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. 2019 Jul 10;10(7):463. doi: 10.3390/mi10070463

Figure 6.

Figure 6

Mechanical design of hip joint. 1—shell, 2—motor, 3—flange, 4—Harmonic Drive, 5—coupling, 6—clutch, 7—bearing outer bezel, 8—bearing, 9—bearing inner bezel, 10—end cap, 11—link.