An actuating device includes a base link, a first link, a second link, a translating link, a shaft, and a drive.

The disclosed imaging compounds include a base-binding moiety, a phosphate-binding moiety, and a metal-binding moiety.

An accessory connecting part operatively connected to the base connecting part includes the first flange.

The base link includes a base plate, a first joint, and a second joint.

The use of a sulfhydryl bond as the basic link for linking the polymer to the drug allows a prodrug to be formed which takes advantage of plasma enzymes in vivo.

A base connecting part includes the third flange and the second flange.

Only a dynamic equation of the base link of the humanoid is used.