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. Author manuscript; available in PMC: 2014 Jul 19.
Published in final edited form as: IEEE Trans Biomed Eng. 2011 Jul 22;58(10):2904–2910. doi: 10.1109/TBME.2011.2162512

Fig. 7.

Fig. 7

One of six motor-actuated prismatic joints, shown next to a U.S. dime. Screw rotation causes linear translation of the motor housing, which is attached to a ball joint on the robot’s top platform.