The vibration device includes a base, a movable bench, a first horizontal excitation unit, a second horizontal excitation unit, and a vertical excitation unit. The vibration device includes a first middle bench and a second middle bench between the base and the movable bench. The vibration device includes first horizontal elastic support units, second horizontal elastic support units, and vertical elastic support units that elastically connect the base, the first middle bench, the second middle bench, and the movable bench sequentially in the first horizontal direction, the second horizontal direction, and the vertical direction. If overall device is supposed as a first mass body, a second mass body, and a third mass body with the first horizontal elastic support units and the second horizontal elastic support units as boundaries, respective barycentric positions of these mass bodies are almost the same in the vertical direction and horizontal direction.

A spring mechanism for attaching to a power device drive unit includes a housing connectable to a portion of the power device and a shaft extending through the housing. One end of the shaft is coupled to a workpiece and a bottom member extends from the other end and is positioned adjacent the drive unit. The bottom member includes at least one of a ferromagnetic material and a permanent magnet. The bottom member, shaft and workpiece move upon actuation of the drive unit, and a spring extends laterally outwardly from the shaft between the shaft and the housing. The spring is affixed to one of the shaft and the housing, wherein the spring bends between a deformed position and a return position upon the movement of the bottom member.

This is achieved according to the present invention by a torque/power transfer device comprising a main frame, a driving member (2), a driven member (3), and at least two pulley systems. Each pulley system comprises at least one stationary pulley (11a, 11b), which is stationary relative to the main frame, at least one movable pulley, which is movable relative to the main frame, a first wire connected to the driving member (2) and running over the at least one stationary pulley and the at least one movable pulley and a second wire operatively connected to the at least one movable pulley at one end and to the driven member (3) at its other end, wherein the second wire is running via a stationary regulator. The first wire of each pulley system is connected to a common point of the driving member and the second wire of each pulley system is operatively connected to a common eccentric point of the driving member. The regulators and the driven member are arranged relative to each other so that a centre of rotation for the driven member is arranged on an imaginary first line between the regulators of the both pulley systems. The imaginary first line has an angle relative the horizontal plane determined based on the radius of the driven member and a distance between the centre of rotation and respective regulator.

An energy harvester is provided for harvesting energy, and in particular electrical energy from an input vibration such as an ambient vibration. The energy harvester comprises a first mechanical amplifier responsive to the input vibration and a second mechanical amplifier coupled to the first mechanical amplifier. At least one of the first and second mechanical amplifiers comprises a parametric resonator, and a power output of the energy harvester is generated by damping the second mechanical amplifier.

A force transmission transmits a force to a primary output gimbal plate and a secondary output gimbal plate. The secondary output gimbal plate supports the primary output gimbal plate. Each of three primary levers is supported by a primary pivot. Each primary lever is coupled to the primary output gimbal plate such that the three couplings are not collinear. Each of three secondary levers is supported by a secondary pivot. Each secondary lever is coupled to one of the primary levers by a force applying connector. Each secondary lever is coupled to the secondary output gimbal plate such that the three couplings are not collinear. The output gimbal plates may be coupled to the levers by flexible cables. The cables may be substantially contained within a tube. The output gimbal plates may be substantially smaller than the input gimbal plate.

A force transmission includes a gimbal plate having two degrees of freedom. Each of three lever arms is supported by a pivot between two ends of the lever arm. One end of each lever arm is coupled to the gimbal plate such that the three couplings are not collinear. An equalizer cable has two opposing ends, each end fixedly coupled to one of the lever arms. The equalizer cable is routed over a lever arm pulley pivotally coupled to another of the lever arms between the pivot and one end of the lever arm. The gimbal plate may be coupled to the three lever arms by flexible cables or by links that transmit compression forces but not tension forces. The cables may be substantially contained within a tube. The links may be electrically non-conductive. The force transmission may control a surgical end effector in a teleoperated surgical instrument.

A carrier unit for a weight switching device includes a first shift weight carrier (34-1) which moves vertically in relation to a base, for vertically mounting a first shift weight arrangement (22-1R, 22-1L) which has two spaced-apart, parallel carrier arms (30-1R, 30-1L) connected by a bridging piece (32-1). A second shift weight carrier (34-2R, 34-2L) for vertically mounting, with play, a second shift weight arrangement (22-2R, 22-2L) which likewise has two spaced-apart, parallel carrier arms (30-2R, 30-2L) connected by another bridging piece (32-2), is likewise arranged in a vertically movable manner in relation to the base. The carrier arm pair (30-1R, 30-10 of the first shift weight carrier (34-1) is arranged between and parallel to the carrier arm pair (30-2R, 30-2L) of the second shift weight carrier (34-2), and each shift weight carrier (34-1; 34-2) is articulated to a common crosspiece (12) by two parallel links (23-1R, 23-1L; 23-2R, 23-2L).