| 主权项 |
1. A control assembly for a vehicle having a vehicle control system, comprising:
a housing assembly fixedly attached to the vehicle; a control arm assembly having a lever arm with first and second portions, a first drive shaft mounted in the first fixed position in the housing assembly, the first drive shaft being attached to the first portion of the lever arm and being rotatable about a first axis of rotation, and a grip element connected the second portion of the lever arm and spaced apart from the first drive shaft, wherein the grip element is configured to be engaged by a user, the lever arm and grip element being pivotable about the first axis of rotation; a harmonic gearbox assembly mounted in a second fixed position in the housing and having a strain wave gear coupled to a second drive shaft spaced apart from the first drive shaft by a fixed distance, wherein the second drive shaft is rotatable about a second axis of rotation and rotation of the second drive shaft is coupled to rotation of the strain wave gear; a linkage assembly connected to the first and second drive shafts, and wherein rotation of the second drive shaft about the second axis of rotation pivots the linkage assembly about the first and second axes of rotation and rotates the first drive shaft about the first axis of rotation; and a motor at least partially controlled by the vehicle control system and coupled to the harmonic gear box assembly that provides a clutch-free, direct connection between the motor, the harmonic gearbox assembly, the linkage assembly and the control arm assembly, wherein the harmonic gearbox assembly is configured to be back driven to provide active resistance to pivotal movement of the lever arm. |
