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Rotary actuator arrangement

  • US 8,197,554 B2
  • Filed: 08/15/2007
  • Issued: 06/12/2012
  • Est. Priority Date: 08/15/2006
  • Status: Active Grant
First Claim
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1. An artificial limb member comprising an actuator to effect movement of the limb member, wherein the actuator comprises:

  • wave generator gearing;

    a motor for causing rotation about an axis, the motor connected to the wave generator gearing;

    a first toothed ring driven by the motor; and

    bearings for carrying the first toothed ring;

    wherein the actuator comprises a second toothed ring, the first and second toothed rings being circular, with the bearings carried between the first and second toothed rings, and the wave generator gearing is at least partially located radially within the bearings such that the bearings run on an outer perimeter of the first, circular toothed ring providing concentric constraint of the first, circular toothed ring.

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