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