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Flexure mechanism for interface device

  • US 7,193,607 B2
  • Filed: 03/17/2003
  • Issued: 03/20/2007
  • Est. Priority Date: 11/17/1995
  • Status: Expired due to Fees
First Claim
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1. An interface device comprising:

  • a manipulandum moveable in at least two rotary degrees of freedom; and

    a five-bar closed-loop mechanism coupled to said manipulandum, said mechanism providing said at least two rotary degrees of freedom with respect to a ground, wherein said mechanism includes four members forming a unitary piece coupled to said ground, wherein said members are coupled to each other by flexible couplings allowing rotation of said members.

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