の間に可変トルクを生成する生体模倣機械継ぎ手であって、
ベース支持部材と、
前記ベース支持部材と回転可能に結合している回転支持部材と、
前記ベース支持部材の周りに前記回転支持部材が回転することを補助するために、当該ベース支持部材と当該回転支持部材との間に動作可能に結合する半径可変プーリであって、
外周外側表面と、ピボットポイントと、当該外側表面の長さ方向に沿って変更可能である当該外側表面と当該ピボットポイントとの間の半径方向距離と、を備える滑車本体と、
前記外側表面に形成された腱溝と、
前記腱溝の中に少なくとも1つの腱取り付けポイントと、
を備える半径可変プーリと、
前記腱取り付けポイントと結合し、前記腱溝の中で前記プーリの周りを囲む自由端部分を備える少なくとも1つの柔軟な腱と、
前記自由端部分と端部コネクタにより結合し、前記半径可変プーリの周りで前記腱を引っ張るように構成され、前記ベース支持部材と前記回転支持部材との間に可変トルクを生成する少なくとも1つのアクチュエータと、を備える機械継ぎ手であって、
前記腱取り付けポイントと実質的に反対側の前記滑車本体の前記側壁に切除部をさらに備え、
前記切除部は、前記プーリがいずれかの最遠の回転位置まで回転すると、前記端部コネクタを受容するように構成される、機械継ぎ手。 - 請求項12に記載の機械継ぎ手において、
前記少なくとも1つの柔軟な腱は、第1の柔軟な腱と第2の柔軟な腱を備え、
それぞれの腱は、腱取り付けポイントと結合し、他方から反対方向に前記プーリの周りを包み、拮抗アクチュエータ対のアクチュエータに結合する自由端部分を備え、
前記アクチュエータ対は、前記半径可変プーリの周りの前記腱をいずれの方向にも選択的に引っ張るように構成される機械継ぎ手。 - 請求項12に記載の機械継ぎ手において、
前記柔軟な腱は、前記腱取り付けポイントと結合する中間部分と、反対方向に前記プーリの周りを囲み、拮抗アクチュエータ対のアクチュエータに結合する第1の自由端部分および第2の自由端部分とをさらに備え、
前記アクチュエータ対は、前記半径可変プーリの周りの前記腱をいずれの方向にも選択的に引っ張るように構成される機械継ぎ手。 - 生体模倣ロボット装置の支持部材の間に可変トルクを生成する生体模倣機械継ぎ手を製造する方法であって、
ベース支持部材と回転支持部材とを取得する工程と、
前記ベース支持部材と前記回転支持部材との間のピボット手段を備える半径可変プーリを当該ベース支持部材の周囲で当該回転支持部材が容易に回転するように結合する工程であって、前記半径可変プーリは更に、
外周外側表面とピボット手段とを備え、当該外側表面と当該ピボット手段との間の半径方向距離が当該外側表面の長さ方向に沿って変更可能である、滑車本体と、
前記外側表面に形成される少なくとも1つの腱溝と、
前記腱溝の中の腱取り付けポイントと、
を備えている、工程と、
少なくとも1つの拮抗アクチュエータ対を前記回転支持部材に組み込む工程と、
少なくとも1つの柔軟な腱を前記半径可変プーリと前記拮抗アクチュエータ対との間に据え付ける工程であって、前記少なくとも1つの拮抗アクチュエータは、端部コネクタにより前記少なくとも1つの柔軟な腱に結合されている、工程と、を備え、
前記アクチュエータ対は、前記半径可変プーリの周りの前記腱をいずれの方向にも引っ張るように動作し、前記ベース支持部材と前記回転支持部材との間に可変トルクを生成し、
前記生体模倣機械継ぎ手が前記腱取り付けポイントと実質的に反対側の前記滑車本体の前記側壁に切除部をさらに備え、前記切除部は、前記プーリがいずれかの最遠の回転位置まで回転すると、端部コネクタを受容するように構成されている、方法。 - 請求項15に記載の方法において、
前記柔軟な腱は、
第1の柔軟な腱と、第2の柔軟な腱と、を備え、
それぞれの腱は、前記腱取り付けポイントと結合し、それぞれ反対方向に腱溝の中で前記プーリの周りを囲み、前記拮抗アクチュエータ対のアクチュエータと結合する自由端部分をさらに備える方法。 - 請求項15に記載の方法において、
