WO2016057963A1 - Embrayage électrostatique - Google Patents

Embrayage électrostatique Download PDF

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Publication number
WO2016057963A1
WO2016057963A1 PCT/US2015/055005 US2015055005W WO2016057963A1 WO 2016057963 A1 WO2016057963 A1 WO 2016057963A1 US 2015055005 W US2015055005 W US 2015055005W WO 2016057963 A1 WO2016057963 A1 WO 2016057963A1
Authority
WO
WIPO (PCT)
Prior art keywords
electrode
clutch
frame
electrostatic
electrodes
Prior art date
Application number
PCT/US2015/055005
Other languages
English (en)
Inventor
Steven Collins
Carmel Majidi
Stuart DILLER
Original Assignee
Carnegie Mellon University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Carnegie Mellon University filed Critical Carnegie Mellon University
Publication of WO2016057963A1 publication Critical patent/WO2016057963A1/fr
Priority to US15/484,052 priority Critical patent/US10355624B2/en
Priority to US16/429,924 priority patent/US10749450B2/en
Priority to US16/513,593 priority patent/US10554154B2/en
Priority to US16/728,526 priority patent/US10998835B2/en

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N13/00—Clutches or holding devices using electrostatic attraction, e.g. using Johnson-Rahbek effect

Definitions

  • the invention relates generally to an electrostatic clutch. More specifically, the invention relates to a lightweight and high power density electrostatic clutch that can be incorporated into robotic systems, including exoskeletons and wearable devices, among other uses.
  • Clutches have many uses in robotic systems, often being used to improve the functionality of springs and actuators.
  • existing clutch systems suffer several drawbacks when used in mobile robotic applications.
  • electromagnetic clutches feature fast activation and moderate torque density, but require continuous electrical power to stay active.
  • Magnetorheological clutches produce large torques, but are heavy and also require continuous power to remain active. Because of the power requirements, both of these systems require large batteries or tethered electrical connections.
  • Mechanical latches require no energy to stay active, but only engage and disengage under special conditions.
  • the problems associated with traditional clutches are particularly pronounced in wearable robotic systems, such as exoskeletons.
  • Assistive robotic exoskeletons have shown positive impacts for people in a variety of applications, including physical performance augmentation and medical treatment.
  • One challenge associated with autonomy is the metabolic cost associated with carrying the combined weight of the exoskeleton structure, energy storage, actuators, and electronics. Batteries in particular account for a significant portion of the weight of many devices, especially in devices with clutches that require constant power. In addition to the weight of batteries, significant weight penalties are experienced with commercially available actuators, such as motors and pneumatic actuators.
  • Walking on level ground is an example of an application where traditional actuators and motors are not well suited for robotic applications.
  • Walking on level ground at a constant speed requires very little energy input since the potential and kinetic energies of the moving body do not change on average.
  • approximately equal amounts of positive and negative work are performed by the legs during a walking cycle. Both the positive and negative work require energy, since the negative work cannot be stored and reused as an input for the positive work.
  • an actuator could absorb and return mechanical energy, the total energy consumption of the system could be reduced.
  • energy recycling could supply all needed positive work by absorbing and reusing negative work movements.
  • using a device to absorb energy from negative work movements would reduce the metabolic cost of a human wearing a robotic device because muscles require energy to perform negative work.
  • an electrostatic clutch that can be incorporated in robotic systems, such as wearable devices or exoskeletons.
  • the present invention utilizes micron-thickness electrostatic clutches that are light-weight and consume minimal power.
  • Electrostatic forces can be developed by applying a voltage to a set of electrodes separated by a gap.
  • the gap is maintained by a layer of dielectric material deposited on the electrode.
  • a controller can manipulate the voltage, allowing electrical 'on-off control of adhesion between the electrodes.
  • the electrodes comprise a lightweight conductive material, such as aluminum- sputtered biaxially-oriented polyethylene terephthalate. With a pair of electrodes, at least one electrode is covered in a dielectric material to maintain the gap between the conductive surfaces of the electrodes.
  • the electrodes are generally planar, having a rectangular or square shape.
  • a frame is connected to each of the electrodes, providing a transfer point for a force acting on the clutch. For example, the frame of one electrode could be connected to a spring, while the frame of the other electrode could be connected to the body of an exoskeleton.
  • the activation state of the clutch determines if a force is transferred from the spring to the body of the exoskeleton through the clutch, or if the electrodes will simply slide against each other without transferring the force.
  • a tensioner maintains alignment of the electrodes, while permitting movement in one or multiple directions.
