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. Author manuscript; available in PMC: 2015 Jun 16.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2014;2014:6854–6858. doi: 10.1109/EMBC.2014.6945203

Fig. 2.

Fig. 2

The kinematics of the manipulator identifying the pin joints (*) and points pj (o) on the manipulator. Positive rotation, θi, occurs about the y axis (into the page) at each pin joint (9).