Table I.

Previous Literature on Distal Dexterity Enhancement

Linkages	(Minor and Mukherejee 1999; Yamashita et al. 2003)	Articulated wrists	(Schenker et al. 1995; Madhani, Niemeyer and Salisbury 1998; Guthart and Salisbury 2000; Asai et al. 2004)
Parallel wrists	(Reboulet and Durand-Leguay 1999; Piers, D. Reynaerts and Brussel 2000; Merlet 2002)	Snake-like robots	(Reynaerts, Peirs and Van Brussel 1999; Ikuta, Yamamoto and Sasaki 2003; Piers et al. 2003; Simaan, Taylor and Flint 2004; Harada et al. 2005)