Image Number 4 for United States Patent #5271290.
An actuator assembly (14) suitable for use in a hand controller (10) with six degrees of freedom of movement consists of a pair of arms (20) each secured at one end to a respective rotary actuator (26), and at the other end secured to a common universal joint (21). The arms (20) are coupled directly to the drive shafts (25) of the rotary actuators (26) and their movement is restricted.
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