Patent ID: 8047094

Claim:
A mechanical joint comprising: a first coupled member having a first pivot axis; a first cam assembly operatively secured to the first coupled member and having a first lobe disposed on a first side of the first pivot axis and a second lobe disposed on a second side of the first pivot axis opposing the first side, the first lobe and the second lobe defining a first curved surface having a first depression between the first lobe and the second lobe; a second coupled member configured to rotate around the first pivot axis through a plurality of first axis angular positions; a first actuator operatively secured to the second coupled member and disposed on the first side of first pivot axis and having a first extendible rod with a first tip that is engaged with the first curved surface of the first lobe in a series of first contact points on the first curved surface, each first contact point corresponding to one of the first axis angular positions and each having a first orthogonal distance from the first pivot axis; and a second actuator operatively secured to the second coupled member and disposed on the second side of the first pivot axis and having a second extendible rod with a second tip that is engaged with the first curved surface of the second lobe in a series of second contact points on the first curved surface, each second contact point corresponding to one of the first axis angular positions and each having a second orthogonal distance from the first pivot axis; wherein the first actuator and the second actuator are configured to cause rotation of the second coupled member with respect to the first coupled member through the plurality of first axis angular positions.