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. 2016 Dec 21;11(1):0145011–0145019. doi: 10.1115/1.4034575

Fig. 4.

Fig. 4

The geometric parameters that can be selected for the wrist design include the uncut section height c, the cutout height h, the cut depth g, and the outer and inner tube radii ro and ri. Section view A–A illustrates the areas Ai and Ao used to calculate the neutral bending plane location.