  • three electrodes are arranged in a parallel orientation. One electrode is attached to a body of a device and a second electrode is connected to an output supplying a force. A third electrode is connected to a spring and placed between the first and second electrodes. The electrode connected to the spring can be engaged against either the body electrode or the output electrode.
  • the spring can be stretched by the output force, affixed to the frame to store the energy, then later returned to the output to perform work, forming a type of energy recylcing actuator.
  • the actuator can be comprised of tens to hundreds of clutch/ spring pairs that are individually engaged and disengaged with the output, thus allowing variable stiffness and a broad range of torque input and output values over the course of one actuator stroke.
  • the clutch system of the present application uniquely allows both force control and energy recycling, making it both highly controllable and highly energy efficient.
  • this system allows variable stiffness, impedance or other state- dependent force generation at exceptionally high bandwidth and with low input of control energy.
  • the clutch system will enable dramatic improvements in the energy efficiency and controllability of autonomous robotic systems and wearable robotic devices.
  • Fig. 1 shows a clutch according to an embodiment of the present invention.
  • Fig. 2 shows two electrodes that are used in the clutch.
  • Fig. 3 is an alternate view of the electrodes, which also shows a force transferring spring attached to one of the electrodes.
  • Figs. 4A-4B is a schematic showing the components of the electrodes, according to one embodiment.
  • Fig. 5 is a diagram showing the electrical components of a power source and controller attached to the electrodes.
  • Fig. 6 shows an energy-recycling actuator comprised of the clutches of the present invention.
  • Figs. 7A-7D is an alternate embodiment of the energy-recycling actuator showing the stages of operation.
  • Fig. 8 is a graph illustrating the variable force profile of a device incorporating a plurality of clutches.
  • Fig. 9 is an alternate embodiment incorporating the clutch of the present invention.
  • Fig. 10 is a graph showing the 'on-off control of the clutches of an exoskeleton during a walking cycle.
  • Fig. 1 shows the clutch 100 of the present invention according to a preferred embodiment.
  • the clutch 100 is comprised of a first electrode 101 and a second electrode 102.
  • the electrodes 101 , 102 are aligned in a parallel orientation so that a surface of the first electrode 101 overlaps a surface of the second electrode 102.
  • the conductive surfaces 202 do not contact as they are separated by a layer of dielectric material 203 deposited on one or both of the electrodes 101 , 102.
  • only one electrode 101 , 102 is coated with a layer of dielectric material 203 to minimize the distance between the electrodes 101 , 102.
  • a frame 103 is attached to one end of the first electrode 101 and a separate frame 104 is attached to one end of the second electrode 102.
  • the frames 103, 104 are positioned at opposite ends of the clutch 100, as shown in Fig. 1.
  • the frames 103, 104 provide a point of transfer for a force acting on the clutch 100.
  • the bottom frame 104 is attached to a flat rubber spring 301.
  • the spring 301 can be attached to an object such as the body of an exoskeleton, for example.
  • the spring 301 will impart a tensile force through the electrodes 101 , 102 to the top frame 103.
  • the force caused by the spring 301 will simply result in the bottom electrodes 102 sliding freely against the top electrode 101. In other words, the force will not be transferred to the top frame 103.
  • a tensioner 105 connects the first electrode 101 to the second electrode 102.
  • the tensioner 105 maintains the alignment of the electrodes 101 , 102 so that the surfaces of each are in proximate engagement, while also permitting linear movement of the electrodes 101 , 102 along the vector of an outside force acting one of the frames 103, 104, when the clutch 100 is in a disengaged state.
  • the tensioner 105 comprises an elastic cord 106 or low-stiffness spring connecting a distal end of the first electrode 101 to a proximate end of the second electrode 102.
  • the tensioner 105 further comprises an additional cord 106 connecting the proximate end of the first electrode 101 to the distal end of the second electrode 102.
  • a cord 106 is provided on each side of the electrodes 101 , 102 to provide lateral stability. In this configuration, side-to-side movement of the electrodes 101 , 102 is suppressed, whereas up-and-down movement is allowed. Further, movement orthogonal to the surface of the electrodes 101 , 102 is minimized, keeping them in close contact.
  • the tensioner 105 can comprise a pair of frames, each frame attached to the edge of one of the electrodes 101 , 102. In this alternative embodiment, the frames are held in place by a track that permits each frame to slide up-or-down, but not laterally.
  • Fig. 2 shows an alternate view of the clutch 100 according to the preferred embodiment.
  • the electrodes 101 , 102 are separated from each other to show detail.
  • the electrodes 101 , 102 would be stacked on top of each other, causing close engagement of the surface of each.
  • the cords 106 attach to a bar 107 affixed to the ends of the electrodes 101 , 102.
  • Fig. 3 is yet another view of the electrodes 101 , 102 of the clutch 100.
  • a flexible lead 108 is run along the spring 301 , providing an electrical contact for the electrode 102.
  • first electrode 101 and second electrode 102 are comprised of a substrate 201 onto which a conductive layer 202 is deposited.
  • the substrate 201 is a flexible polymer sheet.
  • the electrode 101 is comprised of aluminum- sputtered BOPET (Bi-axially Oriented Polyethylene Terephthalate) film, also known as Mylar ® film.
