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D(bis)tDribis-- utrtiebdutpeldanptlaarnptarrespsruersesutersett.e(sct).M(ca) rMkearrkpeorinptosinfotrs ffuorllfbuolldbyo. dy. The improved engineering prototype was used in this experiment, as shown in Figure 6b. During the experiment, the kinematics and dynamics of the joints were mea...