Biologically-Inspired Robotic Joints with Coupler-Decoupler Mechanism
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Solution Overview
Problem
Current robotic joints lack a simple architecture and human-like movement characteristics, limiting their effectiveness in various applications including industrial, medical, and military uses.
Innovation Solution
A biologically-inspired robotic joint with a coupler/decoupler mechanism (CDC) and force multiplier (FM) that uses synthetic muscles to mimic human muscle-tendon actuation, allowing for selective coupling and decoupling of actuators to achieve human-like joint torque and power, and variable stiffness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional robotic joints are used, then the joint can perform basic movement, but it lacks human-like movement characteristics and has complex architecture
Solution Approach 1:
The patent copies the biological muscle-tendon actuation mechanism to create synthetic muscles that mimic human muscle behavior. The synthetic muscles are connected through tendons to the joint, replicating the natural human musculoskeletal system's movement characteristics while maintaining a relatively simple mechanical architecture.
Solution Approach 2:
The patent replaces traditional rigid mechanical actuators with a compliant system using synthetic muscles and tendons. This substitution allows the joint to achieve human-like movement characteristics through soft, flexible components rather than rigid mechanical linkages, simplifying the overall architecture while improving adaptability.
2Power
If synthetic muscles are used to mimic human muscle actuation, then human-like joint torque and power are achieved, but the system requires selective coupling and decoupling mechanisms
Solution Approach 1:
The patent implements dynamic coupling and decoupling of synthetic muscles through a mechanism that allows muscles to be selectively engaged or disengaged from the joint based on movement requirements. This dynamic reconfiguration enables the system to achieve human-like torque and power while maintaining operational flexibility and reducing unnecessary mechanical complexity.
Solution Approach 2:
The patent divides the actuation system into modular synthetic muscle units that can be independently controlled and selectively coupled to the joint. This segmentation allows for precise control of joint torque and power by engaging only the necessary muscles for each movement, reducing the complexity of continuous full-system coupling.
3Use of energy by moving object
If variable stiffness is implemented in the joint, then energy-effective movement is achieved, but additional control mechanisms are required
Solution Approach 1:
The patent achieves variable stiffness by changing the activation state of synthetic muscles, allowing the joint to adjust its mechanical properties dynamically. By controlling which muscles are activated and their degree of engagement, the system can optimize energy efficiency for different movement phases without requiring separate stiffness control mechanisms, as the muscle activation itself provides the stiffness variation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and energy-effective joint movement with human-like peak joint torque and power, suitable for applications such as orthotics, prosthetics, and assistive devices, capable of lifting combined masses up to 150 kg, while maintaining smooth joint angle trajectories and maximizing muscle force.
Implementation Method 1
the inner member defines an expandable compartment for receiving an actuating fluid such that the inner member is moved from a relaxed state to an expanded state by introducing the actuating fluid into the inner member and from the expanded state to the relaxed state upon discharge of the actuating fluid from the inner member
Data Source
AI summary
The present disclosure provides a biologically-inspired robotic device comprising: a first member; a second member pivotably connected to the first member; one or more actuators; and a coupler/decoupler mechanism (CDC) selectively coupling or decoupling of the one or more actuators to the second member, such that, when the one or more actuators are coupled to the second member, the one or more actuators act to pivot the second member relative to the first member.