Abstract: An object fastening device which can prevent foreign matter from ending up damaging an object when confirming the object is properly seated, which object fastening device is provided with a receiving part, a pushing part which pushes the object against the receiving part, a first drive part which makes the pushing part generate a first force, a second drive part which is provided separate from the first drive part and makes the pushing part generate a second force which is smaller than the first force, and a foreign matter detecting part which detects foreign matter which is interposed between the object and receiving part while the second drive part is being used to cause the pushing part to push the object against the receiving part.

Abstract: An inexpensive and compact robot hand and a robot having the robot hand, wherein the robot hand is configured to rotate a cylindrical object gripped by the robot hand and does not negatively affect a cable, etc., connected to the robot hand. N number of fingers are moved by a first drive part so that a circumcircle of a N-sided polygon constituted by the fingers is arranged in a concentric pattern about the center axis of the object. Each first roller is rotatable about an axis parallel to the center axis of the object, and is configured to contact the inner peripheral portion of the object by movement of the finger relative to a hand base. By rotationally driving at least one first roller while a radially outward force is applied to the object, the object may be rotated relative to the hand base.

Abstract: According to one embodiment, a gripping device grips a rim of a workpiece by opening and closing gripping plates. The device includes a gripping unit, a hoisting and lowering unit and a motion control unit. The gripping unit includes a first and a second gripping plate. The first gripping plate has a first gripper to contact the rim. The second gripping plate has a second gripper to contact the rim. At least one of the first and second gripping plates is moved and the first and second gripper are spaced from each other. The hoisting and lowering unit is configured to hoist and lower the gripping unit. The motion control unit is configured to control open/close operations and hoisting and lowering operations. The motion control unit mechanically controls first first hoisting and lowering operations, controls second the open/close operations, and controls third second hoisting and lowering operations.

Abstract: A grasper includes a base, a finger, a tendon cable and a magnetic breakaway mechanism. The finger has a proximal end connected to the base by a proximal joint. The tendon cable is configured to move the finger relative to the base. The magnetic breakaway mechanism releasably couples the finger to the base.

Abstract: A gripping device (4) is attached to a robot arm (2). The gripping device (4) consists of a housing (6) and two gripping finger sockets (9,10) which can be displaced linearly with respect thereto. Each gripping finger socket (9, 10) is provided with an electric or pneumatic coupling for various gripping fingers (17, 27, 37) that can be connected. A rotating drive (13) is present between the gripping finger sockets (9, 10) on which a tool can be placed for releasing or attaching a fastening apparatus, such as a bolt. With this relatively simple construction, weights of several hundred kilos can be lifted and positioned accurately, for example in a processing machine.

Abstract: A clamping mechanism includes a driving assembly, a gear assembly and a clamping assembly. The driving assembly includes a driving gear. The gear assembly includes a first slave gear, a second slave gear and a connecting rod which is coupled with the first slave gear and the second slave gear. The first slave gear meshes with the second slave gear. The clamping assembly includes a first clamping member and a second clamping member, which are coupled to the first slave gear and the second slave gear respectively. When the driving gear rotates, the first slave gear and the second slave gear would rotate in opposite directions to enable the first clamping member and the second clamping member to move toward or away from each other, thereby clamping or releasing a workpiece.

Abstract: A robotic device is described herein. The robotic device includes a frame that comprises a plurality of receiving regions that are configured to receive a respective plurality of modular robotic extensions. The modular robotic extensions are removably attachable to the frame at the respective receiving regions by way of respective mechanical fuses. Each mechanical fuse is configured to trip when a respective modular robotic extension experiences a predefined load condition, such that the respective modular robotic extension detaches from the frame when the load condition is met.

Abstract: A machine for treatment and/or analysis of biological samples is provided. The machine includes a hinged arm to which a clamp for gripping a first biological sample holder is fixed. The clamp includes first and second arms able to move relative to each other along a gripping position between a first position of gripping the first biological sample holder, and a first position of releasing the biological sample holder. Each arm of the clamp includes a groove. When the first and second arms are in the first position of release, the first and second grooves are spaced away from each other along the gripping direction, and when the first and second arms are in the first gripping position, the first and second grooves are brought closer to each other along the gripping direction, so as to be able to receive lateral edges of and grip the first biological sample holder.

