*3.3. Representation of the Workspace*

Joint kinematics will block angles greater than the total blocking joint angle, creating an asymmetric workspace. X, Y and Z axes represent the soft joint final position in meters. The soft joint fixed base is at position [0, 0, 0]. Maximum Z value is 0.2 m when the joint is at rest. As the soft joint flexes, Z value decreases. X and Y values are the projection of the joint end position on the base plane. They are zero at resting position, and change with flexion. Therefore, the designed soft joint does not perform the same bending angle, both being performed in the same plane.

If this is done for different planes, we obtain a 3D mesh of ∗ marks. The surface of a non-complete sphere is obtained, as seen in Figures 13 and 14. This allows knowledge of where the end will be and how the soft joint will move with respect to the fixed base.

**Figure 13.** *Cont.*

**Figure 13.** Diagram of soft joint end positions, represented by '∗' marks, at different orientation planes, every 15 degrees, and for every 5 inclination degrees. The dashed line indicates the flexion limits of the soft joint for each orientation. The soft joint cannot reach further positions due to blockages. (**a**) Front view. (**b**) Side view.

**Figure 14.** Perspective view of the soft link end positions represented by '∗' marks, at different orientation planes, every 15 degrees, and for every 5 inclination degrees. The dashed line indicates the flexion limits of the soft joint for each orientation. The soft joint cannot reach further positions due to blockages.
