Elastic Motor-Spring Actuator for Muscle-Like Energy Storage

The patent applies the dynamics principle by making the actuator's compliance characteristic variable rather than fixed. The compliance is dynamically adjusted based on the operating state, allowing the actuator to transition between stiff and compliant states. This enables the system to simulate biological muscle behavior where compliance changes during contraction cycles, thereby achieving both accurate muscle simulation and rapid energy storage/release capabilities.

The patent implements parameter changes by modifying the compliance parameter of the actuator based on its operating conditions. The compliance characteristic is changed from a fixed value to a variable parameter that adapts during operation. This allows the actuator to exhibit different mechanical properties at different stages of the contraction cycle, enabling accurate simulation of muscle behavior while maintaining high productivity through rapid energy transitions.

The patent applies the merging principle by integrating the elastic element directly into the actuator's existing structure rather than adding it as a separate external component. The elastic element is combined with the drive system and mechanical components in a unified configuration, allowing energy storage functionality to be embedded within the actuator itself. This reduces overall system complexity while maintaining improved compliance and energy storage capabilities.

The patent implements the nested doll principle by placing the elastic element within the existing actuator structure. The elastic component is nested among other mechanical elements such as the drive shaft, gears, or linkages, utilizing the internal space of the actuator housing. This nested configuration allows the elastic energy storage mechanism to be incorporated without significantly increasing the external dimensions or structural complexity of the actuator.

The patent applies parameter changes by designing the actuator with adjustable compliance characteristics that can be modified to suit different applications. The compliance parameter can be changed by selecting different elastic element properties, adjusting pre-load conditions, or modifying geometric parameters of compliant components. This allows a single actuator design to be adapted for various applications ranging from soft robotics to precision positioning, improving versatility without requiring completely different designs for each application.

The patent implements universality by creating an actuator design that can serve multiple applications through compliance adjustment. The same basic actuator structure with its integrated elastic element can be configured for different compliance levels to meet diverse application requirements. This multi-functional capability allows the actuator to be used in soft robotics, rigid automation, prosthetics, or other applications by simply adjusting the compliance parameter, thereby improving ease of manufacture compared to producing specialized actuators for each application.