Abstract: A rotary actuator mechanism for applying torque to a shaft and comprising an actuator housing forming an actuator path that includes an actuator pinion rotatably supported in said housing and having said shaft secured thereto. The pinion having peripheral notches of a selected shape and positioned within the actuator path. The mechanism having a train of discrete actuator elements having opposite ends and positioned in the actuator path, each of the actuator elements being of said selected shape to enable reception in the peripheral notches, a plurality of the elements engaging the notches. The mechanism having at least one linear actuator supported by the housing and engaging one of the ends of the train of actuator elements, the linear actuator being selectively activated to push the train of discrete actuator elements through the actuator path to thereby serially engage the actuator elements with the notches of the pinion and thereby apply torque to the shaft.

Abstract: A robotic master controller having a series of linking members interconnected by pivots to each other and a hand grip with relative position sensors therein and sensing yaw and pitch of the hand grip due to movement of the user. The final linking member including an arched section that terminates in a pivot for the hand grip that is located within the user's hand during use and has an axis of rotation that generally aligns with a roll axis of rotation of the arm when the user's hand rotates between a palm up configuration to a palm down configuration. The final linking member also includes an arched section that extends over and cradles the outer palm of the hand when the hand is in the palm up configuration. The user reaches around the outside (to the right for a right arm controller) to grasp the hand grip.