  • the aluminum deposition acts as the conductive layer 103 and the BOPET acts as the substrate 102.
  • Aluminum-sputtered BOPET films of this type can have a thickness of around 25 microns.
  • the material is sufficiently strong to act as a force transmission component.
  • very little electrode material is required to hold a charge, making thin and lightweight electrodes 101 possible.
  • a single-layer, conductive electrode such as a metallic foil, is used.
  • Fig. 4A shows the electrodes 101 , 102 in a disengaged state. That is, no electrostatic charge is present, so the electrodes 101 , 102 are not attracted to each other. (The space between the electrodes 101 , 102 in Fig. 4A is exaggerated for purposes of illustration.) When disengaged, the electrodes are free to move along an axis, as indicated by the arrows in Fig. 4A.
  • the tensioner 105 prevents the electrodes 101 , 102 from moving in other directions. However, in some implementations, it may be desirable to have the electrodes 101 , 102 move in more than one direction, while still maintaining their parallel arrangement.
  • Fig. 4B shows the electrodes 101 , 102 in the engaged state. That is, a voltage supplied by power source 401 creates an electrostatic charge, causing an attraction of the electrodes 101 , 102 and drawing the surfaces of electrodes 101 , 102 together. Once engaged, the electrodes 101 , 102 can then be loaded in shear, and the friction force resulting from the electrostatic normal force prevents relative displacement of the electrodes 101 , 102.
  • the electrodes 101 , 102 of the preferred embodiment are flexible.
  • the compliant nature allows intimate surface contact between the electrodes 101 , 102 when engaged. This allows the surfaces to conform closely without relying on a high surface energy interface.
  • electrodes are embedded in soft, tacky elastomers. Releasing these types of devices requires a separate mechanism because the elastomers tend to stick to each other after being drawn together by the electrostatic forces.
  • a layer of dielectric material 203 maintains the gap between the conductive layers 103 on adjacent electrodes 101 , 102.
  • a thin film of dielectric material 203 is disposed on the surface of one of the electrodes 101 , 102, covering the conductive layer 202.
  • the capacitance of the clutch 100 increases as the dielectric constant of the material used for the insulating layer 203 increases.
  • a high dielectric constant material is preferably used to allow operation at a relatively low voltage.
  • the dielectric layer 203 can be an inorganic particle impregnated polymer or a liquid- formable nanoparticle composite.
  • a ceramic polymer composite containing barium titanate and titanium dioxide is used to create the dielectric layer 203.
  • An example of such a material is DupontTM LuxPrint ® material, which is sold for electroluminescent applications. With a low voltage, 200-300 V for example, standard electronics hardware can be used with the clutch 100.
  • the detrimental effects can be reduced by maintaining low electric field strength and voltage. Consequently, decreasing the thickness and subsequently the overall voltage value can mitigate space charge effects, but that electric field strengths should also be kept low.
  • the liquid formable nanoparticle composite is used in the preferred embodiment because the high dielectric of the material reduces required field strengths. Also, because the liquid formable nanoparticle composite is obtained in its uncured form, it can be manufactured to lower thicknesses.
  • the process of applying the dielectric layer can include depositing a 25 micron layer of the liquid formable nanoparticle composite on one side of electrode 101 using a thin film applicator. Based on the particular dielectric material 203 used, the composite is cured to a thickness of 10 microns in a ventilated oven. A second 25 micron layer is then applied and cured to a final dielectric layer 203 of 20 microns. The film decrease in thickness occurs because a significant amount of solvent evaporates from the original mixture during curing. Other methods can be used to deposit the dielectric layer 203, such as screen printing or chemical and physical deposition.
  • Fig. 5 illustrates one example of a power source 401 and controller 402 capable of controlling the clutch 101.
  • a high-voltage power supply 403 (240V, for example) supplies a voltage to the circuitry of the power source 401.
  • a control voltage from controllers 402 are fed into a transistor 404.
  • the controller 402 can be any device capable of producing a signal.
  • the transistor 404 is a Darlington pair transistor.
  • the transistors 404 are connected to a high-voltage relay 405 powered at 1.9V by an external power supply.
  • the relays 405, in turn, are connected to the conductive surface 202 of the dielectric coated electrode 101 , such that the electrode 101 is either at high voltage, at ground voltage, or floating.
  • the second electrode 102 is connected to ground. While one particular power source 401 example has been described, a person having skill in the art will appreciate that many types of electrical configurations can be used to apply a voltage to the electrodes 101 , 102 of the clutch 100.
  • the low-mass, low-energy, and low- volume electrostatic clutch 100 of the present invention allows multiple clutches 100 to be used in a single device. Because of the unique geometry of these electrostatic clutches 100, many can be "stacked" into a small volume with a spacing of 1 mm or less between clutches 100. Achieving tens or hundreds of clutches in a device using traditional mechanical or electromagnetic clutches results in a slow, energy- expensive device far too large and heavy to be body-mounted.
