Abstract: The present invention provides a parallel mechanism comprising a base, three rotary motors fixed on the base, each of the rotary motors having a rotating shaft, three branches, each of the branches having a first end and a second end, the first end of each of the branches being connected to the rotating shaft of a different one of the rotary motors, a central coupler connected to the second end of all of the branches, the branches constraining the central coupler to be movable along at least three degrees of freedom as a function of actuation from any one of the three rotary motors, and at least one counterweight for each of the branches to balance the same about at least the rotating shaft of the corresponding one of the rotary motors such that the central coupler holds a current position and orientation without assistance from the rotary motors.

Abstract: A distal mechanism for providing three degrees of freedom for a rotating handle. Three stages provide a serial mechanical linkage between a handle and a platform, which may itself be moveable in three degrees of freedom. Each stage has an axis of rotation, and the three axes intersect. The first stage is mounted to the platform in such a way as to provide rotation about the first stage axis. The first stage carries the second, allowing the second stage to rotate about its axis. The second stage carries the third stage, allowing the third stage to rotate about its axis. The third stage is fixed to the handle, and the third stage axis passes along the length of the handle. Each stage has a sensor to measure its rotation, and a tendon means of transferring torque from a remote motor to torque about the rotation axis of the respective stage. The sensors have two limited angle ranges of measurement, about 110 degrees wide and on opposite sides of the rotation.

Abstract: A collapsible combined table and seat assembly, wherein the seats are supported by a leg and the table is supported by members extending between the legs and the ends of the table. The latter members are pivoted on the table and on the legs to permit collapse of the assembly. A sleeve in close fitting sliding relation is mounted on each member to overlie the pivot between the leg and the member to prevent movement at said pivot during use.

Abstract: A collapsible combined table and seat assembly including an improved collapsible linkage for rigidly supporting the seats and for supporting the table on the seats. The linkages rely on knock down rigided triangular structures, one for supporting each seat and one extending between the seats and the table top.