1997 – Robotic Master-Slave Manipulator – Mark E. Rosheim (American)
Patent number: 5845540 Filing date: Sep 25, 1997 Issue date: Dec 8, 1998 See full patent here. Patent Abstract: A pair of connected joints is provided in a master-slave robotic system each operated by a plurality of force-imparting means. Such force imparting means for the second joint supported on a member controlled by the first …
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