Abstract: A robot and a control method thereof which execute grasp planning of hands of the robot separately from motion planning of arms of the robot so as to apply a result of the grasp planning of the hands of the robot to the motion planning of the arms of the robot, and thus more rapidly, naturally and stably grasp an object in a grasp manner suited to a desired working purpose and judge whether or not grasping is executable prior to the motion planning of the arms of the robot, thereby more stably grasping the object.

Abstract: An instrument driver comprises a base and a jaw assembly coupled to the base. The jaw assembly includes a first jaw having a gripping surface and a second jaw having a gripping surface. The instrument driver further comprises a driver assembly operably coupled to the jaw assembly to advance an elongated member relative to the base by translating the first and second jaws toward each other, thereby closing the jaw assembly and gripping the member between the respective gripping surfaces of the first and second jaws, translating the jaw assembly in a first axial direction when the jaw assembly is closed, translating the first and second jaws away from each other, thereby opening the jaw assembly and releasing the member from between the respective gripping surfaces of the first and second jaws, and translating the jaw assembly in a second axial direction when the jaw assembly is opened.

Abstract: This disclosure discloses a robot hand of underactuated mechanism. The robot hand includes a plurality of actuators, a plurality of joints where the number of the joints is more than the number of the actuators, a palm portion, three finger portions each including a plurality of links having bases coupled to the palm portion and coupled being capable of flexion, and a shape-fitting mechanism which is provided in at the finger portion, and which enables to grasp an object to be grasped in an enclosing manner with the finger portions by performing providing torsional displacement to the links.

Abstract: A serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and a distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal and/or distal joints by the first and/or second actuators. A robotic hand having the above robot is also disclosed, as is a robotic system having a torso, arm, and the above-described hand.

Abstract: A clamping device comprising: a distal end side stationary blocks which are provided on a side of a distal end of a workpiece retaining base, and in which stationary tilt faces tilting downwardly to a central direction of the workpiece are formed; a proximal end side stationary blocks which are provided on a side of a proximal end of the workpiece retaining base, and in which upward stationary tilt faces tilting downward toward the central direction of the workpiece are formed; and a movable block which is arranged at a position proximal to the proximal end side stationary blocks, and is capable of advancing to or retracting from a side of the distal end side stationary blocks with the workpiece being held between the blocks, and in which a downward movable tilt face tilting upwardly toward the central direction of the workpiece is formed.

Abstract: A method for manipulating an object with a remote vehicle having a manipulator attached to a manipulator arm. The manipulator comprises a jamming or other phase change material in a housing. The method comprises pressing the manipulator housing to the object, activating the jamming or other phase change material to cause the manipulator to grasp the object, and moving one or more of the manipulator arm and the remote vehicle to manipulate the object.

Abstract: A robot hand and a robot according to an embodiment include supporting units. The supporting units are arranged on a base and contact the peripheral border of a board to grip the board. At least one of the supporting units rotates while abutting on the peripheral border of the board.

Abstract: A mechanical implement adapted for use in an autonomously functioning device, such as a robot arm, and including an active material, such as shape memory polymer, element that when activated and/or deactivated is operable to modify the mechanical impedance of a joint or link in the device.

Abstract: A minimal access tool includes a frame arranged to be attached to an arm of a user, a tool shaft having a proximal end and a distal end, where the tool shaft proximal end is connected to the frame. The tool further includes an input joint having a first end connected to the frame and a second end arranged to receive user input, the input joint including a virtual center-of-rotation (VC) mechanism which provides a center of rotation that generally coincides with a wrist joint of the user. An output joint is connected to the tool shaft distal end, where the output joint is coupled to the input joint via a mechanical transmission connected therebetween to correlate motion of the input joint to motion of the output joint.

Abstract: A robot has a structure in which finger joints do not interfere with each other. The robot includes a first actuator driving the finger joint, a first power transmission, a second actuator driving the finger joint, and a second power transmission. The first actuator and the first power transmission are coupled with a wrist joint so that the position of the first actuator and the first power transmission is changed. Accordingly, even if the wrist joint operates, the distance between the first actuator and the finger joint is constantly maintained.

