IMPROVED AGONIST - ANTAGONIST ACTUATED JOINT
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United States of America Patent
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Issued Date -
Jun 2, 2016
app pub date -
Jul 2, 2014
filing date -
Jul 2, 2014
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Abstract
An actuated joint comprising a first element and a second element movable one with respect to the other, a first actuator and a second actuator connected to said first and second element for controlling the movement of said joint in an agonist-antagonist way, wherein said first actuator has a nominal or maximum power greater than that of said second actuator and said second actuator comprises at least a first elastic element extendable so as to store a maximum amount of elastic energy greater than that storable by said first actuator.
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