From the Human Spine to Hyperredundant Robots: The ERMIS Mechanism

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="890609.fig.001a" src="https://static.hindawi.com/articles/isrn/volume-2013/890609/figures/890609.fig.001a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>  ERMIS</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="890609.fig.001b" src="https://static.hindawi.com/articles/isrn/volume-2013/890609/figures/890609.fig.001b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Human Spine </td></tr></table></td></tr></table>

<table>Mechanical and biological systems. (a) ERMIS mechanism with 9 disks and (b) a similar human spine part with 9 vertebrae.</table>

International Scholarly Research Notices

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Figure 1

Figure 1: From the Human Spine to Hyperredundant Robots: The ERMIS Mechanism 