by Implementing Bevel gears into the hinge, the motor drive is connected directly to the axis, vastly simplifiying control as each joint is independent of the next.

The Main concern of this design is getting sufficent torque from the motor to allow the actuator to press with enough force to both demonstrate the degrees of freedom but also interact with other objects.

The current motors used are the same as selected for the wire control design. A motor from the same serise with a higher gear ratio may be more suitablefor this task.