. 2019 May 17;13:20. doi: 10.3389/fnbot.2019.00020
Copyright © 2019 Rodriguez-Cianca, Weckx, Jimenez-Fabian, Torricelli, Gonzalez-Vargas, Sanchez-Villamañan, Sartori, Berns, Vanderborght, Pons and Lefeber.
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Figure 3.
(A) CAD drawing of the VSA actuator design. (B) Prototype of the VSA.