Cobots are inherently passive devices which constrain the motions of an end-effector powered by external means (often a human user). Previous cobot designs have relied either on a wheel or a rotational continuously variable transmission (CVT) to couple joint velocities; these elements are best suited to planar or serial manipulator designs. In this paper, we describe the design of a new CVT mechanism which is well suited for parallel manipulators and outline a potential application in computer-assisted surgery.

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