... et al., 20 03. 32 qcq (3) 22 20,MMLX Y (4) 22 2 12 22 0 023 2cos 2 cos ,prox mid prox middist distLL L LL qLL LL qqE (5) 22 2 22 23002cos 2cos,mid ... knee in the sagittal plane,” Proceedings, institute of Mechanical Engineering Part H. Journal of ngineering in Medicine, 20 3, pp. 22 3 -2 33. Ottoboni, A., Parenti-Castelli, V., and Leardini, ... example adjustable instrument lengths).© 20 06 Springer. Printed in the Netherlands. 193J. Lenarþiþ and B. Roth (eds.), Advances in Robot Kinematics, 193 20 0. Medical robotics, singularities, manipulability,...