4a. Wrist rotate, upper claw, 

 lower claw: Run three 

 Teflon-insulated, 22-gauge 

 wires through the outer 

 housings and keep them in 

 position, as shown, with an 

 appropriate bond. Strengthen 

 and protect the parts of 

 the wires which run through 

 the bore with pieces of 

 heat-shrinkable tubing. 



4b. Write rotate, upper claw, 

 lower claw: Run two twisted 

 Teflon-insulated, 22-gauge 

 wires through the fitting 

 and let them stick out of 

 the housing (not shown in 

 the photograph). 



4c. Elbow pivot: Proceed with 

 three wires as described in 

 4a, but instead of running 

 the wires through the fit- 

 ting, let them stick out of 

 the outer housing. 



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