Patent ID: 6692485
Filing Date: 2004-02-17
Classification: A61B,B25J,G16H

Abstract:
An articulated apparatus comprising:an actuator base; a plurality of serially coupled link members that are mutually joined to one another at a plurality of joints, each of which has a fixed position axis of rotation relative to each link, about which the link members rotate relative to each other, said plurality of link members including a proximal link member that is proximal to said actuator base, and a distal link member that is distal to said actuator base, and each link member including a proximal end and a distal end; a plurality of actuators located at said actuator base, each actuator being associated with a respective link member; and a plurality of tendons, each of which is coupled to an actuator and a respective link member for effecting movement of each link member with respect to said actuator base, at least one tendon for effecting movement of at least one link member, said at least one tendon passing through the fixed position axis of rotation of each joint that is proximal of said at least one link member.