Patent ID: 8661928

Claim:
Mechanism for articulating a right arm, a left arm, a right forearm, and a left forearm of a humanoid, the right arm being coupled with a torso of the humanoid, by a right humeroscapular joint, the left arm being coupled with the torso, by a left humeroscapular joint, the right forearm being coupled with a right humerus of the right arm, by a right proximal radioulnar joint, the left forearm being coupled with a left humerus of the left arm, by a left proximal radioulnar joint, the right humeroscapular joint providing flexion and extension of the right arm, the left humeroscapular joint providing flexion and extension of the left arm, the right proximal radioulnar joint providing supination and pronation of the right forearm, the left proximal radioulnar joint providing supination and pronation of the left forearm, the mechanism comprising: a first transmission located within said humanoid; a second transmission located within said humanoid; a first actuator located within said humanoid, said first actuator being coupled with said right humeroscapular joint, and with said left proximal radioulnar joint, via said first transmission, said first actuator extending said right arm while supinating said left forearm, said first actuator flexing said right arm while pronating said left forearm; a second actuator located within said humanoid, said second actuator being coupled with said left humeroscapular joint, and with said right proximal radioulnar joint, via said second transmission, said second actuator extending said left arm while supinating said right forearm, said second actuator flexing said left arm while pronating said right forearm; and a power supply coupled with said first actuator, said second actuator, and with said controller, said power supply providing power to said first actuator, and to said second actuator.