IP Library › Granted Patent US 12,669,168
Granted Patent B2
US 12,669,168 · App. 18/531,916 · Granted Jun 30, 2026

Robotic pronator

Inventors: Evelyn Sorgenfrei (Ann Arbor, MI); Vasil lakimovitch (Ann Arbor, MI); Revanth Damerla (Ann Arbor, MI)
Assignee: The Regents of the University of Michigan
F16H37/122A61F2/585B25J9/106B25J9/123A61F2002/701A61F2002/704
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Quick Facts
Patent No.
US 12,669,168
App. No.
18/531,916
Filed
Dec 7, 2023
Granted
Jun 30, 2026
Kind
B2
Art Unit
3618
USPC
74/724
Abstract

An assembly comprising a crank configured to rotate about an output axis; a first motor configured to rotate a first screw; and a first nut assembly configured to translate along the first screw in response to rotation of the first screw. The first nut assembly is coupled to the crank. The assembly further includes a second motor configured to rotate a second screw; and a second nut assembly configured to translate along the second screw in response to rotation of the second screw. The second nut assembly is coupled to the crank. Translation of the first nut assembly along the first screw is out of phase with translation of the second nut assembly along the second screw.

Claims (45)

1 . An assembly comprising:

a frame;

a motor coupled to the frame and movable with respect to the frame about a pivot axis;

a screw rotationally driven by the motor;

a nut coupled to the screw and configured to translate along the screw in response to rotation of the screw; and

a crank configured to rotate relative to the frame about an output axis; wherein the nut is coupled to the crank and configured to drive the crank about the output axis; and

a carriage positioned between the nut and the crank, wherein the carriage translates along the screw with the nut; and wherein the carriage rotates relative to the crank about a carriage axis; and

wherein the motor is movable with respect to the output axis of the crank about the pivot axis.

2 . The assembly of claim 1 , wherein the carriage is coupled to the crank at an attachment positioned a distance from the output axis.

3 . The assembly of claim 1 , further comprising a linear guide rod coupled to the motor; wherein the linear guide rod is positioned spaced from and parallel to the screw.

4 . The assembly of claim 3 , further comprising an end bracket coupled to the linear guide rod and the screw.

5 . The assembly of claim 4 , further comprising a position sensor coupled to the end bracket and configured to detect a rotational position of the screw.

6 . The assembly of claim 1 , wherein the motor includes a stator, a rotor, and a housing, wherein the stator and the rotor are at least partially received within the housing and the housing is coupled to the frame to move about the pivot axis; and wherein the rotor rotates about a screw axis of the screw.

7 . The assembly of claim 1 , wherein the motor includes a stator and the stator is coupled to the frame to move about the pivot axis.

8 . The assembly of claim 1 , wherein the crank includes:

a first end portion aligned with the output axis;

an offset portion spaced from the output axis;

a drive portion; and

a second end portion aligned with the output axis;

wherein the drive portion includes an attachment coupled to the nut.

9 . The assembly of claim 1 , wherein the frame is cylindrical shape.

10 . The assembly of claim 9 , wherein the frame includes a rim that rotationally supports the crank and a plurality of longitudinal struts that are spaced unevenly around a circumference of the rim.

11 . The assembly of claim 1 , further comprising a gearbox positioned between the motor and the screw.

12 . The assembly of claim 1 , wherein the motor is a first motor, the screw is a first screw, and the nut and the carriage are part of a first nut assembly, and wherein the assembly further comprises:

a second motor configured to rotate a second screw; and

a second nut assembly configured to translate along the second screw in response to rotation of the second screw, the second nut assembly coupled to the crank;

wherein translation of the first nut assembly along the first screw is out of phase with translation of the second nut assembly along the second screw.

13 . The assembly of claim 12 , wherein the first nut assembly is coupled to the crank at a first attachment and the second nut assembly is coupled to the crank at a second attachment; wherein the first attachment and the second attachment are spaced a distance away from the output axis; wherein an angle about the output axis is defined between the first attachment and the second attachment, and wherein the angle is within a range of 70 degrees to 130 degrees.

14 . The assembly of claim 12 , wherein the pivot axis is a first pivot axis and the second motor moves about a second pivot axis.

15 . The assembly of claim 14 , wherein the second pivot axis is colinear with the first pivot axis;

wherein the first motor moves about the first pivot axis through a first range of motion of 20.5 degrees;

wherein the second motor moves about the second pivot axis through a second range of motion of 20.5 degrees; and

wherein the first motor pivots out of phase with the second motor.

16 . The assembly of claim 12 , wherein the first screw defines a first screw axis and the first screw axis moves with respect to the output axis.

17 . The assembly of claim 12 , wherein the first screw defines a first screw axis and the first screw axis is fixed relative to the output axis.

18 . The assembly of claim 12 , wherein the first screw defines a first screw axis and the first screw axis intersects the output axis.

19 . The assembly of claim 12 , further comprising a link positioned between the first nut assembly and the crank.

20 . The assembly of claim 1 , wherein the carriage axis is spaced from and parallel to the pivot axis.

21 . The assembly of claim 20 , wherein the carriage axis is spaced from and parallel to the output axis; and wherein the frame defines a longitudinal axis; and wherein the longitudinal axis is coaxial with the output axis.

22 . The assembly of claim 1 , wherein the carriage axis is spaced from and parallel to the output axis.

23 . The assembly of claim 1 , wherein the pivot axis and the output axis are spaced apart and parallel.

24 . The assembly of claim 1 , wherein the frame is fixed relative to the output axis of the crank.

25 . The assembly of claim 1 , wherein the motor rotationally drives the screw about a screw axis; and wherein the screw axis intersects the pivot axis.

26 . The assembly of claim 25 , wherein the carriage axis is spaced from and parallel to the pivot axis; and wherein the carriage axis is spaced from and parallel to the output axis; and wherein the frame defines a longitudinal axis; and wherein the longitudinal axis is coaxial with the output axis.

27 . The assembly of claim 25 , wherein the screw axis moves with respect to the output axis.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Dec 13, 2023
From: SORGENFREI, EVELYN; IAKIMOVITCH, VASIL; DAMERLA, REVANTH
To: THE REGENTS OF THE UNIVERSITY OF MICHIGAN
Reel/Frame 065852/0620 →
Continuity (2)
Provisional Application 63430785 · Dec 7, 2022
Related Publication 20240191791A1 · Jun 13, 2024
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