Abstract: A control actuator apparatus is presented having an actuator assembly providing three linear motion degrees of freedom relative to a base and three rotational degrees of freedom, and one or more additional actuators providing at least one additional degree of freedom, including a base structure, an XYZ stage, and an upper actuation assembly with a wrist angle stage, a forearm angle stage, and a digit angle stage providing relative positioning signals or values to facilitate machine control capabilities with a high number of degrees of freedom (high DoF).

Abstract: A mechanical finger comprises a plurality of phalanges coupled to a single actuator using a kinematic linkage and a differential linkage arranged in parallel. The mechanical finger is capable of exhibiting consistent predictable motion when moving in free space or when contacting an object at the fingertip, and of curling in order to conform to an object when the contact is at other locations on the finger.

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.