The invention relates to a torque regulating device (20) for regulating the output power and/or the torque of an electric drive (10) having an electric motor (12) with a stator and a rotor and preferably an output shaft (14) connected to the rotor for joint rotation. In order to enable a more accurate regulation with, at the same time, a possibility for implementing an improved safety monitoring of the electric drive (14), there are provided a torque sensor (26) for measuring a torque acting between the stator and the rotor, in particular by measuring on the output shaft (14), and a control system (24) which is connected to the torque sensor (26) and is configured to control the electric motor (12) in accordance with the torque measured by the torque sensor (26). Further, a corresponding regulating method and an advantageous torque sensor assembly for use in the device and in the method are proposed.

A robotic actuator may include a series elastic actuator (SEA) that includes an elastic element made of a viscoelastic material. The viscoelastic material may have hardness, stiffness, hysteresis, or damping properties suitable for a particular robotic application. The elastic element may include two portions of the viscoelastic material in compression with each other in the SEA. The SEA may include a motor to generate mechanical power, a speed reduction element to amplify motor torque, an encoder to measure deflection of the viscoelastic elastomer due to an applied force, and a transmission mechanism. The transmission mechanism may be connected to the motor using a pulley and may route mechanical power to an output joint. The SEA may be a prismatic SEA or another type of linear actuator. The motor may include a 3D printed liquid cooling jacket that includes removable fluid seals and that is assembled and disassembled using removable screws.

A robotic actuator may include a series elastic actuator (SEA) that includes an elastic element made of a viscoelastic material. The viscoelastic material may have hardness, stiffness, hysteresis, or damping properties suitable for a particular robotic application. The elastic element may include two portions of the viscoelastic material in compression with each other in the SEA. The SEA may include a motor to generate mechanical power, a speed reduction element to amplify motor torque, an encoder to measure deflection of the viscoelastic elastomer due to an applied force, and a transmission mechanism. The transmission mechanism may be connected to the motor using a pulley and may route mechanical power to an output joint. The SEA may be a prismatic SEA or another type of linear actuator. The motor may include a 3D printed liquid cooling jacket that includes removable fluid seals and that is assembled and disassembled using removable screws.

A drive unit (10) for a manually driven vehicle, in particular a bicycle or an EPAC, includes a housing (12), a bottom bracket shaft (14), an electric auxiliary drive (16), and an output shaft (22) designed as a hollow shaft. The bottom bracket shaft (14) and the output shaft (22) are coaxial. The output shaft (22) surrounds the bottom bracket shaft (14) at least partially along an axial direction. A first freewheel clutch (24) and a second freewheel clutch (26) are arranged radially between the bottom bracket shaft (14) and the output shaft (22). The freewheel clutches are axially adjacent and act on the output shaft (22).

A drive unit (10) for a manually driven vehicle, in particular a bicycle or an EPAC, includes a housing (12), a bottom bracket shaft (14), an electric auxiliary drive (16), and an output shaft (22) designed as a hollow shaft. The bottom bracket shaft (14) and the output shaft (22) are coaxial. The output shaft (22) surrounds the bottom bracket shaft (14) at least partially along an axial direction. A first freewheel clutch (24) and a second freewheel clutch (26) are arranged radially between the bottom bracket shaft (14) and the output shaft (22). The freewheel clutches are axially adjacent and act on the output shaft (22).

A downhole tubing rotator that has a housing configured into a production tubing string in a well in a reservoir, the housing being generally cylindrical with a hollow center and containing a two pole, three phase induction squirrel cage motor operatively connected to a tubing rotator configured to clamp onto a production tubing joint and rotate one or more production tubing joints (but not an entire production tubing string) when the motor is activated. An armor-protected insulated power and control cable connects the motor to a control box positioned at a surface of a reservoir and various sensors provide feedback for the unit. Methods of using this tool are also provided.

A downhole tubing rotator that has a housing configured into a production tubing string in a well in a reservoir, the housing being generally cylindrical with a hollow center and containing a two pole, three phase induction squirrel cage motor operatively connected to a tubing rotator configured to clamp onto a production tubing joint and rotate one or more production tubing joints (but not an entire production tubing string) when the motor is activated. An armor-protected insulated power and control cable connects the motor to a control box positioned at a surface of a reservoir and various sensors provide feedback for the unit. Methods of using this tool are also provided.

A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.

A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.

An actuator capable of realizing a high output with a compact size is proposed. An actuator provided with a motor including a cylindrical rotor, and a reducer including an input shaft coaxial with a rotational shaft of the motor and nested in the rotor. The reducer has a cylindrical shape, the reducer further includes an output shaft coaxial with the rotational shaft of the motor, the motor further includes a stator, and the actuator is further provided with a casing which supports the reducer and the stator.