  • a stacked clutch implementation can comprise 5 electrode pairs, each having a thickness of 45 microns and a mass of 2 grams.
  • the contact area of the pairs is 100 cm 2 (10 cm x 10 cm), resulting in a holding force of 150 N.
  • the switching energy required to change from an engaged to disengaged state is 0.01 J. Switching can occur at a bandwidth of 160 Hz.
  • the clutch 100 of the present invention is designed to be generic enough to be "attach-and-play" on assistive exoskeletons, active prostheses, and walking robots. It is an aspect of the present invention that the design can be modified for use with a motor as a variable stiffness actuator, or to achieve "one-to-many" degrees of freedom by decoupling an input from an output. This is achieved by adding single clutch 100 in series with the current clutch- spring pairs.
  • the actuator 500 comprises a housing electrode 501 that is connected to a device housing 502.
  • a spring electrode 503 is connected to a spring 301 (or other energy storing device) and is positioned adjacent to the housing electrode 501. Further, the spring electrode 503 is coated with a dielectric layer 203 on two surfaces.
  • a third electrode 504 is placed on the other side of the spring electrode 503, so that the spring electrode 503 is in the middle of the housing electrode 501 and the third electrode 504. The third electrode 504 is connected to an object not connected to the housing 502.
  • FIG. 7A-7D An example of an energy recycling cycle for a similar actuator 500 is illustrated in Figs. 7A-7D.
  • Fig. 7A As shown in Fig. 7A, during the first step, the third electrode 504 and the spring electrode 503 are engaged, causing the spring 301 to stretch and store energy as a force acts on the object and third electrode 504.
  • Fig. 7B the third electrode 504 and spring electrode 503 are disengaged, followed immediately by the spring electrode 503 engaging the housing electrode 501.
  • the spring electrode 503 disengages from the housing electrode 501 and re-engages with the third electrode 504, connecting the spring 301 to the object, providing mechanical work to assist the motion of the object.
  • the spring electrode 503 is engaged to the housing electrode 501 , allowing free movement of the object relative to the housing 502 without stretching the spring 301.
  • actuator 500 comprised of a single spring/ clutch mechanism.
  • multiple spring/ clutch pairs can be used to create an actuator capable of providing variable stiffness. That is, if all springs 301 are engaged, actuator 500 will have a high stiffness. If only a fraction of the springs 301 are engaged, while the remainder are disengaged and free to move, the actuator 500 will have a reduced stiffness. Consequently, the stiffness of the actuator can be manipulated based on the appropriate level for different types of activities. With a higher stiffness, higher assistive torques will be provided.
  • Fig. 8 shows the force- displacement curve for five clutched springs 301 in parallel. Placing multiple clutched springs 301 in parallel allows an overall device stiffness to be selected. The maximum device stiffness is 36 times higher than the minimum device stiffness in this example.
  • Fig. 9 shows the electrostatic clutch 100 of the present invention incorporated in to an assistive exoskeleton.
  • an elastomer spring 301 such as a natural rubber or urethane sheet, is attached to frame 104.
  • Elastomer springs 301 have two significant advantages: they are composed of material with high strain energy density, and they allow an axial loading configuration which further improves energy density because all material is strained equally.
  • each spring 301 has a mass of about 5 grams, resulting in a total spring mass of about 25 grams for a five spring 301 configuration.
  • the resilience, or efficiency, under normal walking and running conditions is about 95%.
  • the opposite end of the spring 301 is attached to a lower portion 603 of an exoskeleton frame 601.
  • the exoskeleton frame 601 is a lightweight, high-strength composite frame having a hinge 602 at the ankle, connecting the lower portion 603 to an upper portion 604.
  • Frame 103 is connected to the upper portion 604 of exoskeleton frame 601.
  • flexing of the foot causes stretching of the spring 301 when the electrodes 101 , 102 are engaged.
  • the energy of the spring 301 can be released during other phases of the walking cycle.
  • Fig. 10 shows the clutch 100 activation and deactivation phases during a single step.
  • the clutch 100 engages at maximum dorsiflexion, as the foot hits the ground at the beginning of the step.
  • the spring 301 is slack and not storing energy.
  • the spring 301 is stretched. If the electrodes 101 , 102 were not engaged, the force on the spring 301 would simply cause the electrodes 101 , 102 to slide against each other. The stretching absorbs some of the negative work that would otherwise be performed by human muscles.
  • the spring 301 provides energy as the foot begins to push off the ground, increasing the ankle angle and shortening the spring 301.
  • the clutch 100 deactivates, allowing free rotation of the ankle prior to the cycle starting over. Without the free rotation, energy would have to be used to stretch the spring 301 as the toe is lifted prior to the foot hitting the ground for the next step.
  • the electrode 101 is switched between high voltage and ground at 200 Hz for 50 ms to facilitate clutch release.
  • peak torque is about 7.3 N*m on an average step, and the device consumes about 8.7 mW of electricity.

