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