PDF thesis about another design for a 3DOF active joint (2009 IEEE/RSJ) from different authors and different universities, coincidentally mostly from Japan: ht

PDF thesis about another design for a 3DOF active joint (2009 IEEE/RSJ) from different authors and different universities, coincidentally mostly from Japan: https://vigir.missouri.edu/~gdesouza/Research/Conference_CDs/IEEE_IROS_2009/papers/1367.pdf https://vigir.missouri.edu/~gdesouza/Research/Conference_CDs... Also interesting OMNIA wheels: https://www.omniawheel.com/omnia-wheels https://www.omniawheel.com/omnia-wheels