Rotary One-to-Many System:

Many (artificial muscles) degrees of freedom independently actuated by one electric motor

pages/RotaryOTM.wmv
Rotary One-To-Many (OTM) System [click on image to see movie]
The Winner of the 2013 WPI Mechanical Engineering Department Best MQP in Robotics Engineering Award.
Working Prototype (April 2013).

Abstract:

A new OTM system based on planetary gear clutching mechanism is developed. This system transforms the system architecture from linear to rotary. This system is more compact and robust than the Linear OTM. Additionally, the new design incorporates a more refined means of a controlled release so that the energy outputted from the system has a finely controlled output with variable speed and force (and hence power) with capability of force and power amplification.

In the case of both linear and rotary OTM system architecture, the energy stored in the elastic medium is defined by the position of the end points of the elastic medium. In the linear case, the end points are limited by finite dimension of allowed linear space. In difference, the rotary OTM system operates in the unlimited rotational space and hence provides more relaxed conditions for control of the system and does not require an automated mechanical reset, allowing for 100% duty cycle operation, introducing the possibility of much greater performance.

A single motor operating at optimal motor conditions (as it is never connected directly to load) can actuate any number of Degrees of Freedom with power amplification capability. Hence, the system can be a portable, lightweight, cost-effective, and energy-efficient alternative to traditional actuators.The Rotary OTM is a very attractive solution for wearable system, e.g. for post-stroke rehabilitation. The particular iteration of the concept we developed is utilized to power exo-musculature prosthetic devices for post-stroke rehabilitation.


Publications and Presentations:

1. M. B. Popovic, C. J. Berthelette, M. DiPinto, J. D. Sareault, and T. R. Hunt (Publication date 2016/5/19) “Actuation Systems and Methods” (One-to-many systems for electric motors). United States Patent and Trademark Office, Assignee Worcester Polytechnic Institute. Serial No.: 61/844,604. Filed: July 10, 2013. US Patent 20,160,138,690, 2016

2. C. J. Berthelette, M. DiPinto, J. D. Sareault, E. C. Cobb, F. Hoy, and M. B. Popovic, Rotary "One-To-Many" (OTM) Novel Actuator; The Winner of the 2013 WPI Mechanical Engineering Department Best MQP in Robotics Engineering Award. WPI MQP Presentation Day, April 19, 2013.(POSTER)

3. C. J. Berthelette, M. DiPinto, J. D. Sareault, (primary advisor M. B. Popovic), Rotary "One-To-Many" (OTM) Novel Actuator; The Winner of the 2013 WPI Mechanical Engineering Department Best MQP in Robotics Engineering Award. WPI, April 25, 2013.(MQP Report)


Current Researchers:

Marko B. Popovic


Past Researchers:

Christopher J. Berthelette, Eben C. Cobb, Matthey DiPinto, Francis Hoy, J.D. Sareault