Patents by Inventor Brian J. Maclean
Brian J. Maclean has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11981027Abstract: A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising a first support member, a second support member, and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom. The quasi-passive elastic actuator can comprise a first vane device and a second vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. The system can further comprise a valve assembly, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation, and a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly.Type: GrantFiled: November 9, 2020Date of Patent: May 14, 2024Assignee: Sarcos Corp.Inventors: Fraser M. Smith, Marc X. Olivier, Brian J. Maclean, Michael Myers
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Patent number: 11759944Abstract: A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state comprising configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module. The method further comprises configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, supporting a valve assembly about the axis of rotation of the joint through the first vane device, and configuring a shunt circuit to facilitate fluid flow between compression and expansion chambers through the valve assembly.Type: GrantFiled: November 9, 2020Date of Patent: September 19, 2023Assignee: Sarcos Corp.Inventors: Fraser M. Smith, Marc X. Olivier, Brian J. Maclean, Michael Myers
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Patent number: 11679511Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.Type: GrantFiled: February 8, 2022Date of Patent: June 20, 2023Assignee: Sarcos Corp.Inventors: Fraser M. Smith, Brian J. Maclean
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Publication number: 20220161442Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.Type: ApplicationFiled: February 8, 2022Publication date: May 26, 2022Inventors: Fraser M. Smith, Brian J. Maclean
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Patent number: 11241801Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.Type: GrantFiled: December 31, 2018Date of Patent: February 8, 2022Assignee: Sarcos Corp.Inventors: Fraser M. Smith, Brian J. Maclean
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Publication number: 20210069891Abstract: A method of facilitating switching of a quasi-passive elastic actuator of a tunable actuator joint module of a robotic system between an inelastic state and an elastic state comprising configuring a quasi-passive elastic actuator to be operable with a primary actuator of the tunable actuator joint module to selectively apply an augmented torque to assist the primary actuator in rotation of a joint of the tunable actuator joint module. The method further comprises configuring an elastic component of the quasi-passive actuator to comprise a first vane device and second vane device rotatable relative to each other within a housing, supporting a valve assembly about the axis of rotation of the joint through the first vane device, and configuring a shunt circuit to facilitate fluid flow between compression and expansion chambers through the valve assembly.Type: ApplicationFiled: November 9, 2020Publication date: March 11, 2021Inventors: Fraser M. Smith, Marc X. Olivier, Brian J. Maclean, Michael Myers
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Publication number: 20210069892Abstract: A robotic system for a robotic limb configured to recover energy for minimizing power consumption of the robotic system, comprising a first support member, a second support member, and a quasi-passive elastic actuator rotatably coupling the first and second support members to define a joint of the robotic system rotatable about an axis of rotation defining a degree of freedom. The quasi-passive elastic actuator can comprise a first vane device and a second vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. The system can further comprise a valve assembly, the valve assembly comprising a valve device disposed through an opening of the first vane device along the axis of rotation, and a shunt circuit facilitating fluid flow between the compression and expansion chambers through the valve assembly.Type: ApplicationFiled: November 9, 2020Publication date: March 11, 2021Inventors: Fraser M. Smith, Marc X. Olivier, Brian J. Maclean, Michael Myers
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Patent number: 10828767Abstract: A quasi-passive elastic actuator operable within a robotic system comprising a housing comprising an output member operable to couple to a first support member of a robotic system, a first vane device supported by the housing and comprising an input member operable to couple to a second support member of the robotic system, a second vane device coupled to the housing and interfaced with the first vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. A valve assembly is located and operable at the joint of the robotic system, and is operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state, the valve assembly comprising a valve device disposed through an opening of the first vane device along an axis of rotation of the first vane device.Type: GrantFiled: November 12, 2017Date of Patent: November 10, 2020Assignee: Sarcos Corp.Inventors: Fraser M. Smith, Marc X. Olivier, Brian J. Maclean, Michael Myers
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Publication number: 20200206947Abstract: A robotic end-effector to provide an anthropomorphic hand with a dorsal actuation system. The hand has a substantially planar palm and fingers extending from the palm and capable of flexion and extension relative to the palm. The dorsal actuation system is supported on the palm and fingers, with actuators positioned at a dorsal side of the palm and links positioned at a dorsal side of the fingers.Type: ApplicationFiled: December 31, 2018Publication date: July 2, 2020Inventors: Fraser M. Smith, Brian J. Maclean
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Publication number: 20180194000Abstract: A quasi-passive elastic actuator operable within a robotic system comprising a housing comprising an output member operable to couple to a first support member of a robotic system, a first vane device supported by the housing and comprising an input member operable to couple to a second support member of the robotic system, a second vane device coupled to the housing and interfaced with the first vane device, the first vane device and second vane device being rotatable relative to each other within the housing and defining, at least in part, a compression chamber and an expansion chamber. A valve assembly is located and operable at the joint of the robotic system, and is operable to switch the quasi-passive elastic actuator between an elastic state and an inelastic state, the valve assembly comprising a valve device disposed through an opening of the first vane device along an axis of rotation of the first vane device.Type: ApplicationFiled: November 12, 2017Publication date: July 12, 2018Inventors: Fraser M. Smith, Marc X. Olivier, Brian J. Maclean, Michael Myers
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Patent number: 9051028Abstract: A hull inspection robot for autonomously inspecting a hull includes a robot body and a drive subsystem onboard the robot for driving and maneuvering the robot about the hull. An autonomous inspection system non-destructively inspects the hull by detecting a state of or near a portion of the hull and comparing the detected state with a stored state of the portion of the hull.Type: GrantFiled: February 17, 2013Date of Patent: June 9, 2015Assignee: Raytheon CompanyInventors: Fraser M. Smith, Brian J. Maclean, Glenn Colvin
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Patent number: 8731716Abstract: A method of operating a biomimetic mechanical joint having a plurality of fractional actuators configured for rotating a support member about a pivot device. The fractional actuators can be selectively recruited during operation, either individually or together, to efficiently rotate the support member about the mechanical joint throughout a range of movements and under a variety of load conditions. Each fractional actuator can be continuously throttled to reduce the speed or torque at which the actuator operates. The capability of selectively recruiting and throttling each fractional actuator results in an actuator system having two degrees of freedom, in which a single operating state of the mechanical joint may be reached with one or more of actuator arrangements and throttling settings.Type: GrantFiled: August 28, 2009Date of Patent: May 20, 2014Assignee: Raytheon CompanyInventors: Stephen C. Jacobsen, Marc X. Olivier, Brian J. Maclean
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Patent number: 8516918Abstract: A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.Type: GrantFiled: August 28, 2009Date of Patent: August 27, 2013Assignee: Raytheon CompanyInventors: Stephen C. Jacobsen, Marc X. Olivier, Brian J. Maclean
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Patent number: 8205695Abstract: A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.Type: GrantFiled: April 22, 2010Date of Patent: June 26, 2012Assignee: Raytheon CompanyInventors: Stephen C. Jacobsen, Brian J. Maclean, Ralph W. Pensel, Christopher R. Hirschi
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Publication number: 20110295164Abstract: A method of operating a biomimetic mechanical joint having a plurality of fractional actuators configured for rotating a support member about a pivot device. The fractional actuators can be selectively recruited during operation, either individually or together, to efficiently rotate the support member about the mechanical joint throughout a range of movements and under a variety of load conditions. Each fractional actuator can be continuously throttled to reduce the speed or torque at which the actuator operates. The capability of selectively recruiting and throttling each fractional actuator results in an actuator system having two degrees of freedom, in which a single operating state of the mechanical joint may be reached with one or more of actuator arrangements and throttling settings.Type: ApplicationFiled: August 28, 2009Publication date: December 1, 2011Applicant: RAYTHEON COMPANYInventors: Stephen C. Jacobsen, Marc X. Olivier, Brian J. Maclean
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Publication number: 20110214524Abstract: A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.Type: ApplicationFiled: August 28, 2009Publication date: September 8, 2011Applicant: Raytheon CompanyInventors: Stephen C. Jacobsen, Marei X Olivier, Brian J. Maclean
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Publication number: 20110213599Abstract: A method of configuring a biomimetic mechanical joint for the efficient movement of a support member about a pivot device. The method includes providing a first fractional actuator and a second fractional actuator being operable with the support member and the pivot device, sizing the first fractional actuator for rated operation at a first boundary condition, and sizing the second fractional actuator so that the first and second fractional actuators, when recruited in combination, are rated for operation at a second boundary condition.Type: ApplicationFiled: August 28, 2009Publication date: September 1, 2011Applicant: Raytheon CompanyInventors: Stephen C. Jacobsen, Marc X. Olivier, Brian J. Maclean
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Patent number: 8002365Abstract: A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.Type: GrantFiled: November 13, 2007Date of Patent: August 23, 2011Assignee: Raytheon CompanyInventors: Stephen C. Jacobsen, Brian J. Maclean, Ralph W. Pensel, Christopher R. Hirschi
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Publication number: 20100201185Abstract: A suspension system for a lightweight robotic crawler is disclosed. The suspension system provides for mounting of a flexible endless track thereon. The suspension system includes a forward guide and a rearward guide around which the endless track can be looped. A deflector positioned between the forward guide and the rearward guide downwardly deflects a ground-engaging portion of the endless track to form a peaked area. The peaked area can support the lightweight robotic vehicle allowing alteration of a distribution of load over the ground-engaging portion of the endless track with respect to a supporting surface.Type: ApplicationFiled: April 22, 2010Publication date: August 12, 2010Inventors: Stephen C. Jacobsen, Brian J. Maclean, Ralph W. Pensel, Christopher R. Hirschi
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Patent number: 5936411Abstract: A method and apparatus for measuring displacement of one location of a structure, relative to another, spaced apart location.Type: GrantFiled: November 28, 1997Date of Patent: August 10, 1999Assignee: Sarcos L.C.Inventors: Stephen C. Jacobsen, Michael G. Mladejovsky, Mark R. Whitaker, Brian J. Maclean