| 摘要 |
An articulated apparatus is disclosed that includes an actuator base and a plurality of serially coupled link members that are mutually joined to one another at a plurality of joints. Each of the serially coupled link members has an axis of rotation. The plurality of link member includes a proximal link member that is proximal to the actuator base, and a distal link member that is distal to the actuator base, and each link member includes a proximal end and a distal end. The apparatus also includes a plurality of actuators that are located at the base, and each actuator is associated with a respective link member. The apparatus further includes a plurality of tendons, each of which is coupled to an actuator and a respective link member for effecting movement of the link member with respect to the actuator base. At least one tendon is for effecting movement of at least one link member, and passes through the axis of rotation of each joint that is between the distal end of the at least one link member and the actuator base.
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