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.009a" src="https://static.hindawi.com/articles/isrn/volume-2013/890609/figures/890609.fig.009a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b> Full work envelope</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="890609.fig.009b" src="https://static.hindawi.com/articles/isrn/volume-2013/890609/figures/890609.fig.009b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Half work envelope </td></tr></table></td></tr></table>

<table>ERMIS work envelope. Both (a) the full envelope and (b) the half envelope can be seen. The latter allows for observing the inherent irregularities due to the actual joint limits.</table>

International Scholarly Research Notices

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Figure 9

Figure 9: From the Human Spine to Hyperredundant Robots: The ERMIS Mechanism 