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Abstract

La présente invention concerne un embrayage électrostatique comprenant une pluralité d'électrodes d'une épaisseur à l'échelle micrométrique, des électrodes adjacentes étant séparées par un film mince de matériau diélectrique. Une source de puissance et un organe de commande appliquent une tension sur deux électrodes, amenant une force électrostatique à se développer. Une fois la mise en prise effectuée, une force peut être transférée par l'intermédiaire de l'embrayage. Un dispositif de tension maintient l'alignement de l'embrayage lorsque les électrodes sont retirées, mais permet le mouvement dans au moins une direction. Dans certains modes de réalisation, de multiples embrayages sont raccordés à une sortie pour fournir une commande de force variable et une large gamme de valeurs de couple d'entrée et de sortie. De plus, l'embrayage peut être utilisé sous la forme d'un actionneur de récupération d'énergie qui capture une énergie mécanique à partir des mouvements de travail négatifs, et restitue l'énergie pendant des mouvements de travail positifs.
PCT/US2015/055005 2014-10-09 2015-10-09 Embrayage électrostatique WO2016057963A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US15/484,052 US10355624B2 (en) 2014-10-09 2017-04-10 Electrostatic clutch
US16/429,924 US10749450B2 (en) 2014-10-09 2019-06-03 Electrostatic clutch
US16/513,593 US10554154B2 (en) 2014-10-09 2019-07-16 Electrostatic clutch
US16/728,526 US10998835B2 (en) 2014-10-09 2019-12-27 Electrostatic clutch

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201462122066P 2014-10-09 2014-10-09
US62/122,066 2014-10-09
US201562231818P 2015-07-16 2015-07-16
US62/231,818 2015-07-16

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US15/484,052 Continuation US10355624B2 (en) 2014-10-09 2017-04-10 Electrostatic clutch

Publications (1)

Publication Number Publication Date
WO2016057963A1 true WO2016057963A1 (fr) 2016-04-14

