Curved gimbal link geometry

A control input assembly, comprising:

• an input handle, a first link, a second link, and an actuator;
• the input handle comprising a handle input shaft rotatable about a first rotational axis;
• the first link comprising a first link first end portion, a first link second end portion opposite the first link first end portion, and a joint shaft rotatable about a second rotational axis perpendicular to the first rotational axis, the first link first end portion being coupled to the input handle such that the handle input shaft extends within the first link, and the first link second end portion being coupled to the joint shaft;
• the second link comprising a second link first end portion, a second link second end portion, and a second link middle portion between the second link first end portion and the second link second end portion, the second link first end portion being coupled to the first link second end portion via the joint shaft of the first link;
• an intersection of the first rotational axis and the second rotational axis defining a gimbal center point;
• a gimbal radius being defined as a distance between the gimbal center point and the second link first end portion;
• a gimbal envelop being defined as a spherical volume surrounding the gimbal center point and characterized by the gimbal radius;
• the second link middle portion being curvilinear and entirely within the gimbal envelop;
• and
• the actuator being mounted within the second link and operatively coupled to exert a torque on the joint shaft of the first link.

A control input assembly, comprising:

• an input handle, a first link, a second link, a third link, a first actuator, and a second actuator;
• the input handle comprising a handle input shaft rotatable about a first rotational axis;
• the first link comprising a first link first end portion, a first link second end portion opposite the first link first end portion, and a first joint shaft rotatable about a second rotational axis perpendicular to the first rotational axis, the first link first end portion being coupled to the input handle such that the handle input shaft extends within the first link, and the first link second end portion being coupled to the first joint shaft;
• the second link comprising a second link first end portion, a second link second end portion opposite the second link first end portion, a second link middle portion extending between the second link first end portion and the second link second end portion, and a second joint shaft rotatable about a third rotational axis perpendicular to the second rotational axis, the second link first end portion being coupled to the first link second end portion via the first joint shaft of the first link, the second link middle portion extending in a first direction, and the first direction including a component parallel to the first rotational axis and a component parallel to the second rotational axis;
• the first actuator being coupled to the second link and operably coupled to exert a torque on the first joint shaft of the first link, at least a portion of the first actuator extending within the second link middle portion;
• the third link comprising a third link first end portion, a third link second end portion, and a third link middle portion extending between the third link first end portion and the third link second end portion, the third link first end portion being coupled to the second link second end portion via the second joint shaft of the second link, the third link middle portion extending in a second direction, and the second direction including a component parallel to the second rotational axis and a component parallel to the third rotational axis;
• and
• the second actuator being coupled to the third link and operably coupled to exert a torque on the second joint shaft of the second link, at least a portion of the second actuator extending within the second link middle portion,
• the first actuator drives rotation about a first actuator axis;
• the second actuator drives rotation about a second actuator axis;
• the first actuator axis and the second rotational axis define a first offset angle larger than 0 degrees and less than 90 degrees;
• and
• the second actuator axis and the third rotational axis define a second offset angle larger than 0 degrees and less than 90 degrees.