Abstract: A gear bearing drive provides a compact mechanism that operates as an actuator providing torque and as a joint providing support. The drive includes a gear arrangement integrating an external rotor DC motor within a sun gear. Locking surfaces maintain the components of the drive in alignment and provide support for axial loads and moments. The gear bearing drive has a variety of applications, including as a joint in robotic arms and prosthetic limbs.

Abstract: A capacitive proximity sensing device that uses Capaciflector electrodes to simulate human feel. A single contact surface of arbitrary shape functions as a single Capaciflector electrode, which can sense proximal or near contact with another surface at any point on the Capaciflector electrode surface. Sensing closer or further proximity between the contact surfaces corresponds to sensing physical contact between surfaces. The closer proximity is analogous to more applied force at the point of physical contact and further proximity is analogous to less applied force at the point of physical contact. “Virtual Feel” is performed by moving along a preferred direction while adjusting the tool to minimize proximity to side contacts.

Abstract: This invention obviates the need for an end roller in the traditional gear bearing design without giving up the desired bearing functions. The preferred embodiment of the partial gear bearing of the invention includes an upper half, comprising peak partial teeth, and a lower, or bottom, half, comprising valley partial teeth. The upper half also has an integrated roller section between each of the peak partial teeth with a radius equal to the gear pitch radius of the radially outwardly extending peak partial teeth. Conversely, the lower half has an integrated roller section between each of the valley half teeth with a radius also equal to the gear pitch radius of the peak partial teeth. The valley partial teeth extend radially inwardly from its roller section. The peak and valley partial teeth are exactly out of phase with each other, as are the roller sections of the upper and lower halves. Essentially, the end roller bearing of the typical gear bearing has been integrated into the normal gear tooth pattern.

Abstract: A gear bearing having a first gear and a second gear, each having a plurality of teeth. Each gear operates on two non-parallel surfaces of the opposing gear teeth to perform both gear and bearing functions simultaneously. The gears are moving at substantially the same speed at their contact points. The gears may be roller gear bearings or phase-shifted gear bearings, and may be arranged in a planet/sun system or used as a transmission. One preferred embodiment discloses and describes an anti-backlash feature to counter “dead zones” in the gear bearing movement.