Fig. 7

Elements of the external portable case: (1)—suction-discharge device, (2)—yoke mechanism, (3)—mechanical gearbox 1/10 (Apex Dynamics AE050—yoke mechanism, SESAME PBE42-10—crank mechanism), (4)—Mitsubishi servo motor, (5)—meter for measuring the electricity consumption of all electrical components, (6)—meter measuring the electricity consumption of the ODROID computer and converters, (7)—batteries, (8)—meter measuring the energy consumption of the Mitsubishi servo amplifier and servo motor, (9)—voltage converter, (10)—12/24V DC/DC converter, (11)—ODROID computer.