Patent ID: 8717284

Claim:
A device, comprising: a manipulandum; a first link including a gear portion and moveable about a first pivot axis, the first link having a first aperture spaced from the first pivot axis to receive the manipulandum; a second link including a gear portion and moveable about a second pivot axis spaced from the first pivot axis, the second pivot axis is substantially parallel to the first pivot axis, the second link having a second aperture spaced from the second pivot axis to receive the manipulandum, wherein at least a portion of the first aperture overlaps at least a portion of the second aperture, the manipulandum received through the overlapping portions of the first aperture and the second aperture; a first actuator having a first gear configured to matingly engage the gear portion of the first link and to move the first link in a first direction; and a second actuator having a second gear configured to matingly engage the gear portion of the second link and to move the second link in a second direction to move the manipulandum in a desired direction about the first and second apertures.