Skip to main content
. Author manuscript; available in PMC: 2019 Mar 15.
Published in final edited form as: IEEE ASME Trans Mechatron. 2012 Nov 16;19(1):131–140. doi: 10.1109/TMECH.2012.2224359

Fig. 1.

Fig. 1.

Three-link, planar model of CAFE. Transmission components are shown as arcs including: (1) the joint concentric gear, (2) small mating gear, and (3) joint pulley. Respective motions are indicated via arrows as an example of creating flexion at each joint.