1. Date of download: 11/13/2017
Copyright © ASME. All rights reserved.
From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory
J. Med. Devices. 2013;7(2): doi: /
Figure Legend:
Coupling between yaw joint and grasp joint

2. Date of download: 11/13/2017
Copyright © ASME. All rights reserved.
From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory
J. Med. Devices. 2013;7(2): doi: /
Figure Legend:
A decoupled cable-driven grasper tip

3. Date of download: 11/13/2017
Copyright © ASME. All rights reserved.
From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory
J. Med. Devices. 2013;7(2): doi: /
Figure Legend:
Cables driving one jaw

4. Date of download: 11/13/2017
Copyright © ASME. All rights reserved.
From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory
J. Med. Devices. 2013;7(2): doi: /
Figure Legend:
Cable-pulley system equivalent to gear set (carrier removed for clarity)

5. Date of download: 11/13/2017
Copyright © ASME. All rights reserved.
From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory
J. Med. Devices. 2013;7(2): doi: /
Figure Legend:
Front view of design

6. Date of download: 11/13/2017
Copyright © ASME. All rights reserved.
From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory
J. Med. Devices. 2013;7(2): doi: /
Figure Legend:
Driving mechanism of gear 2 (carrier removed for clarity)

7. Date of download: 11/13/2017
Copyright © ASME. All rights reserved.
From: Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory
J. Med. Devices. 2013;7(2): doi: /
Figure Legend:
The mechanism giving ω1 = -ωH