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This paper explores the application of a novel ring screw mechanism as a high-performance alternative to traditional rotary-to-linear motion converters in robotics. The ring screw’s design, based on a theoretically ideal rolling motion between the moving parts, allows for significantly higher rotational speeds than ball screws. The work details the ring screw’s implementation in two distinct robotic systems. First, it presents Skippy, a balancing and hopping monopedal robot, where the ring screw actuates the knee joint, enabling both precise balancing and dynamic hopping motions. Second, it introduces the FleXoWrist, a wearable exoskeleton designed to assist manual material handling by enhancing grasping capabilities. This paper demonstrates the successful application of the ring screw in both a legged robot and a wearable assistive device, showcasing its potential to enhance robotic actuation across diverse applications.

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Applications of a Novel Mechanical Linear Actuator Called Ring Screw

  • 会议论文

  • 发表日期：

    2026年

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  • Federico Allione,
  • Roberto F. Pitzalis,
  • Darwin G. Caldwell,
  • Giovanni Berselli,
  • Jesús Ortiz

摘要

This paper explores the application of a novel ring screw mechanism as a high-performance alternative to traditional rotary-to-linear motion converters in robotics. The ring screw’s design, based on a theoretically ideal rolling motion between the moving parts, allows for significantly higher rotational speeds than ball screws. The work details the ring screw’s implementation in two distinct robotic systems. First, it presents Skippy, a balancing and hopping monopedal robot, where the ring screw actuates the knee joint, enabling both precise balancing and dynamic hopping motions. Second, it introduces the FleXoWrist, a wearable exoskeleton designed to assist manual material handling by enhancing grasping capabilities. This paper demonstrates the successful application of the ring screw in both a legged robot and a wearable assistive device, showcasing its potential to enhance robotic actuation across diverse applications.