Abstract: A system for transmitting motive force. The system includes a conduit or tube and a plurality of balls (e.g., spherical objects) positioned within the tube. The system includes a drive assembly moving the balls within the tube, and the system includes an actuated element operating to generate an output in response to movement of the balls within the tube. In some cases, the balls are metal ball bearings, and the tubing is one of polyethylene tubing, tubing with a metal lining, or tubing having a hardness greater than a hardness of polyethylene. The drive assembly may include a feed screw driven by a motor to provide positive displacement of the balls in the tube. The actuated element may take a variety of forms to practice the system. For example, the actuated element may be a linear or rotational actuator, e.g., an actuator used to actuate a robotic joint.

Abstract: A system for transmitting motive force. The system includes a conduit or tube and a plurality of balls (e.g., spherical objects) positioned within the tube. The system includes a drive assembly moving the balls within the tube, and the system includes an actuated element operating to generate an output in response to movement of the balls within the tube. In some cases, the balls are metal ball bearings, and the tubing is one of polyethylene tubing, tubing with a metal lining, or tubing having a hardness greater than a hardness of polyethylene. The drive assembly may include a feed screw driven by a motor to provide positive displacement of the balls in the tube. The actuated element may take a variety of forms to practice the system. For example, the actuated element may be a linear or rotational actuator, e.g., an actuator used to actuate a robotic joint.