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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12605855-B2, on 21 April 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000000194

Infinite-rotation infinite-stiffness variable stiffness actuator (IRISVSA) with application for compliant supernumerary robotic limb

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Classification
Robotics & Automation › Robot Architectures
Original source
US-12605855-B2, the United States Patent and Trademark Office, 21 April 2026
Document SHA-256
f632d0d3bf2349250aa1864d30a96dcc91edb2e17758a2074e67bb819d3f2d94

Abstract

A supernumerary robotic limb (SRL) system can include a plurality of rigid links, a joint that connects one rigid link to another rigid link in the plurality of rigid arms, and two variable stiffness actuators (VSAs) configured to drive the plurality of rigid links in order to complete at least one task. The VSAs can exhibit infinite rotation and infinite stiffness. The VSAs can include an output link. Additionally, the VSAs can include a set of elastic elements mounted on the output link. The VSAs can include an input link configured to provide kinetic energy for the output link. The VSAs can include a dynamic chassis configured to connect with the input link. Additionally, the VSAs can include a stiffness adjustor included in the dynamic chassis and configured to adjust an elastic transmission between at least one elastic element of the set of elastic elements and the output link.

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Citation

OpenTechnical Publication OT-2026-000000194, “Infinite-rotation infinite-stiffness variable stiffness actuator (IRISVSA) with application for compliant supernumerary robotic limb,” published September 15, 2026 at 19:02:35 UTC, https://opentechnical.org/p/OT-2026-000000194.

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