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. 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. 2.

Fig. 2.

CAFE located on radial side of the index finger with parallel bars interfacing with each finger segment. Transmission pulleys above the corresponding joint transmit force from the appropriate cable to the target joint. Guide pulleys direct cables over each joint toward distal targets.