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diff --git a/02_Presentation/robotics/chiral_wrist/chiral_wrist.md b/02_Presentation/robotics/chiral_wrist/chiral_wrist.md
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+# Chiral Wrist
+
+
+## Why?
+
+- Bill-e
+  
+<img src="./bille.png" width="60%" /><br/>
+<img src="./bille1.png" width="40%" /><br/>
+
+
+- [Voxdog](https://gitlab.cba.mit.edu/davepreiss/voxel-limb)
+
+<img src="./dogSupported.jpg" width="40%" /><br/>
+
+- Toyota Seat
+
+---
+
+## How?
+- [Distributed Actuation](https://gitlab.cba.mit.edu/davepreiss/parallelized-actuators)
+  
+<img src="https://gitlab.cba.mit.edu/davepreiss/parallelized-actuators/-/raw/main/images/pcbMotorAnimation.gif" width="40%" /><br/>
+
+
+---
+
+## Geometry
+
+- get pic of chiral
+- get pic top optimization
+
+
+### Same fixed Displacement:
+  
+<img src="./comp_disp.gif" width="60%" /><br/>
+<img src="./comp_disp.png" width="60%" /><br/>
+
+### Load:
+  
+<img src="./comp_load.gif" width="60%" /><br/>
+<img src="./comp_load.png" width="60%" /><br/>
+
+
+
+---
+
+### Effect of height (same distributed force)
+- 1 * 1 * 1 Lattice
+  
+<img src="./1.png" width="60%" /><br/>
+
+- 1 * 1 * 2 Lattice
+  
+<img src="./2.png" width="60%" /><br/>
+
+- 1 * 1 * 3 Lattice
+  
+<img src="./3.png" width="60%" /><br/>
+
+###  Spatial Programming Design rules 
+<img src="./ben_smart_rot.png" width="60%" /><br/>
+<img src="./smart_rot.png" width="60%" /><br/>
+
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