Abstract: Examples are provided that describe a cycloid transmission with an adjustable ring. An example cycloid transmission includes a disc and a motor shaft attached to the disc. The motor shaft is capable of rotating the disc around an outer ring of rollers. The outer ring of rollers surrounds the disc. As the disc is rotated, contact is made between the disc and the outer ring of rollers. A cycloid transmission also comprises an adjustable ring that is interposed between the motor shaft and the disc. A circumference of the adjustable ring can be adjusted in order to cause expansion of a radius of the disc. This expansion will result in increased contact of the disc with the outer ring of rollers and thereby lower backlash during rotation of the disc.

Abstract: Example embodiments may relate to a compliant force sensor used in actuated and non-actuated systems. For instance, a structure (e.g., a transmission) may be configured to receive a force based on application of a load to the structure. A rigid member may be coupled to the structure and configured to provide a first deformation based on application of the load to the structure and transfer of the force to the rigid member. An elastic element may provide compliance and may be connected to the rigid member such that the rigid member is configured to further transfer the force to the elastic element. The elastic member may be configured to provide a second deformation under application of the load that is larger than the first deformation. A sensor may be positioned on the rigid member and configured to measure the first deformation independent of hysteresis and non-linearity in the elastic element.

Abstract: Examples are provided that describe a cycloid transmission with an adjustable ring. An example cycloid transmission includes a disc and a motor shaft attached to the disc. The motor shaft is capable of rotating the disc around an outer ring of rollers. The outer ring of rollers surrounds the disc. As the disc is rotated, contact is made between the disc and the outer ring of rollers. A cycloid transmission also comprises an adjustable ring that is interposed between the motor shaft and the disc. A circumference of the adjustable ring can be adjusted in order to cause expansion of a radius of the disc. This expansion will result in increased contact of the disc with the outer ring of rollers and thereby lower backlash during rotation of the disc.

Abstract: Examples are provided that describe a cycloid transmission with an adjustable ring. An example cycloid transmission includes a disc and a motor shaft attached to the disc. The motor shaft is capable of rotating the disc around an outer ring of rollers. The outer ring of rollers surrounds the disc. As the disc is rotated, contact is made between the disc and the outer ring of rollers. A cycloid transmission also comprises an adjustable ring that is interposed between the motor shaft and the disc. A circumference of the adjustable ring can be adjusted in order to cause expansion of a radius of the disc. This expansion will result in increased contact of the disc with the outer ring of rollers and thereby lower backlash during rotation of the disc.

Abstract: Robotic devices with multi-degree of freedom (DOF) load cells for shear beam sensing are described. An example robotic device includes actuators coupled through joints to form a robotic manipulator, and a load cell provided proximal to a joint for detecting a force applied to the robotic manipulator and a torque experienced about the joint. The device also includes a controller programmable to determine a location of the force along the robotic manipulator based on values of the force and the torque output from the load cell, receive information indicating parameters of the robotic manipulator and of a load being experienced by the robotic device, and based on one of the force applied to the robotic manipulator or the torque experienced about the joint being above a threshold expected amount due to the load being experienced, determine that the robotic manipulator is experiencing an unexpected shear load at the location.

Abstract: Example embodiments may relate to a series elastic actuator (SEA). The SEA may include a motor, a transmission assembly, and an output plate that collectively form a motor housing assembly. The motor housing assembly may be supported on bearings that allow for a rotation of the motor housing assembly. The bearings may be supported on a housing of the SEA that may be connected to a robot link. Springs may be connected between the housing and the transmission assembly. The springs may be connected such that friction is reduced between the balls and races of the bearings. A sensor may be configured to measure a rotary deflection of the transmission assembly. A string may be wrapped around a rotary shaft of the sensor and ends of the string may be attached to the transmission assembly such that a rotation of the transmission assembly causes a rotation of the rotary shaft.