Patent ID: 11950867
Assignee: BOARD OF REGENTS OF THE UNIVERSITY OF NEBRASKA
Field: Handling (Mechanical engineering)
Classification: CPC A  B  F | IPC A  B

Claim 13:
14. A robotic device comprising:
(a) an elongate device body comprising first and second motors disposed therein;
(b) a first driveshaft disposed through the device body and operably coupled to the first motor;
(c) a second driveshaft disposed through the device body and operably coupled to the second motor, the second driveshaft operably coupled at a distal end to a first bevel gear;
(d) a shoulder joint comprising:
(i) a differential yoke fixedly attached to the first driveshaft, the differential yoke comprising a yoke lumen defined in the differential yoke; and
(ii) a dual shaft rotatably disposed within the yoke lumen, the dual shaft comprising:
(A) a rotational shaft rotatably disposed within the yoke lumen, the rotational shaft rotationally coupled to the first bevel gear; and
(B) an extension shaft extending from the rotational shaft; and

(iii) an output body rotatably disposed around the extension shaft such that the extension shaft is rotatably disposed within a lumen of the output body; and

(e) an arm operably coupled to the output body.