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Showing 1 to 1 of 1 for “"Hoeken's Linkage"”.
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Design of Linear Series Elastic Actuators for a Humanoid Robot
… advantage profile on THOR, an inverted Hoeken's linkage straight line mechanism is paired with a linear SEA at the hip and knee pitch joints on the robot. The resulting linkage assembly is capable of delivering nearly constant peak torque of 115 Nm across its 150 degree range of motion. …