Patent ID: 9265625
Filing Date: 2016-02-23
CPC Classification: A61F,Y10T

Claim Text:
1. A method of controlling a jointed mechanical device comprising a base, at least one force actuator disposed in the base, at least one deflectable element comprising a plurality of joints and pivotably extending from the base and having a distal end, and at least one actuating structure having a first end coupled to at least said distal end of said deflectable element and a second end coupled to the at least one force actuator, where the at least one force actuator is configured to apply an actuator force to the second end of said at least one actuating structure, where said at least one actuating structure comprises at least one elastic element in series with at least one non-elastic element, the method comprising: receiving at least one control signal for said at least one force actuator; and initiating an operation of the at least one force actuator according to the at least one control signal, the operation comprising: