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A variable speed transmission including a housing, a drive shaft having an axis of rotation and rotatably supported in the housing, an output shaft having an axis of rotation and rotatably supported in the housing, a first pulley and a second pulley both having a common axis of rotation, a third pul

A variable speed transmission including a housing, a drive shaft having an axis of rotation and rotatably supported in the housing, an output shaft having an axis of rotation and rotatably supported in the housing, a first pulley and a second pulley both having a common axis of rotation, a third pulley having an axis of rotation and rotatably attached to the drive shaft, and a belt. The output shaft is operatively connected to the drive shaft. The first pulley and the second pulley each have a variable pitch diameter and changes in the first and second pulley variable pitch diameters being inversely proportional. The third pulley and one of the first and the second pulleys are in engagement though the belt.

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A variable speed transmission including a housing, a drive shaft having an axis of rotation and rotatably supported in the housing, an output shaft having an axis of rotation and rotatably supported in the housing, a first pulley and a second pulley both having a common axis of rotation, a third pul

A variable speed transmission including a housing, a drive shaft having an axis of rotation and rotatably supported in the housing, an output shaft having an axis of rotation and rotatably supported in the housing, a first pulley and a second pulley both having a common axis of rotation, a third pulley having an axis of rotation and rotatably attached to the drive shaft, and a belt. The output shaft is operatively connected to the drive shaft. The first pulley and the second pulley each have a variable pitch diameter and changes in the first and second pulley variable pitch diameters being inversely proportional. The third pulley and one of the first and the second pulleys are in engagement though the belt. -64. Adelstein Bernard D. et al., "A High Performance Two Degree-of-Freedom Kinesthetic Interface," Massachusetts Institute of Technology 1992, pp. 108-112. Colgate J. Edward et al., Implementation of Stiff Virtual Walls in Force-Reflecting Interfaces, Sep. 22, 1993. Iwata, Hiroo et al, Volume Haptization, IEEE 1993, pp. 16-18. Fischer, Patrick et al., "Specification and Design of Input Devices for Teleoperation," 1990. Burdea, Grigore et al., "Distributed Virtual Force Feedback," IEEE, May 2, 1993, pp. 25-44. Rosenberg, Louis B., "The Use of Virtual Fixtures as Perceptual Overlays to Enhance Operator Performance in Remote Environments," Air Force Material Command, Sep. 1992, pp. 1-42. Rosenberg, Louis B., The Use of Virtual Fixtures to Enhance Operator Performance in Time Delayed Teleoperation, Armstrong Laboratory, Mar. 1993, pp. 1-45. Rosenberg, Louis B., "Perceptual Design of a Virtual Rigid Surface Contact," Center for Design Reseach Stanford University, Air Force Material Command, Apr. 1993, pp. 1-41. Rosenberg, Louis B. et al., "Perceptual Decomposition of Virtual Haptic Surfaces," IEEE, Oct. 1993. Rosenberg, Louis B. et al., "Virtual Fixtures as Tools to Enhance Operator Performance in Telepresence Environments," SPIE Telemani