{TAIL ~ The joint actuator} is made to generate the actuator force output by {HEAD ~ the actual force converting means} 
{ TAIL ~ The joint actuator } is made to generate the actuator force output by { HEAD ~ the actual force converting means }
TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD