Toe joint mechanism of human (a), and of existing humanoid robots (b).

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PDF) Toe joint mechanism using parallel four-bar linkage enabling humanlike multiple support at toe pad and toe tip

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Figure 1 from Design of compliant joints and human-robot connection in an ankle-foot exoskeleton

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Human-Like Toe Joint Mechanism

DLR - Institute of Robotics and Mechatronics - TORO (TOrque controlled humanoid RObot)

QUESTION- As in the sample picture given below, only