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This is a model of a humanoid robot arm and shoulder using linear (piston-like) actuators instead of the traditional rotary actuators. The new architecture allows a design with either pneumatic actuators, linear electric actuators (such as rotary motor connected to ball-screw), and direct drive actuation. Two actuators are used in parallel to control 2 separate Degrees of Freedom, however the force of both will be added thus making it more efficient than a series configuration.
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