Twisted cord actuator

• US 4,843,921 A
• Filed: 04/18/1988
• Issued: 07/04/1989
• Est. Priority Date: 04/18/1988
• Status: Expired due to Term

• Current Assignee: Stephen R. Kremer
• Original Assignee: Stephen R. Kremer
• Inventors: Kremer, Stephen R.
• Primary Examiner(s): Braun, Leslie A.
• Assistant Examiner(s): Anchell, Scott
• Application Number:
  US07/182,880
• Time in Patent Office: 442 Days
• Field of Search: 74/89.2, 901/21, 901/36
• US Class Current: 74/89.2
• CPC Class Codes: A61F 2/54 Artificial arms or hands or parts thereof
• CPC Class Codes: A61F 2002/701 operated by electrically controlled means, e.g. solenoids or torque motors
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2002/7625 for measuring angular position
• CPC Class Codes: A61F 2002/7635 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61F 2002/764 for measuring acceleration
• CPC Class Codes: B23Q 1/34 Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements sensitive elements capable of producing movement or displacement for purposes not limited to measurement G12B1/00
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons
• CPC Class Codes: F16H 19/0654 using twisting movement of flexible members to modify the axial length of the mechanism
• CPC Class Codes: Y10T 74/18832 including flexible drive connector [e.g., belt, chain, strand, etc.]

Abstract

This invention relates particularly to a drive mechanism for converting rotary to unidirectional linear movement for use in actuation of hinged members of robotic, prosthetic, and other like devices. The twisted cord actuator includes a motor with an axial shaft to which, by a coupling, the single free end of two or more cords are attached. The opposing ends of the cords are attached to the moveable member. As the shaft rotates the cords are twisted around each other in helical fashion. Thus their combined length is shortened. In this invention the rotating device represents the muscle and the twisting of the cords, the tendons. The twisting pair of cords may then be threaded through a sheath to act as a pull cable for use as a tendon for an artifical finger or robotic arm. The values of this invention are low cost, ease of use and variability of design. In most applications the present invention may be matched to the load by the careful selection of the motor, cord diameter, and cord length without the use of a gear reducer. This combination creates a low inertia resilient actuator.

Claims

1. A drive mechanism for converting rotary motion to intermittent unidirectional motion for use as a cost effective actuator upon a load, comprising:

(a) a plurality of longitudinally strung cords of substantially equal length,

(b) a coupling means secured to a first end of each of said cords,

(c) a rotating shaft secured to said coupling means and being driven by a motor.

(d) a second end of each of said cords being secured to said load and being fixed relative to each other,

(e) means controlling the motor to regulate the position of the load, the velocity of the load, the acceleration of the load, and/or the force upon the load,

(f) whereby the controlling of the motor causes the rotating shaft to impart an intertwining of the cords around each other in helical fashion bringing the first and second ends of the cords towards and away from each other.

2. The drive mechanism of claim 1 further characterized by and including:

(a) a means for tailoring mechanical characteristics of said cords by separation at the cord ends or by use of a spacer along their length.

3. The drive mechanism of claim 1 further characterized by and including:

(a) a means for setting intermittent mechanical characteristics by use of a mechanism to select a section of the total length of the cords for actuation.

4. The drive mechanism of claim 1 further characterized by and including:

(a) a sheath means for flexibly surrounding the cords.

5. The drive mechanism of claim 1 further characterized by and including:

(a) a second coupling means to provide for actuation around a hinged joint by use of a flexible coupling supported by a bearing which transfers longitudinal and rotational motion.

6. The drive mechanism of claim 1 further characterized by and including:

(a) a sensing means as part of the cord construction by use of a resistance wire to monitor for a broken cord or cord strain.

7. The drive mechanism of claim 1 further characterized by and including:

(a) said means controlling includes a closed-loop servo-controller and a sensor.

8. The drive mechanism of claim 1 further characterized by and including:

(a) said means controlling includes a computing device having an algorithm or a look-up table.