A spherical surface link mechanism includes a proximal end link hub, a distal end link hub, a plurality of links, a plurality of intermediate link hubs, and a shaft member. Each of the plurality of links includes a first end link member, a second end link member, and an intermediate link member. The first end link member is coupled, at one end, to the proximal end link hub to be rotatable about a first rotation axis. The second end link member is coupled, at one end, to the distal end link hub to be rotatable about a second rotation axis. The intermediate link member is coupled, at one end, to the other end of the first end link member to be rotatable about a third rotation axis and is coupled to, at the other end, the other end of the second end link member to be rotatable about a fourth rotation axis.

According to one embodiment, a parallel link mechanism includes a base portion, a movable portion, a braking unit, motors, links, and a switching unit. The movable portion is separated from the base portion in a first direction. The braking unit is provided between the base portion and the movable portion, and includes braking pads. The motors are provided around the braking unit, and each include a drive shaft extending along a direction intersecting the first direction. The links are each coupled between the drive shafts and the movable portion. The switching unit is provided between the base portion and the movable portion. The switching unit is configured to switch, by moving the braking pads, between a contact state in which the braking pads are in contact with the drive shafts and a non-contact state in which the braking pads are separated from the drive shafts.

A mechanism is constructed by spherical concentric geometry and controlled by spherical coordinate kinematics. Transmission belts, pulleys, shafts, and spur gears are added onto three arc-link sets. Via these transmission components, base arc-links can be indirectly or directly but synchronously rotated by base driving modules and terminal arc-links can be indirectly or directly but synchronously rotated by terminal driving modules.

A mechanism geometrically constituted with twelve axes can be manipulated for spherical coordinate kinematics. Concerning the major improvement of the invention, one of the two geometric tetrahedron frames which were ever specified by our two pre-inventions (U.S. Pat. No. 8,579,714 B2/US20120083347A1 and US20150082934A1) is decoupled and reconstructed as two separated terminal frames which are constituted by two individual geometric arcs. The other one of the two geometric tetrahedron frames without changing its original geometric definition is inherited in the invention and renamed as a base frame. Comparing to the original single geometric tetrahedron, the mechanism newly developed by two individual geometric arcs is suffering fewer constraints and gaining more work space. If a terminal saddle is equipped onto a terminal frame, the newly developed mechanism can be increased extra payload capability. Therefore, this improvement is substantially extending the utility of twelve axes mechanism for spherical coordinate kinematics.

A posture holding device is for use in a transfer device which has a holding part configured to hold an object and a first link and a second link connected to the holding part. The transfer device moves the first link and the second link relative to the holding part so as to move the holding part between a transfer position and a standby position. The posture holding device holds a posture of the holding part and includes a magnetic gear rotatably connecting the first link and the second link to the holding part. The magnetic gear is disposed such that the one end of the first link connected to the holding part is rotated about a first axis and the one end of the second link connected to the holding part is rotated about the first axis or a second axis different from the first axis.

A mechanism geometrically constituted with twelve axes can be manipulated for spherical coordinate kinematics. Concerning the major improvement of the invention, one of the two geometric tetrahedron frames which were ever specified by our two pre-inventions (U.S. Pat. No. 8,579,714 B2/US20120083347A1 and US20150082934A1) is decoupled and reconstructed as two separated terminal frames which are constituted by two individual geometric arcs. The other one of the two geometric tetrahedron frames without changing its original geometric definition is inherited in the invention and renamed as a base frame. Comparing to the original single geometric tetrahedron, the mechanism newly developed by two individual geometric arcs is suffering fewer constraints and gaining more work space. If a terminal saddle is equipped onto a terminal frame, the newly developed mechanism can be increased extra payload capability. Therefore, this improvement is substantially extending the utility of twelve axes mechanism for spherical coordinate kinematics.

A spherical coordinates manipulating mechanism for inner frame pivotal configuration. There are total twelve axles in the mechanism for pivoting with four outer rotating members, four arc-link rotating members and four inner rotating members individually, and each axle of these rotating members is specifically directed into the center of the outer frame for concentrically rotating each arc-link set along a specified geometric orbit between the outer frame and inner frame. Therefore, the final output torque can be integrated via serial linking and parallel cooperating with the twelve axles. The mechanism can be equipped with single effector arc-link set or with double effector arc-link sets. In this divisional application. There are three embodiments for sufficiently introducing the spherical coordinates manipulating mechanism for inner frame pivotal configuration.

An articulated compliance mechanism for use with a support structure includes a carriage and a pair of parallel four-bar linkage arrangements. The arrangements collectively have a first set of links configured to rigidly connect to the support structure, a second set of links rotatably coupled to the carriage a distance from the first set of links, and a third set of links rotatably coupled to and spanning the distance. The compliance mechanism supports and provides the carriage, e.g., a rectangular shaped frame, with a stable equilibrium point using a gravitational restoring force, and provides the carriage with a passive translational degree of freedom along a horizontal axis in response to an input force from an operator. An additional compliance mechanism may be serially connected to provide a passive translational degree of freedom along a vertical axis. A system includes the compliance mechanism and support structure.

The invention relates to the improvement of exoskeletons and masters thereof and to their use in teleoperative applications in virtual worlds or the real world. Non-actuated exoskeletons can be used to transfer loads from the user, for example, heavy luggage, tools or also the body weight of the user, to the ground and to relieve the joint and muscle system of the user. This can increase the endurance and also effective strength of the user. Motor-driven, actuated exoskeletons can be used in different fields. They can be worn as a freely moveable robotic suit which comprises a built-in energy supply and electronic control. They can also be used to improve the force and endurance of a user whilst the user moves in an unlimited environment. Another use of the fixed exoskeleton is in the field of interaction with virtual worlds or for controlling real robots. In this instance, an exoskeleton can be used to establish a teleoperative connection between the user and the master (virtual avatar or real robot). The user users the exoskeleton to directly transfer control commands to the master. The elements of the user and the master then practically carry out the same movements synchronously. The aim of the invention is to improve exoskeletons and masters of the mentioned type and the associated control units. This can, in particular, be achieved by a favorable realization of rotational axes which define rotational movements of different elements which to a large extent perform a hip movement.

A spherical coordinates manipulating mechanism for improving the utility of U.S. Pat. No. 8,579,714 B2 is provided. Four inner and outer arc-links are pivotally connected to the inner and outer frame respectively so as to carry out a three degrees-of-freedom steering motion. At least one effector arc-link set is selectively connected to the inner or outer frame so that the spherical coordinates manipulating mechanism can directly output force or torque.