US 11,951,619 B2
Cabled differential for cable controlled joint
J. Kenneth Salisbury, Jr., Mountain View, CA (US); and Alex Nathan Kahn, Glen Ellyn, IL (US)
Assigned to The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US)
Appl. No. 16/605,284
Filed by The Board of Trustees of the Leland Stanford Junior University, Stanford, CA (US)
PCT Filed Apr. 25, 2018, PCT No. PCT/US2018/029356
§ 371(c)(1), (2) Date Oct. 15, 2019,
PCT Pub. No. WO2018/200670, PCT Pub. Date Nov. 1, 2018.
Claims priority of provisional application 62/490,319, filed on Apr. 26, 2017.
Prior Publication US 2020/0047332 A1, Feb. 13, 2020
Int. Cl. F16H 48/12 (2012.01); B25J 9/10 (2006.01); B25J 17/02 (2006.01); F16H 48/20 (2012.01)
CPC B25J 9/102 (2013.01) [B25J 9/104 (2013.01); B25J 17/0275 (2013.01); F16H 48/12 (2013.01); F16H 48/20 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A cable-actuated differential having N degrees of freedom, comprising:
(a) a first shaft with an associated first shaft direction, wherein the first shaft is supported by a mounting bracket, wherein a first pulley is fixedly attached to the first shaft, wherein a first tension element is attached to the first pulley, and wherein a first actuator is attached to the first tension element;
(b) a first bevel gear to which is attached a second pulley, wherein a second tension element is attached to the second pulley, and wherein a second actuator is attached to the second tension element;
(c) a second bevel gear to which is attached a third pulley, wherein a third tension element is attached to the third pulley, and wherein a third actuator is attached to the third tension element; and
(d) a third bevel gear,
wherein the first bevel gear is rotatably attached to the first shaft,
wherein the third bevel gear meshes with the first bevel gear, an
wherein the second bevel gear is rotatably attached to the first shaft such that the second bevel gear meshes with the third bevel gear.