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The picture shows the straightforward connecting principle of the muscles to achieve rotative motion. The points of attachment together with muscle dimensions determine torque characteristics and also the range in which the joint can rotate since the muscles have limited contraction. The points of attachement can be altered just be replacing the red coloured connection plates.
This design allows an easy replacement of all parts in order to meet the requirements that several experimental tests may impose on the actuation system.
Vrije Universiteit Brussel,
Faculty of Applied Sciences,
Department of Mechanical Engineering
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