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LIMS2-AMBIDEX mechanical design
1DOF elbow joint
Torque and stiffness are amplified by 6 and 36 times
due to a lightweight tension amplification mechanism.
3DOF Wrist joint
Torque and stiffness are amplified by 4 and 16 times.
2DOF virtual rolling contact joint which emulates pure rolling
of two spheres was used for wrist roll/pitch motion.
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