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. Author manuscript; available in PMC: 2023 Nov 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2022 Oct 19;4(4):922–934. doi: 10.1109/tmrb.2022.3215522

Fig. 4:

Fig. 4:

Forward and inverse kinematics of the robot. (a) Kinematic configuration, (b) Link lengths, (c-i). Bending joint made up of three joints : revolute-1, prismatic, and revolute-2 (RPR), and (c-ii). Joint parameters labeled.