Patent ID: 8663060

Claim:
An epicyclic joint comprising: a. a first frame; b. an input shaft pivotally supported by said first frame; c. a rotational energy dividing member, wherein said rotational energy dividing member divides the rotational energy from said input shaft into two component rotational energies; d. a first transfer member pivotally supported by said first frame, wherein said first transfer member is operatively engaged with said rotational energy dividing member; e. a second transfer member pivotally supported by said second frame, wherein said second transfer member is operatively engaged with said rotational energy dividing member; f. a second frame; g. a first epicyclic gearhead pivotally supported by said second frame, wherein said first epicyclic gearhead is cooperatively engaged with said first transfer member; h. a second epicyclic gearhead pivotally supported by said second frame, wherein said second epicyclic gearhead is cooperatively engaged with said second transfer member; i. a compensator pivotally supported by said second frame, wherein said compensator is cooperatively engaged with said first and second epicyclic gearhead such that said compensator creates an axis of rotation between said first frame and said second frame, wherein said axis of rotation is parallel to that of said compensator; and j. a center translator pivotally supported by said second frame, wherein said center translator is cooperatively engaged with said first and second epicyclic gearheads.