The output force can be enlarged through the angle function between toggles.
该装置以直线电机为动力源，利用铰杆间的角度效应进行输出力的放大。
The apparatus can enlarge and transmit the input force by using the angle function between toggles.
在气动肌腱体积一定的条件下，系统能够显著地对输入力进行放大。
Based on the calibration test, the model parameters are determined, and the output Angle function can be gotten.
通过标定试验，确定了模型参数，获得了可用于姿态输出的角度计算公式。
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