The function of the pole of the spherical gear will be explained clearly.#shorts

The crucial difference between this spherical gear and those of the past is the "twist"　＆ “pole”, which is the innovative part of this gear.

ABENICS was developed / invented by Dr. Kazuki Abe.
Reference:
Abe, K., Tadakuma, K., & Tadakuma, R. (2021). ABENICS: Active ball joint mechanism with three-DoF based on spherical gear meshings. IEEE Transactions on Robotics, 37(5), 1806-1825. https://doi.org/10.1109/TRO.2021.3070124

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