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. Author manuscript; available in PMC: 2010 Mar 11.
Published in final edited form as: IEEE ASME Trans Mechatron. 2007 Aug 1;12(4):399–407. doi: 10.1109/TMECH.2007.901928

Fig. 1.

Fig. 1

Planar, wrist, and antigravity robots. Top photograph shows the planar shoulder-and-elbow robot (2 active DOFs [18]), middle photograph shows the wrist robot (3 active DOFs [19]), and the bottom photograph shows the antigravity robot (1 active DOF [17]).