Patent ID: 8603077

Claim:
A force transmission comprising: an input gimbal plate having two degrees of freedom; at least three lever arms, each lever arm supported by a pivot between a first end and a second end of the lever arm; an equalizer cable having two opposing ends, each end fixedly coupled to one of the lever arms adjacent the second end of the lever arm, the equalizer cable being routed over a lever arm pulley pivotally coupled to another of the lever arms between the pivot and the second end of the lever arm; at least three coupler links, each coupler link having a first end coupled to the first end of one of the lever arms and a second end coupled to the input gimbal plate such that the second ends of the coupler links are not collinear; an output gimbal plate having two degrees of freedom; and at least three output links, each output link having a first end coupled to the output gimbal plate and a second end coupled to the second end of one of the lever arms.