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. 2018 Jun 14;5:51. doi: 10.3389/frobt.2018.00051

Figure 2.

Figure 2

Integrated smart actuators: (A) CAD rendering of the ISA v2 with cut-out section to illustrate the main features of the actuator and integrated components (illustration also representative of the ISA v5). (B) Smart manifold mounted on a custom made rotary actuator. A custom torque sensor and the absolute position sensor are interfaced with the smart manifold.