Date of download: 11/14/2017 Copyright © ASME. All rights reserved. From: Actuation Torque Reduction in Parallel Robots Using Joint Compliance J. Mechanisms Robotics. 2014;6(2):021006-021006-11. doi:10.1115/1.4026628 Figure Legend: Top: Comparison between histograms of the maximum torque values over the configurations of the workspace with and without compliant joints. Bottom: A representation of the static workspace. Each dot color represents the median torque for all the possible orientations in the corresponding position of the dot. All points where the maximum torque is bigger than 10 Nm are discarded.