Patent ID: 11883959
Assignee: VIRGINIA TECH INTELLECTUAL PROPERTIES, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. A robotic leg comprising:
a floating-base link comprising an active joint and a first revolute joint a driving link connected to said active joint;
a hip flexion and extension link connected to said driving link;
a knee flexion and extension link connected to a second revolute joint located on said hip flexion and extension link;
a femur link connected to said first revolute joint of said floating-base link, said femur link comprising a third revolute joint and a fourth revolute joint, wherein a free end of said hip flexion and extension link is connected to said third revolute joint of said femur link;
a tibia link connected to said fourth revolute joint of said femur link, said tibia link comprising a fifth revolute joint, located adjacent to a connecting point with said femur link, which connects to a free end of said knee flexion and extension link; and
a compliance controller that implements a virtual spring acting on said active joint.