LIMS2-AMBIDEX mechanical design

1-DOF elbow joint - Torque and stiffness are amplified by 6 and 36 times due to a light-weight tension amplification mechanism. 3-DOF Wrist joint - Torque and stiffness are amplified by 4 and 16 times. -2-DOF virtual rolling contact joint which emulates pure rolling of two spheres was used for wrist roll/pitch motion.