1-DOF elbow joint
- Torque and stiffness are amplified by 6 and 36 times
due to a light-weight tension amplification mechanism.

3-DOF Wrist joint
- Torque and stiffness are amplified by 4 and 16 times.
-2-DOF virtual rolling contact joint which emulates pure rolling
of two spheres was used for wrist roll/pitch motion.