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.004a" src="https://static.hindawi.com/articles/isrn/volume-2013/890609/figures/890609.fig.004a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Mechanical joints </td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="890609.fig.004b" src="https://static.hindawi.com/articles/isrn/volume-2013/890609/figures/890609.fig.004b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Fundamental angle  </td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="890609.fig.004c" src="https://static.hindawi.com/articles/isrn/volume-2013/890609/figures/890609.fig.004c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Dimensions of the DBD joint </td></tr></table></td></tr></table>

<table>ERMIS joint, angle <i>U</i>, and the dimensions of the DBD joint that affect the range of motion. </table>

International Scholarly Research Notices

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Figure 4

Figure 4: From the Human Spine to Hyperredundant Robots: The ERMIS Mechanism 