前記柔軟な腱は、
前記腱取り付けポイントと結合する中間部分と、
反対方向に前記腱溝の中で前記プーリの周りを囲み、前記拮抗アクチュエータ対のアクチュエータと結合する第1の自由端部分および第2の自由端部分をさらに備える方法。 - 生体模倣ロボット装置の支持部材の間に可変トルクを生成する生体模倣機械継ぎ手であって、
ベース支持部材と、
前記ベース支持部材と回転可能に結合する回転支持部材と、
前記ベース支持部材の周りで前記回転支持部材の回転を補助するために、当該ベース支持部材と当該回転支持部材との間に動作可能に結合する半径可変プーリであって、
外周外側表面とピボットポイントとを備え、当該外側表面と当該ピボットポイントとの間の半径方向距離が当該外側表面の長さ方向に沿って変更可能である、滑車本体と、
それぞれが腱降着面と側壁を備え、前記外側表面に形成される少なくとも2つの腱溝と、
前記腱溝のそれぞれの中に腱取り付けポイントと、を備えるプーリと、
それぞれが腱取り付けポイントの1つと結合し、前記腱溝の中で反対方向に前記プーリの周りを包む第1の自由端部分と第2の自由端部分とを備える少なくとも2つの柔軟な腱と、
少なくとも2つの拮抗アクチュエータ対であって、それぞれのアクチュエータ対が、一対の端部コネクタで前記少なくとも2つの腱中の1つの腱の前記第1の端部部分と前記第2の端部部分と結合し、前記プーリの周りの前記腱をいずれの方向にも選択的に動作させ、前記ベース支持部材と前記回転支持部材との間に可変トルクを生成するように構成される少なくとも2つの拮抗アクチュエータ対と、を備える機械継ぎ手であって、
前記腱取り付けポイントと反対側の滑車本体の側壁に切除部をさらに備え、
前記切除部は、前記プーリがいずれかの最遠の回転位置まで回転すると、端部コネクタを受容するように構成される機械継ぎ手。 - 請求項18に記載の機械継ぎ手において、
前記拮抗アクチュエータ対の1つは、他のものよりも大きい機械継ぎ手。 - 請求項19に記載の機械継ぎ手において、
前記柔軟な腱は、長方形横断面を有する腱ベルトをさらに備え、
前記柔軟な腱の1つと対応する腱溝は、他のものよりも広い機械継ぎ手。 - 請求項20に記載の機械継ぎ手において、
前記少なくとも2つの拮抗アクチュエータ対のそれぞれのアクチュエータは、他のいずれかのアクチュエータとはそれぞれ大きさが異なる機械継ぎ手。 - 請求項18に記載の機械継ぎ手において、
前記少なくとも2つの拮抗アクチュエータ対のそれぞれのアクチュエータは、油圧パワーシリンダー、空気圧パワーシリンダー、電気リニアモータ、および電気回転モータからなる群から選択される機械継ぎ手。 - 請求項1、12または18のいずれか1項に記載の機械継ぎ手において、
前記半径可変プーリは、小さな腱溝とは異なる直径を有する大きな腱溝をさらに備え、それを用いて動作可能な腱およびアクチュエータ対に異なる機械的利点を提供する機械継ぎ手。 - 請求項1、12または18のいずれか1項に記載の機械継ぎ手において、
前記半径可変プーリは、大きな腱溝と小さな腱溝をさらに備え、それぞれの腱溝は非円形形状であり、他方に対して偏心しており、位置が合っていない機械継ぎ手。
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US8516918B2 (en) | 2013-08-27 |
CN102196785A (zh) | 2011-09-21 |
IL211446A (en) | 2014-11-30 |
EP2337527A1 (en) | 2011-06-29 |
WO2010025409A1 (en) | 2010-03-04 |
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