LIMS2-AMBIDEX mechanical design

1-DOF elbow joint - Torque and stiffness are amplified by 6 and 36 times
due to a light-weight tension amplification mechanism.

3-DOF Wrist joint  
- Torque and stiffness are amplified by 4 and 16 times.  

2-DOF virtual rolling contact joint which emulates pure rolling  
of two spheres  was used for wrist roll/pitch motion
.


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