Abstract: A humanoid robot includes a torso, a pair of arms, a neck, a head, a wrist joint assembly, and a control system. The arms and the neck movably extend from the torso. Each of the arms includes a lower arm and a hand that is rotatable relative to the lower arm. The wrist joint assembly is operatively defined between the lower arm and the hand. The wrist joint assembly includes a yaw axis and a pitch axis. The pitch axis is disposed in a spaced relationship to the yaw axis such that the axes are generally perpendicular. The pitch axis extends between the yaw axis and the lower arm. The hand is rotatable relative to the lower arm about each of the yaw axis and the pitch axis. The control system is configured for determining a yaw angle and a pitch angle of the wrist joint assembly.

Abstract: Gripping device (4) and robot arm (2) to which such a gripping device (4) is attached. The gripping device (4) consists of a housing (6) and two gripping finger sockets (9,10) which can be displaced linearly with respect thereto. Each gripping finger socket (9, 10) is provided with an electric or pneumatic coupling by means of which various gripping fingers (17, 27, 37) can be connected. A rotating drive (13) is present between the gripping finger sockets (9, 10) on which a tool can be placed for releasing or attaching a fastening means, such as a bolt. By means of this relatively simple construction, weights of several hundreds kilos can be lifted and positioned accurately, for example in a processing machine.

Abstract: A robot is provided with: a base section; three motors set on the base section; a support so set that an axial centerline is perpendicular to a surface of the base section; pulleys; three wires into which nonlinear springs are incorporated; an output shaft connected to a load; a differential mechanism having a pinion gear connected to the output shaft and also having an affixation member disposed at the upper end of the support; a universal joint disposed at the ring of the differential mechanism; and a wire guide disposed at the affixation member of the differential mechanism. Two side gears of the differential mechanism and two motors are connected in one-to-one correspondence by means of two wires through the pulleys, and the remaining motor and the universal joint are connected by means of the remaining wire which is passed through the wire guide.

Abstract: The through metal communication system sends messages by tapping on metal barriers, such as pipelines, bulkheads, and the like. A robotic element attaches itself to a metal barrier, wall, pipe, and the like. A piezoelectric tapping device is attached to the robotic element and can tap an encoded message onto the metal. The robot preferably includes a piezoelectric actuator, a microcontroller to convert text/information to Morse code, and a power source for the actuator. The messages are retrieved and interpreted by a remote transducer connected to a computer or microcontroller.

Abstract: A robot hand, which minimizes the number of actuators and adjusts the bending angles of joints through torque limiters to flexibly and finely control finger units, and a humanoid robot having the robot hand. The robot hand includes a torque limiter disposed on at least any one joint of a plurality of joints to link another joint of the plurality of joints with the any one joint through a power transmission member.

Abstract: An actuator having a two-parameters energy converter is coupled to a transducer and is driven by a controller. Prior to assembly and operation of the actuator, a calibration procedure is performed. The calibration procedure, together with the unique controller, enable accurate control of the output parameters of the actuator. In one example, the parameters are rate and force, and the calibration and controller enable accurate control of the rate and force at the output of the actuator by measuring only the rate at the output of the energy converter. Consequently, no sensors are needed at the output of the actuator, i.e., at the output of the transducer, where the load is applied.

Abstract: A parallel link robot (10) provided with a base (11), a moving part (12), three links (20a to 20c) coupling the base and the moving part and having respectively single degrees of freedom with respect to the base, and three actuators (13a to 13c) respectively driving the links, each of the links comprised of a drive link (21a to 21c) coupled with the base and two driven links (22a to 22c, 23a to 23c) coupling the drive link and the moving part and parallel to each other, and further provided with a posture changing mechanism (15) which changes a posture of an element (19) attached to the moving part, an additional actuator (13d to 13f) arranged between the two driven links of at least one link in parallel to these driven links, and a power transmission shaft (39) which extends coaxially from the additional actuator and transmits rotational drive force to the posture changing mechanism.

