Figure 1
The overview of Jelly-Z prototype. (a) 3D CAD model (exploded and sectional views) of the robot, (b) Top view of Jelly-Z robot, (c) Bottom view of Jelly-Z robot, (d) Internal Assembly of TCPFL actuators, (e) Zoomed-in view of the actuators, (f) CAD model of TCPFL actuators.
