Patents

1. Underactuated mechanical finger with return actuation
   • United States Patent, 1998 (US 5,762,390, )
   • Canadian Patent, 2006 (CA 2,209,863, )
   

2. Two-degree-of-freedom spherical orienting device
   • United States Patent, 1999 (US 5,966,991, )
   • Canadian Patent, 2005 (CA 2,235,759, )
   

3. Actuation system for highly underactuated gripping mechanism
   • United States Patent, 2003 (US 6,505,870, )
   • Canadian Patent, 2003 (CA 2,406,921, )
   

4. Power switching mechanism for robotic applications
   • United States Patent, 2003 (US 6,669,257, )
   

5. Cartesian parallel manipulators
   • United States Patent, 2004 (US 6,729,202, )
   

6. Parallel Manipulators with four degrees of freedom
   • United States Patent, 2006 (US 6,997,669, )
   

7. Construction members for three-dimensional assemblies
   • United States Patent, 2006 (US 7,118,442, )
   

8. Dynamic balancer
   • Netherlands Patent, 2006 (NL 1,027,102, )
   

9. Assist system configured for moving a mass
   • United States Patent, 2011 (US 7,992,733, )
   

10. Actuation system configured for moving a payload
    • United States Patent, 2012 (US 8,181,799, )