Fig. 19From: Simple noninterference mechanism between the pitch and yaw axes for a wrist mechanism to be employed in robot-assisted laparoscopic surgeryThe relation between the input torque and the output torque in the measured data. a Pitch axis (pitch angle = 60°, yaw angle = 0°, gripper angle = 0°); b yaw axis (pitch angle = 40°, yaw angle = 0°, gripper angle = 0°)Back to article page