Fig. 8

Geometry of the pelvic interface. P is the center of the pelvic interface, \(\alpha\) is the facing orientation of the interface, \(d_L, d_R, \theta _L, \theta _R\) are the distances of the left and right sliders from the rotary joints, and the angles of the left and right arms with respect to the ML-axis, respectively, D is the distance between R1 and R2 of the two robotic arms