The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 29, 2000
Filed:
Jul. 01, 1997
Marko Paakkunainen, Tampere, FI;
Plustech Oy, Tampere, FI;
Abstract
A leg mechanism for moving a body comprising an upper arm pivotably connected to the body by a hip joint, and a lower arm pivotably connected to the opposite end of the upper arm by a knee joint. The lower end of the lower arm comprises a walk element for contacting a surface over which the body is moved. Between the upper arm and the body at the hip joint, and between the upper arm and the lower arm at the knee joint, respectively, there is an actuator for effecting the pivotal movement of the corresponding joint. At one of the joints there is, in addition to an active actuator, also a passive force-transmitting element arranged to transmit a change in a pivoting angle taking place at the joint under the effect of the active actuator and an external load. The passive force-transmitting element transforms the change into a force which is transmitted to a receiving actuator which effects a change in the position of the lower end of the lower arm to compensate for the change in the pivoting angle.