Cable means under tension within the arms and about the joint members maintain {HEAD ~ the position} of {TAIL ~ the head end} in a given position and counterbalance the arms 
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Cable means under tension within the arms and about the joint members maintain { HEAD ~ the position } of { TAIL ~ the head end } in a given position and counterbalance the arms
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH