Patent ID: 7950306
Filing Date: 2011-05-31
Classification: A61B,B25J,Y10S,Y10T

Abstract:
1. A manipulator comprising first and second actuator systems each including three or more powered actuators, each powered actuator being capable of actuating a separate movement of at least a portion of the respective actuator system without any movement of the other actuator system, both the first and second actuator systems comprising serial actuator systems with each including first and second rotary joint actuators arranged in series and a four-bar linkage arranged in series with the two rotary joint actuators with one corner of each of the four-bar linkages comprising a third rotary joint actuator for driving motion of the respective four-bar linkage; and a body supported by the first and second actuator systems at first and second attachment points, respectively, such that the first and second actuator systems are capable of manipulating the body in five degrees of freedom.