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PCT/US2015/055005 WO2016057963A1 (fr) 2014-10-09 2015-10-09 Embrayage électrostatique

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WO (1) WO2016057963A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105997438A (zh) * 2016-07-18 2016-10-12 浙江大学 一种自调节可穿戴腿部动力支具
WO2019212775A1 (fr) * 2018-05-01 2019-11-07 Microsoft Technology Licensing, Llc Embrayage à glissement électrostatique avec circuit d'attaque bidirectionnel
WO2020050901A1 (fr) * 2018-09-06 2020-03-12 Microsoft Technology Licensing, Llc Restriction sélective du mouvement d'articulations squelettiques
US10663016B2 (en) 2017-10-09 2020-05-26 Microsoft Technology Licensing, Llc Electrostatic rotary clutch
US10860102B2 (en) 2019-05-08 2020-12-08 Microsoft Technology Licensing, Llc Guide for supporting flexible articulating structure
US11036295B2 (en) 2016-11-23 2021-06-15 Microsoft Technology Licensing, Llc Electrostatic slide clutch
US11054905B2 (en) 2019-05-24 2021-07-06 Microsoft Technology Licensing, Llc Motion-restricting apparatus with common base electrode
US11061476B2 (en) 2019-05-24 2021-07-13 Microsoft Technology Licensing, Llc Haptic feedback apparatus

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US20020175598A1 (en) * 2001-03-02 2002-11-28 Sri International Electroactive polymer rotary clutch motors
US6497149B1 (en) * 1997-10-08 2002-12-24 Sercel Mobile plate accelerometer with electrostatic feedback motor
US20120235252A1 (en) * 2009-09-03 2012-09-20 Stefan Pinter Manufacturing method for an encapsulated micromechanical component, corresponding micromechanical component, and encapsulation for a micromechanical component
US20130088117A1 (en) * 2010-04-16 2013-04-11 Deregallera Holdings Ltd. Apparatus for use as a motor or generator
US20140277739A1 (en) * 2013-03-15 2014-09-18 Sri International Exosuit System

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6497149B1 (en) * 1997-10-08 2002-12-24 Sercel Mobile plate accelerometer with electrostatic feedback motor
US20020175598A1 (en) * 2001-03-02 2002-11-28 Sri International Electroactive polymer rotary clutch motors
US20120235252A1 (en) * 2009-09-03 2012-09-20 Stefan Pinter Manufacturing method for an encapsulated micromechanical component, corresponding micromechanical component, and encapsulation for a micromechanical component
US20130088117A1 (en) * 2010-04-16 2013-04-11 Deregallera Holdings Ltd. Apparatus for use as a motor or generator
US20140277739A1 (en) * 2013-03-15 2014-09-18 Sri International Exosuit System

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105997438A (zh) * 2016-07-18 2016-10-12 浙江大学 一种自调节可穿戴腿部动力支具
CN105997438B (zh) * 2016-07-18 2019-02-12 浙江大学 一种自调节可穿戴腿部动力支具
US11036295B2 (en) 2016-11-23 2021-06-15 Microsoft Technology Licensing, Llc Electrostatic slide clutch
US10663016B2 (en) 2017-10-09 2020-05-26 Microsoft Technology Licensing, Llc Electrostatic rotary clutch
WO2019212775A1 (fr) * 2018-05-01 2019-11-07 Microsoft Technology Licensing, Llc Embrayage à glissement électrostatique avec circuit d'attaque bidirectionnel
US11023047B2 (en) 2018-05-01 2021-06-01 Microsoft Technology Licensing, Llc Electrostatic slide clutch with bidirectional drive circuit
WO2020050901A1 (fr) * 2018-09-06 2020-03-12 Microsoft Technology Licensing, Llc Restriction sélective du mouvement d'articulations squelettiques
US10852825B2 (en) 2018-09-06 2020-12-01 Microsoft Technology Licensing, Llc Selective restriction of skeletal joint motion
US10860102B2 (en) 2019-05-08 2020-12-08 Microsoft Technology Licensing, Llc Guide for supporting flexible articulating structure
US11054905B2 (en) 2019-05-24 2021-07-06 Microsoft Technology Licensing, Llc Motion-restricting apparatus with common base electrode
US11061476B2 (en) 2019-05-24 2021-07-13 Microsoft Technology Licensing, Llc Haptic feedback apparatus

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