Abstract: Disclosed is a humanoid robot capable of improving power transmission efficiency of a wire and movement displacement of a wrist joint by modifying the structure of the wrist joint serving as a passage for wires. The humanoid robot includes a robot hand including a power transmission device for transferring gripping force to finger members. The power transmission device includes connection members connecting an actuator to finger joints and guide members for guiding the connection members. The guide members include a first guide member coupled to a robot arm and a second guide member coupled to a hand body. The connection members are alternately wound around the first and second guide members. The gripping force is enhanced whereby a length of the connection members provided between the first and second guide members is constantly maintained even if the second guide member is shifted from the first guide member.

Abstract: A manipulator includes a wire which is movable back and forth, a driven wire both ends of which are connected to the wire, an idle pulley, a guide pulley, a driven pulley which is movable back and forth, and an end effector coupled to the driven pulley. The driven wire passes from a terminal along a first side on the idle pulley and extends to a second side opposite to the first side, and then passes along the second side on the driven pulley. The driven wire is then wound around the driven pulley and passes along the first side on the driven pulley and then the second side on the idle pulley, and finally returns to the terminal, thereby making up an 8-shaped configuration path. The driven wire is crossed between the idle pulley and the guide pulley.

Abstract: A gripper assembly for use with a moving device. The moving device can be a mechanical device such as a robot. The gripper assembly includes a platform and an elongate arm extending from the platform. The elongate arm is in the form of least one elongate member. Each elongate member has a body which has a proximal end and an opposed distal end. A gripping mechanism is rotatably supported relative to the arm, and includes a holder having a pivoting arm pivotably joined to the body in the region of the distal end of the body. An actuator is in operable communication with the pivoting arm to impart pivotable movement to the pivoting arm and rotational movement to said gripping mechanism about a horizontal axis upon actuation of the actuator. The gripper assembly may have a center of mass substantially aligned with a vertical rotation axis of the gripper assembly.

Abstract: A robot has a flexible power transmission member, an input rotation axis rotated by a power generation source, a driving link connected at both ends of the flexible power transmission member, which transmits a rotation torque of the input rotation axis to the flexible power transmission member, and a driven pulley around which the flexible power transmission member is hung.

Abstract: An end effector for use on a robotic arm includes a clamping assembly for clamping a workpiece, and a tool such as a drill for performing an operation on the clamped workpiece. The clamping assembly is slidably mounted on the robotic arm and self adjusts its position relative to the workpiece before a clamping operation is performed. Linear actuators independently control the movements of the clamping members. The actuators are operated by a controller, based in part on position information produced by sensors that sense the position of the clamping members.

Abstract: Systems and methods are provided for controlling one or more servos coupled to a model vehicle. An input signal having a series of input pulses encoded at an input pulse repetition frequency is received at a receiver coupled to a model vehicle having one or more servos. The input signal is decoded at the receiver. A servo control pulse is generated using at least one of the input pulses at the receiver. The servo control pulse is outputted to at least one of the servos at an output pulse repetition frequency that is different from the input pulse repetition frequency.

Abstract: A robot configured to check whether an object is properly grasped by a hand determines whether the position and posture of a handle (object), determined based on an image obtained by a camera (external information), and the position and posture of the handle in the case where the handle is assumed to be properly grasped, determined from the posture of a robot based on an output or the like of a rotary encoder (internal information), agree with each other. In response to the determination of whether the external information and the internal information agree with each other, it is determined whether the handle is properly grasped based on a force detected by a six-axis force sensor provided on each hand.

Abstract: A spatial photomask flipper provides up to four access gates for an unloading of a clamped photomask after its reorientation along a single photomask transfer axis. The clamping frames holding the photomask are secured by a locking control cam that prevents their inadvertent opening in any other but the two main flip orientations. The flipper is part of an automated system including a digital camera and an image recognition algorithm that interpret an arbitrary initial photomask loading orientation from a circumferential photomask identification number. An eventual pellicle on the photomask may be also automatically detected via a pellicle detection sensor. Alternately, the digital camera may be employed for pellicle detection together with a pellicle detection algorithm that processes the digital image for well known components of the pellicle such as the pellicle frame.

