Patent ID: 9239100
Filing Date: 2016-01-19
CPC Classification: B25J,F16H,H02K

Claim Text:
1. A system comprising: a transmission assembly rotatably connected to a motor, wherein the motor and the transmission assembly are supported on an inner race of one or more rotary bearings; a housing connected to a chassis and configured to support an outer race of the one or more rotary bearings; one or more springs each having a first end attached to a bottom plate of the housing and a second end connected to the transmission assembly such that friction is reduced between (i) balls in the one or more rotary bearings and (ii) the inner and outer races of the one or more rotary bearings; a rotary sensor positioned on the housing and configured to measure a rotary deflection of the transmission assembly, wherein the rotary sensor comprises a rotary shaft; and a string wrapped around the rotary shaft, wherein ends of the string are attached to the transmission assembly such that a rotation of the transmission assembly causes a rotation of the rotary shaft.