Patent ID: 9492929
Filing Date: 2016-11-15
CPC Classification: B25J,F15B,Y10S

Claim Text:
1. A device comprising: a housing defining a cavity; a force sensor; a first hydraulic actuator positioned in the cavity, wherein the first hydraulic actuator moves between a first relaxing mode and a first thrusting mode along a longitudinal axis of the first hydraulic actuator based at least in part in response to sensor data from the force sensor; a second hydraulic actuator positioned in the cavity, wherein the second hydraulic actuator moves between a second relaxing mode and a second thrusting mode along a longitudinal axis of the second hydraulic actuator based at least in part in response to sensor data from the force sensor, and wherein the longitudinal axis of the first hydraulic actuator is substantially parallel to the longitudinal axis of the second hydraulic actuator; a third hydraulic actuator positioned in the cavity, wherein the third hydraulic actuator moves between a third relaxing mode and a third thrusting mode along a longitudinal axis of the third hydraulic actuator based at least in part in response to sensor data from the force sensor, wherein the longitudinal axis of the first hydraulic actuator and the longitudinal axis of the second hydraulic actuator are substantially parallel to the longitudinal axis of the third hydraulic actuator, and wherein the second hydraulic actuator is positioned between the first hydraulic actuator and the third hydraulic actuator in the cavity; a first actuated member coupled to the first hydraulic actuator, wherein the first actuated member is in a first open mode when the first hydraulic actuator is in the first relaxing mode, and wherein the first actuated member is in a first closed mode when the first hydraulic actuator is in the first thrusting mode; a second actuated member coupled to the second hydraulic actuator, wherein the second actuated member is in a second open mode when the second hydraulic actuator is in the second relaxing mode, and wherein the second actuated member is in a second closed mode when the second hydraulic actuator is in the second thrusting mode; and a third actuated member coupled to the third hydraulic actuator, wherein the third actuated member is in a third open mode when the third hydraulic actuator is in the third relaxing mode, wherein the third actuated member is in a third closed mode when the third hydraulic actuator is in the third thrusting mode, and wherein a torque applied to the second actuated member is approximately double a torque applied to the first actuated member and approximately double a torque applied to the third actuated member.