Feedback combined mechanisms a differential mechanisms has two doF In some differential 易对) mechanism, one of the inputs comes from the driver output directly. The other input is put Mechanism I the feedback from the output (ink 1, 2, 4) of the differential mechanism through the single DOF MechanisnⅡ mechanism (link2,3,4)Feedback Combined Mechanisms input output Mechanism Ⅰ (link 1,2,4) MechanismⅡ (link 2’,3,4) A differential mechanisms has two DOF. In some differential mechanism, one of the inputs comes from the driver directly. The other input is the feedback from the output of the differential mechanism through the single DOF mechanism. 4