Continuously Variable Transmission with Mutliple Outputs
First Claim
1. A transmission system, comprising;
- a central input shaft for coupling to a source of rotational motion;
a plurality of continuously variable transmission units coupled with the central input shaft, each of the plurality of continuously variable transmission units coupling rotational motion from the central input shaft to separate one of a plurality of rotating outputs, at least one of the plurality of continuously variable transmission units having a transmission ratio that is adjustable independently from at least one of the other of the continuously variable transmission units.
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Accused Products
Abstract
A transmission or actuator offering multiple rotational outputs proportionate in speed to that of a common rotational input, each output according to its own ratio. The ratios are continuously variable between positive and negative values, including zero, and may be varied by electromechanical actuators under computer control. The transmission relates the output speeds one to another under computer control, and thus makes possible the establishment of virtual surfaces and other haptic effects in a multidimensional workspace to which the transmission outputs are kinematically linked. An example of such a workspace is that of a robotic or prosthetic hand.
121 Citations
18 Claims
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1. A transmission system, comprising;
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a central input shaft for coupling to a source of rotational motion;
a plurality of continuously variable transmission units coupled with the central input shaft, each of the plurality of continuously variable transmission units coupling rotational motion from the central input shaft to separate one of a plurality of rotating outputs, at least one of the plurality of continuously variable transmission units having a transmission ratio that is adjustable independently from at least one of the other of the continuously variable transmission units. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A transmission system, comprising;
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a central input shaft for coupling to a source of rotational motion; and
a plurality of continuously variable transmission units arrayed circumferentially around a central input shaft in a layer;
each of the plurality of continuously variable transmission units coupling rotational motion from the central input shaft to separate one of a plurality of rotating outputs and comprising a sphere for coupling the central input shaft with one of the plurality of rotating outputs, and at least one independently steerable steering roller in contact with the sphere, the steering angle of the steering roller determining at least in part the transmission ratio of the at least one of the plurality of continuously variable transmissions. - View Dependent Claims (11, 12, 13)
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14. A robotic system comprising:
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at least one robotic limb having a plurality of joints;
a source of rotational motion; and
a transmission system, comprising, a central input shaft for coupling to the source of rotational motion; and
a plurality of continuously variable transmission units coupled with the central input shaft, each of the plurality of continuously variable transmission units coupling rotational motion from the central input shaft to separate one of a plurality of rotating outputs, at least one of the plurality of continuously variable transmission units having a transmission ratio that is adjustable independently from at least one of the other of the continuously variable transmission units;
each of the plurality of continuously variable outputs coupled to different ones of the plurality of joints. - View Dependent Claims (15, 16, 17, 18)
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Specification