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. Author manuscript; available in PMC: 2013 Jan 20.
Published in final edited form as: IEEE Trans Biomed Eng. 2012 Mar 5;59(6):1572–1582. doi: 10.1109/TBME.2012.2189771

Fig. 1.

Fig. 1

A three-joint planar robotic system with three arbitrarily routed tendons was moved manually to span a range of joint angles. The tendon excursions were recorded and joint angles calculated from motion capture data.