HIGH PERFORMANCE DIFFERENTIAL ACTUATOR FOR ROBOTIC INTERACTION TASKS

摘要

A mechanical differential actuator for interacting with a mechanical load comprises: a first transducer; a second transducer; and a mechanical differential having three interaction ports. The three interaction ports include a first interaction port coupled to the first transducer, a second interaction port coupled to the second transducer, and a third interaction port coupled to the load. A method of actuating a mechanical load is also provided. The method comprises: providing a mechanical differential having three interaction ports; providing a first transducer; providing a second transducer; coupling the first transducer to a first interaction port of the mechanical differential; coupling the second transducer to a second interaction port of the mechanical differential; and coupling the load to a third interaction port of the mechanical differential.