The direct drive robot arm in the Mechatronics and Intelligent Machines Laboratory is powered by two Moog motors: 415 series -805 (approx. 40Nm) and series 416-805 (approx. 170Nm). The setup is designed so that the first and second links can be connected in series to form a 2 degree of freedom (DOF) SCARA robot. or separated so that they become two one DOF robot. The latter can be used for teleoperation experiments.