Abstract: A robotic hand assembly comprising: a hand section comprising: at least one digit provided with at least one actuatable joint; and a control section comprising: at least one actuation device, the at least one actuation device comprising: a sensing module configured to sense a force applied to a tendon coupled at a first end to the at least one actuatable joint; and an actuation module configured to actuate the at least one actuatable joint.

Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

Abstract: A force sensor is disposed on a hand attaching base portion, a finger base on which a pair of fingers are placed so as to be opposed to each other is disposed on a measuring unit of the force sensor, a finger driving mechanism base is disposed on the hand attaching base portion in a manner so as not to be made in contact with none of the force sensor, the finger base and the fingers, finger driving mechanisms are disposed on the finger driving mechanism base so that vectors of driving forces, which allow the pair of the opposed fingers to move so as to open or close, are made face to face with each other within a plane on which the pair of the opposed fingers are moved to open or close so as to be cancelled with each other, with the result that the fingers are driven so as to make the resultant force virtually zero, and an actuator, which is positioned at a place other than the hand attaching base portion, the force sensor, the finger base, or the fingers and the finger driving mechanism base, and drives the

Abstract: A robot controller according to an embodiment of the present invention comprises a base; a first link; a first actuator which drives to rotate the first link relative to the base; a first torque transmission mechanism which transmits the torque of the first actuator to the first link at a speed reducing ratio of N1; a first angular sensor which detects a rotating angle ?M1 of the first actuator; a first angular velocity sensor which detects an angular velocity ?A1 of the first link rotating relatively to the base; and a processor which calculates an angle of the first link relatively to the base by using a high frequency content of an integrated value of ?A1 and a low frequency content of ?M1*N1, the high frequency content being equal to a first frequency or higher and the low frequency content being equal to a first frequency or lower.

Abstract: An electrical gripper has a housing and a solenoid plunger. A pair of jaws are movably mounted with the housing. The jaws are movable towards and away from each other. The jaws are coupled with the solenoid plunger to provide movement to the jaws. A first mechanism is associated with the solenoid plunger to lock the solenoid plunger in a first position when power is terminated to the solenoid plunger. A second mechanism is associated with the solenoid plunger to lock the solenoid plunger in a second position when power is terminated to the solenoid plunger. Thus, the jaws are actively locked in an open or close position when power is terminated to the solenoid plunger.

Abstract: A robot hand apparatus (1) includes a base (2); a motor (M); a first-link (10) supported by the base (2) while allowing the rotation around a first axis (S1), which is in parallel to an actuation axis (G) of the motor (M) and is positioned apart from the actuation axis (G), the first-link (10) has a first guide path (11b) movably supporting a control axis (42); a second link (20) which connects with the actuation axis (G) and supports the control axis (42), and moves the control axis (42) within the first guide path (11b) in accordance with the rotation of the actuation axis (G); and a finger link (F1) supported by the first link (10) while allowing the rotation around a second axis; and the finger link (F1) directly or indirectly links with the control axis (42) and is rotated by the actuation of the control axis (42).

Abstract: A parallel gripper for handling multiwell plates in an automated analysis system, moves individual multiwell plates between a plate storage array unit (i.e., plate hotel) and an imaging station. More particularly, the gripper has two parallel plate-gripping arms that move in equal, but opposite linear directions and are controlled using a stepper motor. Each of the arms has a shelf that provides support for the corresponding side edge of a multiwell plate.

Abstract: A robot hand apparatus (1) includes a base (2); a motor (M); a first-link (10) supported by the base (2) while allowing the rotation around a first axis (S1), which is in parallel to an actuation axis (G) of the motor (M) and is positioned apart from the actuation axis (G), the first-link (10) has a first guide path (11b) movably supporting a control axis (42); a second link (20) which connects with the actuation axis (G) and supports the control axis (42), and moves the control axis (42) within the first guide path (11b) in accordance with the rotation of the actuation axis (G); and a finger link (F1) supported by the first link (10) while allowing the rotation around a second axis; and the finger link (F1) directly or indirectly links with the control axis (42) and is rotated by the actuation of the control axis (42).

