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Force-reflecting robot prototype, (a) overall view, (b) cable-capstan... | Download Scientific Diagram
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![Model of a double capstan in a wooden frame that represents two decks. Both capstanes are for twelve wind trees and have six choose. The lower drum has eight catches in Model of a double capstan in a wooden frame that represents two decks. Both capstanes are for twelve wind trees and have six choose. The lower drum has eight catches in](https://c8.alamy.com/comp/2G4DXDY/model-of-a-double-capstan-in-a-wooden-frame-that-represents-two-decks-both-capstanes-are-for-twelve-wind-trees-and-have-six-choose-the-lower-drum-has-eight-catches-in-the-foot-to-prevent-decrease-the-drums-can-be-used-in-four-ways-blocked-separately-coupled-and-combined-so-that-the-topmost-drives-the-lower-delay-the-combinations-are-obtained-with-pells-in-the-foot-of-the-lower-drum-with-which-the-radilia-consisting-of-sun-and-planetraders-placed-under-the-bottom-of-the-beams-can-be-put-into-operation-and-by-linking-or-disconnecting-the-kings-of-both-drums-with-a-mechanism-on-the-2G4DXDY.jpg)