Research Article
From the Human Spine to Hyperredundant Robots: The ERMIS Mechanism
Table 1
Agonist antagonist sets of tendons.
| | Agonist(s) | Antagonist(s) | Ratio of displacement | Axis of disk rotation |
| | A | C and B | 1 : | | | B | A and C | 1 : | | | C | A and B | 1 : | | | A | B | 1 : 1 | | | B | C | 1 : 1 | | | C | A | 1 : 1 | |
|
|
