Fig. 3From: CyberLimb: a novel robotic prosthesis concept with shared and intuitive controlCustom-made actuating unit for high fidelity control with optimized size and weight ( ø2 7 \(\times\) 59 mm). The actuating unit consists of an 100:1 harmonic drive (HD) gearbox driven by a BLDC motor, which combined can produce an output torque of approximately 4 Nm. The resulting output shaft rotation is opposite to that of the input motor rotationBack to article page