Mechanisms to realize lightweight rotational joints having passive, high torque braking in one or more degrees of freedom are presented herein. In addition, robotic systems incorporating one or more rotational joints with passive, high torque braking as described herein are also presented. Each degree of freedom includes a spring element to preload the braking assembly to maintain high torque braking. The force generated by the spring is multiplied to a much larger force applied to the braking elements by a lever structure and an eccentric mechanism. A human user manually displaces the spring element and effectively reduces braking torque to a desired amount. In a further aspect, a two degree of freedom mechanical shoulder joint and brake device is disposed in a structural path between the harness assembly of an upper body support system and a surface of a working environment.

The reverse input cutoff clutch includes: a pressed member having a pressed surface around the inner peripheral surface; an input member coaxially arranged with the pressed surface and having an input-side engaging portion arranged on the radially inner side of the pressed surface; an output member coaxially arranged with the pressed surface and having an output-side engaging portion arranged further on the radially inner side than the input-side engaging portion; and an engaging element arranged so as to be movable in a first direction as a direction toward or away from the pressed surface on the radially inner side of the pressed surface. The engaging element has a main engaging element body having a pressing surface and a pivot-support shaft, and a link member. The link member has a first end portion pivotally linked to the pivot-support shaft, and a second end portion pivotally linked to the input-side engaging portion.

A cycle braking system is provided where the system comprises a brake sphere engaged with a shaft adjacent to a wheel of a cycle and a brake caliper, where the brake caliper is mounted to a cycle's chassis and aligned around the brake sphere rotor. In one embodiment, the cycle braking system further comprises brake pad(s) with an inner side and a contact side, a brake housing having the brake pad(s) positioned between the caliper and the contact side facing the brake sphere; and the brake caliper connected to a cycle's hydraulic lines.

For rapid and precise actuation of a friction brake, the thermal expansion of the friction brake is determined using a thermal model of the friction brake and therefrom the temperature-dependent shift in the contact point is determined for the braking operation and the temperature-dependent shift in the contact point is taken into account when determining the actuation measure of the friction brake to be adjusted.

A multi-plate clutch transmission includes an arrangement for selectively engaging the clutch by moving the sleeve to cause one or more friction disks on a sleeve connected to a shaft to move into contact with one or more friction disks on a clutch basket connected to a gear driven by another gear and another shaft driven by a prime mover. An arrangement for selectively disengaging the clutch is provided that uses prime mover torque to move the one or more friction disks on the sleeve out of contact with the one or more.friction disks on the clutch basket.

A rotary actuator has a stop module configured to mechanically link two gear stages travelling at different rotational speeds when an end-of-stroke travel limit is reached, thereby causing the rotary actuator to bind because relative motion between the gear stages is impeded.

A layer jamming driving device is proposed, which includes an enclosure made of a variable material; and layer stacked structures having a plurality of layers stacked inside the enclosure, wherein the layer stacked structures can be coupled so as to be slidable and rotatable with respect to each other.

A brake device for braking rotation of an input shaft includes a selectively operable trigger brake that includes: a static element; a trigger brake shaft mounted for rotational and axial movement relative to the static element and the input shaft; a preloaded torsion spring rotationally coupled to the input shaft but permitting a limited rotational movement between the trigger brake shaft and the input shaft; a roller jamming mechanism operable upon the relative rotation between the trigger brake shaft and the input shaft exceeding a predetermined amount to stop rotation of the input shaft upon operation of the trigger brake; and a brake actuator for selectively moving the trigger brake shaft into and out of engagement with a contact surface of the static element. Engagement of the contact surface of the static element and the trigger brake shaft overcomes the preload of the torsion spring.

A torque limiter (TL) is provided for torque transmission (TT) to downstream components. The TL includes an input shaft, an output shaft and a torsional spring which is preloadable by a preload torque whereupon the torsional spring is fittable about the output shaft with the output shaft fit about the input shaft. For input shaft rotation, first TT paths proceed from the input shaft to the output shaft through the torsional spring when downstream torque of the downstream components deceeds the preload torque and a second TT path proceeds from the input shaft to an external structure when the downstream torque exceeds the preload torque.

A brake system includes a wheel having a hub, a rim, spokes extending between the hub and rim, and a rod extending between the hub and rim. A helical spring surrounds the rod, with a fixed end attached to the hub and a free end movable along the longitudinal direction of the rod. A brake mass structure is attached to the free end of the helical spring and includes a pin structure. A main frame connects to the hub of the wheel. An extension structure extends from the main frame and includes a spacing segment and a hook segment having a groove configured to engage with the pin structure. When the wheel rotates, the brake mass structure moves away from the hub along the rod. At a speed threshold, the pin structure engages the groove of the hook segment to prevent acceleration of the wheel.