Rotary series elastic actuator Patent uri icon


  • A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.

author list (cited authors)

  • Ihrke, C. A., Mehling, J. S., Parsons, A. H., Griffith, B. K., Radford, N. A., Permenter, F. N., ... Junkin, L. Q.

complete list of authors

  • Ihrke, CA||Mehling, JS||Parsons, AH||Griffith, BK||Radford, NA||Permenter, FN||Davis, DR||Ambrose, RO||Junkin, LQ

publication date

  • October 2012