IMPROVED AGONIST - ANTAGONIST ACTUATED JOINT
First Claim
1. An actuated joint comprising a first element and a second element movable one with respect to the other, a first actuator and a second actuator connected to said first and second element for controlling the movement of said joint in an agonist-antagonist way, wherein said first actuator has a nominal or maximum power greater than that of said second actuator and said second actuator comprises at least a first elastic element extendable so to store a maximum amount of elastic energy greater than that storable by said first actuator.
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Accused Products
Abstract
An actuated joint comprising a first element and a second element movable one with respect to the other, a first actuator and a second actuator connected to said first and second element for controlling the movement of said joint in an agonist-antagonist way, wherein said first actuator has a nominal or maximum power greater than that of said second actuator and said second actuator comprises at least a first elastic element extendable so as to store a maximum amount of elastic energy greater than that storable by said first actuator.
15 Citations
16 Claims
- 1. An actuated joint comprising a first element and a second element movable one with respect to the other, a first actuator and a second actuator connected to said first and second element for controlling the movement of said joint in an agonist-antagonist way, wherein said first actuator has a nominal or maximum power greater than that of said second actuator and said second actuator comprises at least a first elastic element extendable so to store a maximum amount of elastic energy greater than that storable by said first actuator.
Specification