Abstract: The present disclosure relates to a system that uses linear actuators to generate a torque on a shaft. In an example implementation, a system may include a shaft and an attached cam. The cam includes an involute portion. The system also includes a first linear actuator and a second linear actuator configured to move along a first axis and a second axis, respectively. The linear actuators are configured to detachably couple to the cam based on at least a reference angle of the shaft. That is, as the shaft rotates about its rotational axis at the reference angle, the first and the second linear actuators may couple to, and decouple from, various portions of the cam. As the linear actuators couple to, and decouple from, the various portions of the cam, different rotational torques and/or different ranges of such torques may be imparted onto the shaft.

Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).

Abstract: A brace system includes a medial brace and a lateral brace securable via cross members. Each brace has an upper portion, a lower portion, and a hinge assembly between the upper and lower portion configured to allow translation of the lower portion relative to the upper portion.

Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).

Abstract: Example embodiments may relate to a robotic system that includes a hydraulic actuator and an electric actuator both coupled to a joint of the robotic system. Operation of the actuators may be based on various factors such as based on desired joint parameters. For instance, such desired joint parameters may include a desired output torque/force of the joint, a desired output velocity of the joint, a desired acceleration of the joint, and/or a desired joint angle, among other possibilities. Given a model of power consumption as well as a model of the actuators, the robotic system may determine operating parameters such as hydraulic and electric operating parameters as well as power system parameters, among others. The robotic system may then control operation of the actuators, using the determined operating parameters, to obtain the desired joint parameters such that power dissipation in the system is minimized (i.e., maximizing actuation efficiency).

Abstract: A combustion powered linear actuator features an actuator body having a first chamber therein and a power piston mounted in the first chamber movable between retracted and extended positions. The power piston has a combustion chamber therein. A first seal about the piston seals the piston with respect to the actuator body. A vent region in the body of increased diameter allows exhaust gases to bypass the first seal and flow into a space between the piston and the actuator body and to then vent out of the actuator body. A second seal proximate the distal end of the actuator body cooperates with another piston seal to seal the annular region when the piston is retracted. The vent region may include a vent gland in the first chamber about the piston defining a vent chamber between the actuator body and the vent gland.

Abstract: A brace system includes a medial brace and a lateral brace securable via cross members. Each brace has an upper portion, a lower portion, and a hinge assembly between the upper and lower portion configured to allow translation of the lower portion relative to the upper portion.

Abstract: A combustion powered linear actuator features an actuator body having a first chamber therein and a power piston mounted in the first chamber movable between retracted and extended positions. The power piston has a combustion chamber therein. A first seal about the piston seals the piston with respect to the actuator body. A vent region in the body of increased diameter allows exhaust gases to bypass the first seal and flow into a space between the piston and the actuator body and to then vent out of the actuator body. A second seal proximate the distal end of the actuator body cooperates with another piston seal to seal the annular region when the piston is retracted. The vent region may include a vent gland in the first chamber about the piston defining a vent chamber between the actuator body and the vent gland.

Abstract: A rotorcraft with two counter-rotating rotors and method for inertially controlling the rotorcraft. The rotorcraft includes a hinged frame configured such that at least one inter-rotor angle of the two counter-rotating rotors is controlled by at least one actuated hinge of the hinged frame and the rotational axes of the two counter-rotating rotors are substantially collinear when the actuated hinge is in a fully open position. The sum of the magnitudes of torque applied to the two counter-rotating rotors is varied to control the lift of the rotorcraft. The difference of the magnitudes of torque applied to the two counter-rotating rotors is varied to control the yaw of the rotorcraft. The at least one inter-rotor angle is varied using the at least one actuated hinge to control the pitch and/or roll of the rotorcraft.

Abstract: A rotorcraft with two counter-rotating rotors and method for inertially controlling the rotorcraft. The rotorcraft includes a hinged frame configured such that at least one inter-rotor angle of the two counter-rotating rotors is controlled by at least one actuated hinge of the hinged frame and the rotational axes of the two counter-rotating rotors are substantially collinear when the actuated hinge is in a fully open position. The sum of the magnitudes of torque applied to the two counter-rotating rotors is varied to control the lift of the rotorcraft. The difference of the magnitudes of torque applied to the two counter-rotating rotors is varied to control the yaw of the rotorcraft. The at least one inter-rotor angle is varied using the at least one actuated hinge to control the pitch and/or roll of the rotorcraft.