{HEAD ~ The movement} permitted includes {TAIL ~ linear and rotational movement} in up to six degrees of freedom depending on the configuration of the invention used 
includes
{ HEAD ~ The movement } permitted includes { TAIL ~ linear and rotational movement } in up to six degrees of freedom depending on the configuration of the invention used
HEAD HEAD HEAD HEAD HEAD HEAD OTH REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH