Robotic device and method of using a parallel mechanism
A parallel kinematically redundant device includes a base body portion and a movable portion. The movable portion includes first, second, and third joints. A first actuator is coupled to the first joint of the movable portion and to the base body portion. A second actuator is coupled in parallel with the first actuator between the second joint of the movable portion and the base body portion. A linking member is rotationally coupled to the third joint of the movable portion to provide an output for the first and second actuators. A housing is coupled to the base body portion and fits onto a user. A prosthetic joint device includes a base portion and a movable portion. An actuator is rotationally coupled to the movable portion and base portion. A compliant element is coupled in parallel with the actuator between the movable portion and base portion.
1. A method of making a prosthetic joint device, comprising:
providing a base body;
providing a movable body;
disposing a first linking member connected between a first movable joint of the movable body and a first movable joint of the base body;
disposing a second linking member connected between a second movable joint of the movable body and a second movable joint of the base body; and
disposing a prosthetic foot connected to a third movable joint of the movable body and further connected to a third movable joint of the base body to provide rotation of the prosthetic foot with respect to the base body.
2. The method of claim 1 , wherein the first linking member or second linking member includes an actuator.
3. The method of claim 1 , wherein the first linking member or second linking member includes a compliant member.
4. The method of claim 1 , wherein the first linking member or second linking member includes a first actuator or the second linking member includes a compliant member.
5. The method of claim 1 , wherein the second movable joint of the movable body is disposed between the first movable joint of the movable body and third movable joint of the movable body.
6. The method of claim 1 , wherein the first movable joint of the base body, the second movable joint of the base body, and the third movable joint of the base body each include a revolute joint.
7. The method of claim 1 , wherein the first movable joint of the movable body, second movable joint of the movable body, and third movable joint of the movable body each include a revolute joint.
8. A prosthetic joint device, comprising:
a base body;
a movable body;
a first linking member connected between a first rotational joint of the movable body and a first rotational joint of the base body;
a second linking member connected between a second rotational joint of the movable body and a second rotational joint of the base body; and
a prosthetic foot connected to a third rotational joint of the movable body and further connected to a third rotational joint of the base body to provide rotation of the prosthetic foot with respect to the base body.
9. The prosthetic joint device of claim 8 , wherein the first linking member or second linking member includes an actuator.
10. The prosthetic joint device of claim 8 , wherein the first linking member or second linking member includes a compliant member.
11. The prosthetic joint device of claim 8 , wherein the first linking member includes a first actuator and the second linking member includes a compliant member.
12. The prosthetic joint device of claim 8 , wherein the second rotational joint of the movable body is disposed between the first rotational joint of the movable body and third rotational joint of the movable body.
13. The prosthetic joint device of claim 8 , wherein the first rotational joint of the base body, the second rotational joint of the base body, and the third rotational joint of the base body each include a revolute joint, and the first rotational joint of the movable body, second rotational joint of the movable body, and third rotational joint of the movable body each include a revolute joint.
14. A method of making a prosthetic joint device, comprising:
providing a base body;
providing a movable body;
disposing an actuator connected between a first joint of the movable body and a first joint of the base body;
disposing a compliant member connected between a second joint of the movable body and a second joint of the base body; and
disposing a prosthetic foot connected to a third rotational joint of the movable body and further connected to a third joint of the base body to provide rotation of the prosthetic foot with respect to the base body.
15. The method of claim 14 , wherein the second joint of the movable body is disposed between the first joint of the movable body and third rotational joint of the movable body.
16. The method of claim 14 , wherein the first joint of the base body, the second joint of the base body, and the third joint of the base body each include a revolute joint.
17. The method of claim 14 , wherein the first joint of the movable body, second joint of the movable body, and third rotational joint of the movable body each include a revolute joint.
18. The method of claim 14 , wherein the compliant member includes a spring.
19. The method of claim 14 , wherein the actuator includes a motor-driven screw or piston.
20. A prosthetic joint device, comprising:
a base body;
a movable body;
an actuator connected between a first joint of the movable body and a first joint of the base body;
a compliant member connected between a second joint of the movable body and a second joint of the base body; and
a prosthetic foot connected to a third movable joint of the movable body and further connected to a third joint of the base body to provide rotation of the prosthetic foot with respect to the base body.
21. The prosthetic joint device of claim 20 , wherein the second joint of the movable body is disposed between the first joint of the movable body and third movable joint of the movable body.
22. The prosthetic joint device of claim 20 , wherein the first joint of the base body, the second joint of the base body, and the third joint of the base body each include a revolute joint, and the first joint of the movable body, second joint of the movable body, and third movable joint of the movable body each include a revolute joint.
23. The prosthetic joint device of claim 20 , wherein the compliant member includes a spring.
24. The prosthetic joint device of claim 20 , wherein the actuator includes a motor-driven screw or piston.
25. The prosthetic joint device of claim 20 , wherein the prosthetic foot includes a flat bottom portion.