| 摘要 |
<p>The present invention regards a mechanical differential actuator for interacting with a mechanical load, comprising a first semi-active sub-actuator; a second semi-active sub-actuator; a velocity source; a first mechanical differential having three interaction ports, including a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the first semi-active sub-actuator; and a second mechanical differential having three interaction ports, including a first interaction port coupled to the velocity source, a second interaction port and a third interaction port coupled to the second semi-active sub-actuator; wherein the second interaction port of the first mechanical differential and the second interaction port of the second mechanical differential are coupled together to form an output which is configured so as to be coupled to the load. According to the present invention, the first and second mechanical differentials include respective first and second speed reducer mechanisms for implementing a mechanical differential function, the velocity source being coupled to the first and second speed reducer mechanisms.</p> |
