ABENICS: Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshings

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#ABENICS : 球状歯車と鞍状歯車の噛み合いに基づくアクティブボールジョイント機構（多田隈研究室 - #山形大学 工学部機械システム工学科） #多田隈理一郎 https://www.youtube.com/watch?v=hhDdfiRCQS4