Motor vehicles – Special driving device – Stepper
Patent
1997-07-01
2000-08-29
Hurley, Kevin
Motor vehicles
Special driving device
Stepper
901 1, 180 86, B62D 5106
Patent
active
061093785
ABSTRACT:
A leg mechanism for moving a body comprising an upper arm pivotably connected to the body by a hip joint, and a lower arm pivotably connected to the opposite end of the upper arm by a knee joint. The lower end of the lower arm comprises a walk element for contacting a surface over which the body is moved. Between the upper arm and the body at the hip joint, and between the upper arm and the lower arm at the knee joint, respectively, there is an actuator for effecting the pivotal movement of the corresponding joint. At one of the joints there is, in addition to an active actuator, also a passive force-transmitting element arranged to transmit a change in a pivoting angle taking place at the joint under the effect of the active actuator and an external load. The passive force-transmitting element transforms the change into a force which is transmitted to a receiving actuator which effects a change in the position of the lower end of the lower arm to compensate for the change in the pivoting angle.
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Fischer Andrew J.
Hurley Kevin
Plustech Oy
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