Abstract: An end effector for use on a robotic arm includes a clamping assembly for clamping a workpiece, and a tool such as a drill for performing an operation on the clamped workpiece. The clamping assembly is slidably mounted on the robotic arm and self adjusts its position relative to the workpiece before a clamping operation is performed. Linear actuators independently control the movements of the clamping members. The actuators are operated by a controller, based in part on position information produced by sensors that sense the position of the clamping members.

Abstract: A robot controller for an industrial robot is described. The robot controller is a portable controller of the TPU Teach Pendant Unit type and comprises control means for moving a robot in three or more degrees of freedom. The TPU comprises a visual display and selection means associated with programming or controlling a robot. In other aspects of the invention a system comprising a robot and a control unit and the TPU are described. A computer program of the TPU for carrying out the method is also provided.

Abstract: A microgripper device includes a microactuator member and a microgripper member. The microactuator member includes an actuating portion adapted to output a driving force to the microgripper member. The microgripper member includes a main flame, an engaging portion, a pair of lateral shifting portions and a gripping portion. The main frame of the microgripper member mounts the microactuator member therein, and the engaging portion of the microgripper member connects to the actuating portion of the microactuating member. Each of the lateral shifting portions includes three connection portions linking the main frame, the engaging portion and the gripping respectively. The gripping portion of the microgripper member includes a pair of resilient arms and a pair of pivot portions. Each of the pivot portions connects to a first end of the corresponding resilient arm so that the second ends of the resilient arms are able to generate a gripping movement.

Abstract: A holding structure, such as a manipulator, includes a plurality fingers. At least one of the fingers is movable such that an object can be held or released by a closing or opening motion of the movable finger. At least one contact surface of the fingers, which is capable of being brought into contact with the object, is formed by an elastic member, and at least one elastic member is adapted to reversibly change its elasticity under the control of an external supply of energy to the elastic member.

Abstract: A mobile robot communication system includes a remote unit, a repeater module and a control station. A cable connects the repeater module to the control station. The remote unit has a wireless receiver/transmitter for sending and receiving commands. The repeater module has a wireless receiver/transmitter for sending and receiving commands from the mobile unit. The control station is operable in communication with the repeater module for remotely sending and receiving signals. The cable is attached between the repeater module and control station for transmitting signals therebetween.

Abstract: First of all, in a first step S1, each actuator command value for position command value and posture command value of an end-effector is determined. Next, in a second step S2, rotational resistance values of a first and a second universal joints are obtained, and in a third step S3, the force and the moment exerted to each of the second universal joints are computed using this, and in a fourth step S4, the resultant force and the resultant moment exerted to the end-effector are determined from these. Then, in the fifth step, the elastic deformation amount of a mechanism is computed using these, and a compensation amount of the actuator command value is computed using these values. And then, in the sixth step, the actuator command values determined in the first step are updated with the compensation amount determined in the fifth step taken into account.

Abstract: A robotic hand and arm where the fingers are driven by rotational motors with drums, and pulled with cables using rolling friction. The hand extends into a robotic arm through a wrist wherein the wrist is controlled by pneumatic cylinders. Each finger preferably is provided with four manufactured parts and a single pulley. The thumb is provided with three pulleys for independent distal movement. Cables wraps around or over pulleys, eliminating tight bends. A glove is provided about the robotic hand which provides a compressive, liquid resistant membrane.

Abstract: End-effectors may be used to grasp microelectronic workpieces for handling by automated transport devices. One such end-effector includes a plurality of end-effectors and a detector adapted to detect engagement of the edge of the workpiece by at least one of the abutments. An alternative end-effector includes at least three abutments, at least one of which is resiliently connected to an actuator for movement between a retracted position and a deployed position wherein it engages a workpiece.

Abstract: A robotic device may include a plurality of concatenated assemblies, a tendon slidably connected to the plurality of concatenated assemblies, and an actuator that moves the tendon. Each assembly of the concatenated plurality may include a joining member that neighbors an adjacent assembly, a linkage that may fixedly connect to the joining member and may pivotably connect to the adjacent assembly, and an appendage that may extend from the joining member to a length. The appendage may include a connector through which the tendon may be connected to slide through. The connector may be adjustably disposable along the length of the appendage to a specified position thereon. The appendage may extend in a direction at a specified angle relative to the linkage.